CN219213171U - Multi-station composite manipulator and transfer equipment - Google Patents
Multi-station composite manipulator and transfer equipment Download PDFInfo
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- CN219213171U CN219213171U CN202320144917.3U CN202320144917U CN219213171U CN 219213171 U CN219213171 U CN 219213171U CN 202320144917 U CN202320144917 U CN 202320144917U CN 219213171 U CN219213171 U CN 219213171U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The utility model provides a multi-station composite manipulator and transfer equipment, which comprises a frame plate, wherein at least one material sucking component and one material clamping component are arranged on the frame plate, the material clamping component comprises at least one pair of clamping jaws, a quick-change piece is clamped between each pair of clamping jaws, and the clamping jaws are matched with the quick-change piece through a clamping structure. The utility model adopts full-automatic material moving and assembling operation, avoids secondary pollution caused by manual operation, ensures the yield of finished products, saves time and labor, reduces cost, improves working efficiency and avoids the problems of misplacement and omission. Through clamping jaw and quick change piece's special shape matching gomphosis to realize that the vertical spacing of quick change piece, horizontal spacing and circumference rotate spacing, with the accurate position of guaranteeing that quick change piece gets into next process, avoid taking off the material phenomenon simultaneously, promote finished product processingquality, promote effective production probability. Through reasonable assembly of a plurality of stations, the switching operation of station pieces can be realized by utilizing the rotation angle, and the transferring assembly quantity can be increased by times.
Description
Technical Field
The utility model belongs to the technical field of machinery, and relates to a material taking and transferring device, in particular to a multi-station composite manipulator and transferring equipment.
Background
The existing moving assembly products and quick-change parts usually adopt manual material taking and discharging and manual assembly operation. Because the magnet is less, the manual blowing can lead to situations such as inaccurate position degree, misplacement, missed discharge, etc. Meanwhile, the hands contact the product and the magnet, so that the problem of three injuries of the product caused by irregular operation is easy. In addition, the manual operation efficiency is low, and the assembly cost is high.
The manipulator can simulate certain action functions of a human hand and an arm, and is used for grabbing and carrying objects or operating an automatic operating device of a tool according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate in harmful environments to protect personal safety, and is widely applied to product transportation and assembly operations of departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like.
For example, chinese patent literature has disclosed a product receiving manipulator [ chinese patent No.: 202122223612.5 the utility model discloses a product receiving manipulator, which comprises a manipulator and a clamping mechanism; the clamping mechanism is arranged at the free end of the manipulator; the clamping mechanism comprises a clamping seat, a clamping lifting cylinder, a sucker frame, a sucker, a clamping jaw cylinder and two clamping jaws; the clamping seat is arranged at the free end of the manipulator, the cylinder body of the clamping lifting cylinder is fixed on the clamping seat, the rod end of the piston rod of the clamping lifting cylinder is connected with the sucker frame, the sucker is fixedly arranged on the sucker frame, the cylinder body of the clamping jaw cylinder is fixed on the clamping seat, and the two clamping jaws are respectively connected with the two rod ends of the piston rod of the clamping jaw cylinder. Because the clamping lifting cylinder in the clamping mechanism can drive the sucker arranged on the sucker frame to move up and down, the clamping jaw cylinder can drive the two clamps
The claw clamps the circuit board, has the advantages of firm clamping and flexible movement.
According to the technical scheme, although the sucker structure and the clamping jaw structure are disclosed, the clamping jaws do not form clamping fit with the clamped product, so that the clamped product is easy to deviate in the process of transferring or assembling the clamped product, the next step of discharging and assembling is wrong, the assembling accuracy is affected, and the quality of a finished product is reduced; and the product is easy to fall off, so that the assembly and the transportation are failed. In addition, the technical scheme adopts an adsorption station and a clamping station which are arranged side by side, only translational feeding can be performed, steering and positioning cannot be performed, and therefore the device cannot adapt to the requirements of more forms of transportation and assembly.
Disclosure of Invention
The utility model aims at solving the problems in the prior art and provides a multi-station composite manipulator and a transfer device which are in profiling fit and embedded structure so as to ensure accurate orientation and transfer stability of clamping ingredients.
The aim of the utility model can be achieved by the following technical scheme: the utility model provides a multistation composite manipulator, includes the frame plate, set up at least one on the frame plate and inhale material subassembly and one press from both sides material subassembly, press from both sides the material subassembly and include at least a pair of clamping jaw, every pair press from both sides between the clamping jaw and establish quick change piece, the clamping jaw with cooperate through the inlay card structure between the quick change piece.
In the multi-station composite manipulator, the clamping structure comprises a claw head protruding to the inner side of the clamping jaw, the end part of the quick-change piece is correspondingly provided with a clamping groove in a concave mode, and the claw head is matched and embedded with the clamping groove.
In the multi-station composite manipulator, the claw head comprises four protruding blocks which are arranged in a four-corner matrix, the protruding blocks are sharp corner sheet bodies, the clamping grooves are cross grooves, the cross sections of the cross grooves are sharp corner notches, and the four protruding blocks are embedded into the groove bodies in the four directions of the cross grooves in a one-to-one correspondence mode.
In the multi-station composite manipulator, the claw head comprises three protruding pieces which are arranged in a triangular equilateral mode, the protruding pieces are sharp corner sheet bodies, the clamping grooves are equilateral triangle grooves, the cross sections of the equilateral triangle grooves are sharp corner notches, and the three protruding pieces are embedded into the groove bodies in the three directions of the equilateral triangle grooves in a one-to-one correspondence mode.
In the multi-station composite manipulator, the claw head comprises three protrusions which are arranged in a regular triangular shape, the clamping grooves are regular triangular grooves, and the three protrusions are embedded into groove bodies in three directions of the regular triangular grooves in a one-to-one correspondence mode.
In the multi-station composite manipulator, the clamping assembly comprises a clamping cylinder fixedly arranged on the frame plate, and the clamping cylinder drives a pair of clamping jaws to open and close through a connecting rod.
In the multi-station composite manipulator, the rack plate is fixedly provided with the sliding rail, the connecting rod is fixedly connected with the sliding block, and the sliding block is clamped and embedded on the sliding rail to form guide and sliding connection.
In the multi-station composite manipulator, the material sucking assembly comprises a material sucking plate fixedly arranged on the frame plate, a plurality of suckers are arranged on the material sucking plate, and the suckers are connected with a vacuumizing joint.
In the multi-station composite manipulator, the frame plate is a cross-shaped plate body, two ends of the cross-shaped plate body are provided with the material sucking component, and the other two ends of the cross-shaped plate body are provided with the material clamping component.
The moving equipment comprises a mechanical arm and the multi-station composite mechanical arm, wherein the center of the frame plate is fixedly provided with a rotating shaft, and the tail end of the rotating shaft is arranged on the free end of the mechanical arm through a flange plate.
Compared with the prior art, the multi-station composite manipulator and the transfer equipment have the following beneficial effects:
1. adopt full-automatic material equipment operation that moves, avoid the secondary pollution that manual operation leads to, ensure the finished product yield, labour saving and time saving reduce cost improves work efficiency, avoids misplacing, the problem of leaking.
2. Through clamping jaw and quick change piece's special shape matching gomphosis to realize that the vertical spacing of quick change piece, horizontal spacing and circumference rotate spacing, with the accurate position of guaranteeing that quick change piece gets into next process, avoid taking off the material phenomenon simultaneously, promote finished product processingquality, promote effective production probability.
3. Through the reasonable assembly of multiple stations, the switching operation of the station parts can be realized by utilizing the rotation angle, and the transferring assembly quantity can be multiplied, so that the processing efficiency is improved.
Drawings
Fig. 1 is a first perspective view of a multi-station composite manipulator.
Fig. 2 is a second perspective view of the multi-station composite manipulator.
Fig. 3 is a diagram showing the structure of the clamping jaw of the multi-station composite manipulator.
Fig. 4 is a diagram of a quick change part structure of the multi-station composite manipulator.
In the figure, 1, a frame plate; 2. a clamping cylinder; 3. a connecting rod; 4. a slide block; 5. a slide rail; 6. a clamping jaw; 6a, a bump; 7. a quick change member; 7a, a cross-shaped groove; 8. a suction plate; 9. a suction cup; 10. vacuumizing the joint; 11. and (3) rotating the shaft.
Detailed Description
The following are specific embodiments of the present utility model and the technical solutions of the present utility model will be further described with reference to the accompanying drawings, but the present utility model is not limited to these embodiments.
Example 1
As shown in fig. 1 to 4, the multi-station composite manipulator comprises a frame plate 1, wherein at least one material sucking component and one material clamping component are arranged on the frame plate 1, each material clamping component comprises at least one pair of clamping jaws 6, a quick-change piece 7 is clamped between each pair of clamping jaws 6, and the clamping jaws 6 are matched with the quick-change piece 7 through a clamping structure.
The clamping structure comprises a claw head convexly arranged on the inner side of the clamping jaw 6, the end part of the quick-change piece 7 is correspondingly provided with a clamping groove in a concave manner, and the claw head is matched and embedded with the clamping groove. The convex shape of the claw head is consistent with the concave shape of the clamping groove. When the pair of clamping jaws 6 close to clamp the quick-change piece 7, the clamping jaw is embedded into the clamping groove to be positioned, so that the clamping stability of the quick-change piece 7 is improved, the clamping position of the quick-change piece 7 is ensured, and the phenomena of transposition, dislocation and the like are avoided.
The claw head comprises four protruding blocks 6a which are arranged in a four-corner matrix, the protruding blocks 6a are sharp corner sheet bodies, the clamping grooves are cross-shaped grooves 7a, the cross sections of the cross-shaped grooves 7a are sharp corner notches, and the four protruding blocks 6a are embedded into the groove bodies in the four directions of the cross-shaped grooves 7a in a one-to-one correspondence mode. Through four point positions inlay card cooperation, form vertical spacing, horizontal spacing and circumference rotation spacing to realize the omnidirectional joint location of quick change piece 7, ensure its removal position, in order to get into next process accurately.
The clamping assembly comprises a clamping cylinder 2 fixedly arranged on a frame plate 1, and the clamping cylinder 2 drives a pair of clamping jaws 6 to open and close through a connecting rod 3. Simultaneously expanding a pair of clamping jaws 6 outwards through the clamping cylinder 2 to release the quick assembly; the quick-assembly is clamped by simultaneously drawing in a pair of clamping jaws 6 inwardly by means of the clamping cylinder 2.
The frame plate 1 is fixedly provided with a slide rail 5, the connecting rod 3 is fixedly connected with a slide block 4, and the slide block 4 is clamped and embedded on the slide rail 5 to form a slide guiding connection. Through the sliding fit of the sliding block 4 and the sliding rail 5, the clamping jaw 6 plays a guiding role in the opening and closing process, and meanwhile, the stability of the opening and closing process is improved.
The suction assembly comprises a suction plate 8 fixedly arranged on the frame plate 1, a plurality of suckers 9 are arranged on the suction plate 8, and the suckers 9 are connected with a vacuumizing joint 10. The vacuum connector 10 is in sealing connection with the exhaust pipe, and the sucking discs 9 firmly suck the product through vacuum adsorption force.
The frame plate 1 is a cross-shaped plate body, two ends of the cross-shaped plate body are provided with material sucking components, and the other two ends are provided with material clamping components. The two adjacent ends are provided with the material sucking component, and the other two adjacent ends are provided with the material clamping component, so that the assembly process of the product and the fast-assembling piece is met.
Compared with the prior art, the multi-station composite manipulator has the following beneficial effects:
1. adopt full-automatic material equipment operation that moves, avoid the secondary pollution that manual operation leads to, ensure the finished product yield, labour saving and time saving reduce cost improves work efficiency, avoids misplacing, the problem of leaking.
2. Through clamping jaw and quick change piece's special shape matching gomphosis to realize that the vertical spacing of quick change piece, horizontal spacing and circumference rotate spacing, with the accurate position of guaranteeing that quick change piece gets into next process, avoid taking off the material phenomenon simultaneously, promote finished product processingquality, promote effective production probability.
3. Through the reasonable assembly of multiple stations, the switching operation of the station parts can be realized by utilizing the rotation angle, and the transferring assembly quantity can be multiplied, so that the processing efficiency is improved.
Example two
This embodiment is substantially the same as the first embodiment except that:
the claw head comprises three protruding pieces which are arranged in a triangular equilateral manner, the protruding pieces are pointed piece bodies, the clamping grooves are equilateral triangle grooves, the cross sections of the equilateral triangle grooves are pointed notches, and the three protruding pieces are embedded into the groove bodies in three directions of the equilateral triangle grooves in a one-to-one correspondence manner. Through three point positions inlay card cooperation, form vertical spacing, horizontal spacing and circumference rotation spacing to realize the omnidirectional joint location of quick change piece 7, ensure its removal position, in order to get into next process accurately.
Example III
This embodiment is substantially the same as the first embodiment except that:
the claw head comprises three bulges which are arranged in a regular triangular shape, the clamping grooves are regular triangular grooves, and the three bulges are embedded into the groove bodies in the three directions of the regular triangular grooves in a one-to-one correspondence manner. Through three point positions inlay card cooperation, form vertical spacing, horizontal spacing and circumference rotation spacing to realize the omnidirectional joint location of quick change piece 7, ensure its removal position, in order to get into next process accurately.
Example IV
Based on the first to third embodiments, the present embodiment is different in that:
the moving equipment comprises a mechanical arm and the multi-station composite mechanical arm, wherein a rotating shaft 11 is fixedly arranged in the center of a frame plate 1, and the tail end of the rotating shaft 11 is arranged on the free end of the mechanical arm through a flange plate.
The mechanical arm drives the whole frame plate 1, the material sucking component and the material clamping component to freely displace, and the mechanical arm drives the rotating shaft 11 to rotate so as to adjust the angle positions of the material sucking component and the material clamping component, thereby carrying out material taking and discharging operations.
The operation mode of the transporting equipment is as follows:
1. the rotating shaft 11 is driven by the mechanical arm to drive the frame plate 1 to turn, so that the material sucking component is aligned to the product, and the product is sucked by the material sucking component and put into the P magnet pressing jig;
2. the rotating shaft 11 is driven by the mechanical arm to drive the frame plate 1 to turn, so that the clamping assembly is aligned to a product, the quick-change piece 7 is clamped by the clamping assembly and placed at a corresponding position of the product, and the quick-change piece 7 is fixedly connected with the product in a processing way.
Compared with the prior art, the transporting equipment has the following beneficial effects:
1. adopt full-automatic material equipment operation that moves, avoid the secondary pollution that manual operation leads to, ensure the finished product yield, labour saving and time saving reduce cost improves work efficiency, avoids misplacing, the problem of leaking.
2. Through clamping jaw and quick change piece's special shape matching gomphosis to realize that the vertical spacing of quick change piece, horizontal spacing and circumference rotate spacing, with the accurate position of guaranteeing that quick change piece gets into next process, avoid taking off the material phenomenon simultaneously, promote finished product processingquality, promote effective production probability.
3. Through the reasonable assembly of multiple stations, the switching operation of the station parts can be realized by utilizing the rotation angle, and the transferring assembly quantity can be multiplied, so that the processing efficiency is improved.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the utility model. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the utility model or exceeding the scope of the utility model as defined in the accompanying claims.
Although the grill plate 1 is used more herein; a clamping cylinder 2; a connecting rod 3; a slider 4; a slide rail 5; a clamping jaw 6; a bump 6a; a quick change member 7; a cross-shaped groove 7a; a suction plate 8; a suction cup 9; a vacuum-pumping joint 10; the rotation shaft 11 and the like, but the possibility of using other terms is not excluded. These terms are used merely for convenience in describing and explaining the nature of the utility model; they are to be interpreted as any additional limitation that is not inconsistent with the spirit of the present utility model.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
Claims (10)
1. The utility model provides a multistation composite manipulator, includes the frame plate, its characterized in that, set up at least one on the frame plate and inhale material subassembly and a clamp material subassembly, press from both sides the material subassembly and include at least a pair of clamping jaw, every is right press from both sides between the clamping jaw and establish quick change piece, the clamping jaw with cooperate through the inlay card structure between the quick change piece.
2. The multi-station composite manipulator according to claim 1, wherein the clamping structure comprises a claw head protruding from the inner side of the clamping jaw, the end of the quick-change member corresponds to a concave clamping groove, and the claw head is matched and embedded with the clamping groove.
3. The multi-station composite manipulator according to claim 2, wherein the claw head comprises four protruding blocks arranged in a four-corner matrix, the protruding blocks are pointed sheet bodies, the clamping groove is a cross-shaped groove, the cross section of the cross-shaped groove is a pointed notch, and the four protruding blocks are embedded into the groove bodies in four directions of the cross-shaped groove in a one-to-one correspondence mode.
4. The multi-station composite manipulator according to claim 2, wherein the claw head comprises three protruding pieces which are arranged in a triangular equilateral manner, the protruding pieces are pointed pieces, the clamping groove is an equilateral triangle groove, the cross section of the equilateral triangle groove is a pointed notch, and the three protruding pieces are embedded into the groove bodies in three directions of the equilateral triangle groove in a one-to-one correspondence manner.
5. The multi-station composite manipulator according to claim 2, wherein the claw head comprises three protrusions which are arranged in a regular triangular shape, the clamping grooves are regular triangular grooves, and the three protrusions are embedded into groove bodies in three directions of the regular triangular grooves in a one-to-one correspondence manner.
6. The multi-station compound manipulator of claim 1, wherein the clamping assembly comprises a clamping cylinder fixedly mounted to the frame plate, the clamping cylinder driving the pair of clamping jaws to open and close via a connecting rod.
7. The multi-station composite manipulator of claim 6, wherein a slide rail is fixedly arranged on the frame plate, the connecting rod is fixedly connected with a slide block, and the slide block is clamped and embedded on the slide rail to form a slide guiding connection.
8. The multi-station composite manipulator of claim 1, wherein the suction assembly comprises a suction plate fixedly mounted on the frame plate, a plurality of suction cups are arranged on the suction plate, and the suction cups are connected with a vacuum-pumping joint.
9. The multi-station composite manipulator according to claim 1, wherein the frame plate is a cross-shaped plate body, two ends of the cross-shaped plate body are provided with the material sucking component, and the other two ends are provided with the material clamping component.
10. A transfer apparatus comprising a robot arm and a multi-station compound manipulator according to any one of claims 1 to 9, wherein a rotating shaft is fixedly mounted in the centre of the frame plate, and the end of the rotating shaft is mounted on the free end of the robot arm via a flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320144917.3U CN219213171U (en) | 2023-01-13 | 2023-01-13 | Multi-station composite manipulator and transfer equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320144917.3U CN219213171U (en) | 2023-01-13 | 2023-01-13 | Multi-station composite manipulator and transfer equipment |
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| CN219213171U true CN219213171U (en) | 2023-06-20 |
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| CN202320144917.3U Active CN219213171U (en) | 2023-01-13 | 2023-01-13 | Multi-station composite manipulator and transfer equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116652994A (en) * | 2023-07-31 | 2023-08-29 | 南通固邦数控机床有限公司 | Turnover type adjustable manipulator for industrial production and application method thereof |
| CN117228308A (en) * | 2023-08-10 | 2023-12-15 | 柳州赛克科技发展有限公司 | Intelligent grabbing device compatible with various cylinder body bearing caps and grabbing method |
-
2023
- 2023-01-13 CN CN202320144917.3U patent/CN219213171U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116652994A (en) * | 2023-07-31 | 2023-08-29 | 南通固邦数控机床有限公司 | Turnover type adjustable manipulator for industrial production and application method thereof |
| CN116652994B (en) * | 2023-07-31 | 2023-10-10 | 南通固邦数控机床有限公司 | Turnover type adjustable manipulator for industrial production and application method thereof |
| CN117228308A (en) * | 2023-08-10 | 2023-12-15 | 柳州赛克科技发展有限公司 | Intelligent grabbing device compatible with various cylinder body bearing caps and grabbing method |
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