CN219562318U - Automatic feeding and discharging manipulator - Google Patents

Abstract

The utility model relates to the technical field of manipulators, and particularly discloses a manipulator capable of automatically feeding and discharging, which comprises a supporting device for supporting, a carrying path device arranged on the supporting device and a limiting sliding device arranged on the carrying path; the meal discharging device is characterized in that a grabbing device is arranged on the meal discharging device of the limiting sliding device, and a vertical lifting device is arranged on the outer side of the grabbing device and used for changing the position height of the grabbing device; in the process of working by the grabbing device through the arranged carrying path device matched with the vertical lifting device, the grabbing force arm forming the grabbing device, the deformation area and the adsorption area which are arranged and attached to the workpiece can be combined with an external negative pressure attraction generating device, and when the material is grabbed and lifted, the surface of the material can be subjected to auxiliary adsorption so as to increase the acting force in the clamping process.

Description

Automatic feeding and discharging manipulator

Technical Field

The utility model relates to the technical field of manipulators, in particular to a manipulator capable of automatically feeding and discharging materials.

Background

The feeding and discharging manipulator mainly realizes full automation in the machine tool manufacturing process, adopts an integrated processing technology, can realize different working procedures such as feeding and discharging of materials according to different production lines, and is relatively common in factories of production line production.

However, when the feeding and discharging manipulator works normally, the fact that different workpiece materials are clamped by the manipulator is found out, the operation stability of the manipulator serves as a precondition, the operation stability of the manipulator is one of key factors for ensuring that the materials can be smoothly clamped and transported, if the size of a clamped object is large or the starting speed is too high, the structural stability of the machine is reduced, the wrist of the manipulator is caused to vibrate at the moment, the possibility of loosening of clamping occurs, the damage of the workpiece materials is caused, the problem is basically solved, namely the adapting degree of the manipulator to different materials is different when the manipulator clamps the workpiece materials, the clamping position of the conventional common manipulator is a serrated rigid or non-rigid part in the clamping process, the clamping force applied to the workpiece is the acting force applied by the clamping moment, the acting force is relatively single, and once the problem occurs in the clamping process, the risk of falling damage of the workpiece can be caused, and the manipulator for automatic feeding and discharging is provided based on the problem.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides a manipulator capable of automatically feeding and discharging materials, which is used for solving the problems of the background art.

The utility model discloses an automatic feeding and discharging manipulator which comprises a supporting device for supporting, a carrying path device arranged on the supporting device and a limiting sliding device arranged on the carrying path;

the meal discharging device is characterized in that a grabbing device is arranged on the meal discharging device of the limiting sliding device, and a vertical lifting device is arranged on the outer side of the grabbing device and used for changing the position height of the grabbing device;

the grabbing device comprises a combined part used for connection, one end of the combined part is movably connected with a swinging force arm, a driving part is detachably fixed on the inner side of the swinging force arm, and a group of grabbing force arms are arranged at the output shaft of the driving part through a supporting backboard; the clamping device is used for clamping the connected workpieces.

As a further improvement of the utility model, at least two grabbing force arms are provided, and one end of each grabbing force arm is connected with the supporting backboard through the driving gear.

As a further improvement of the utility model, the inner side of the grabbing arm is provided with a solid inner cavity, the outer side of the solid inner cavity is provided with a shell, one or more air flow filling ports for filling high-pressure air are arranged at one side of the shell, which is close to the clamping area, and an air flow channel is arranged at the position, between the two air flow filling ports, of the inner side of the shell.

As a further improvement of the utility model, a non-rigid clamping part is arranged at one end of the grabbing arm, and the non-rigid clamping part is communicated with the air flow channel.

As a further improvement of the utility model, two telescopic parts are arranged below the support backboard, a pipeline is arranged between the two telescopic parts, and a transverse plate is arranged below the pipeline and the telescopic parts through a butt joint hole and a vent hole.

As a further improvement of the utility model, two symmetrically arranged buffer parts are arranged below the transverse plate, and a workpiece attaching part is arranged below the buffer parts and used for reinforcing the clamped workpiece.

As a further improvement of the utility model, the bottom of the workpiece attaching part is provided with deformation areas arranged in a linear array, and the convex parts of the deformation areas are provided with adsorption areas communicated with the workpiece attaching part and used for carrying out negative pressure attraction on the workpiece.

Compared with the prior art, the utility model has the following beneficial effects:

in the process that the arranged carrying path device is matched with the vertical lifting device to work in the grabbing device, the grabbing force arm forming the grabbing device, the deformation area and the adsorption area which are attached to the workpiece can be combined with the external negative pressure attraction generating device, when the material is grabbed and lifted, the surface of the material can be subjected to auxiliary adsorption, so that acting force in the clamping process is increased, compared with the acting force applied by the conventional clamping, the workpiece can be clamped and adsorbed more stably, the possibility of shaking in the workpiece clamping process is reduced, and the clamping efficiency is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model and do not constitute a limitation on the utility model. In the drawings:

FIG. 1 is a schematic diagram of a combined structure of a carrying path device and a grabbing device according to the present utility model;

FIG. 2 is a schematic diagram showing a combined three-dimensional structure of a carrying path device and a grabbing device according to the present utility model;

FIG. 3 is a schematic view of a portion of the gripping device of the present utility model in elevation;

FIG. 4 is a schematic diagram of a cross-sectional structure of a grabbing arm of force according to the present utility model;

FIG. 5 is a schematic top view of a workpiece attachment portion of the present utility model;

FIG. 6 is a schematic view of the cross-sectional structure A-A of FIG. 5 according to the present utility model;

fig. 7 is a schematic perspective view of a workpiece attaching portion according to the present utility model.

In the figure: 1. a conveyance path device; 2. a vertical lifting device; 3. a limit sliding device; 4. a gripping device; 5. a support device; 41. swinging the arm of force; 42. a driving part; 43. grabbing a force arm; 44. a combination part; 45. a pipe; 46. a drive gear; 47. a support back plate; 48. a telescopic part; 49. a buffer section; 410. a workpiece attaching portion; 411. a cross plate; 412. a butt joint hole; 413. a vent hole; 414. a deformation region; 415. an adsorption zone; 431. a solid lumen; 432. a housing; 433. an airflow filling port; 434. an air flow channel; 435. a non-rigid grip.

Detailed Description

Various embodiments of the present utility model are disclosed in the following drawings, which are presented in sufficient detail to provide a thorough understanding of the present utility model. However, it should be understood that these physical details should not be used to limit the utility model. That is, in some embodiments of the present utility model, these physical details are not necessary. Moreover, for the sake of simplicity of illustration, some well-known and conventional structures and components are shown in the drawings in a simplified schematic manner.

In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

Referring to fig. 1 to 2, the manipulator plays a very important role in the process of industrial control automation production, and can be divided into a plurality of manipulators such as an electric welding mechanical lock conveying manipulator and an upper and lower feeding manipulator thereof according to the manufacturing requirement in the process of transporting a workpiece assembly line, wherein the upper and lower feeding manipulator is a relatively common carrying device which is used, the time of manual carrying can be greatly saved, meanwhile, the carrying precision can be relatively accurate, the production efficiency of the assembly line can be better improved, but in the process of carrying by the manipulator, the important operation steps are the clamping of the manipulator on materials, the clamping is realized by only a driving device arranged on the manipulator, the clamping mode is influenced by the volume of the workpiece per se, once the workpiece volume of the material is relatively large, the carrying speed on the manipulator is too high, the internal structure of the manipulator device is unstable, and the manipulator device is easily loose and damaged, and the manipulator device comprises a supporting device 5 for supporting, a sliding path 1 arranged on the supporting device and a carrying path 3 arranged on the supporting device;

specifically, the meal discharging of the limiting sliding device 3 is provided with a grabbing device 4, and the outer side of the grabbing device 4 is provided with a vertical lifting device 2 for changing the position height of the grabbing device 4;

further, the gripping device 4 comprises a combined part 44 for connection, one end of the combined part 44 is movably connected with a swinging force arm 41, a driving part 42 is detachably fixed on the inner side of the swinging force arm 41, and a group of gripping force arms 43 are arranged at the output shaft of the driving part 42 through a supporting backboard 47; the clamping device is used for clamping the connected workpieces.

In this embodiment, the manipulator is stably arranged at a position to be carried on the assembly line through the supporting device 5 and the path carrying device, at this time, the gripping device 4 arranged below the existing sliding device can grip the workpiece material to be carried, and the vertical lifting device 2 arranged in a matched manner can transfer the material according to the lifting distance, so that the swinging force arm 41 and the gripping force arm 43 forming the gripping device 4 act on the workpiece in the process, one adjusts the gripping direction, and the other directly contacts the workpiece; the material can be carried;

referring to fig. 1, 3 and 4, in order to keep the grabbing force arm 43 working normally and reduce the possibility of loosening the workpiece during grabbing, in the present utility model, at least two grabbing force arms 43 are provided, and one end of the grabbing force arm 43 is connected with the support back plate 47 through the driving gear 46.

Specifically, the method comprises the following steps; the inner side of the grabbing arm 43 is provided with a solid inner cavity 431, an outer shell 432 of the solid inner cavity 431, one or more air flow filling ports 433 for filling high-pressure air are arranged at one side of the shell 432 close to the clamping area, and an air flow channel 434 is arranged at the position, located between the two air flow filling ports 433, of the inner side of the shell 432.

Further; a non-rigid clamp 435 is detachably secured to one end of the grasping arm 43, the non-rigid clamp 435 being in communication with the air flow passage 434.

In this embodiment, at least two gripping arms 43 are provided, which are in mirror symmetry, and during gripping, the workpiece is gripped by the combination of the driving gear 46 and the driving component 42;

in order to reduce the shake of the workpiece and lead the workpiece to be separated from the clamping area formed by the grabbing force arm 43, an air flow pouring opening 433 for guiding in and out air flow is arranged on the inner side of the grabbing force arm 43, and the air flow channel 434 is matched, so that the outer surface of the workpiece can be contacted through the non-rigid clamping part 435 in the using process, and the requirement of lifting and carrying the workpiece is realized;

the non-rigid clamping part 435 is a device formed by one or more parts used for grabbing objects in the mechanical field, for example, a layer of flexible rubber is sleeved on a mechanical arm, so that the influence on a workpiece can be reduced in the process of clamping the workpiece with a soft outer surface;

meanwhile, in the process of clamping an object with a relatively hard outer surface, the non-rigid clamping part 435 can effectively utilize the friction force caused by mutual contact, improve the clamping stability and reduce the possibility of falling and damaging the workpiece in the clamping process;

referring to fig. 1, 5, 6 and 7, in order to further limit the outer surface of the workpiece, improve the stability of workpiece clamping and reduce the shake occurring during workpiece clamping, two telescopic parts 48 may be disposed below the support back plate 47, a pipe 45 is disposed between the two telescopic parts 48, and a transverse plate 411 is disposed below the pipe 45 and the telescopic parts 48 through a butt joint hole 412 and a ventilation hole 413.

Specifically, two symmetrically arranged buffer portions 49 are disposed below the transverse plate 411, and a workpiece attaching portion 410 is disposed below the buffer portions 49 for reinforcing the clamped workpiece.

Further, the bottom of the workpiece attaching portion 410 is provided with a deformation area 414 arranged in a linear array, and a convex portion of the deformation area 414 is provided with an adsorption area 415 communicated with the workpiece attaching portion 410 for negative pressure suction of the workpiece.

In this embodiment, the expansion and contraction portion 48 disposed below the support back plate 47 is tightly pressed by the tight contact between the workpiece attaching portion 410 and the workpiece in the process of being tightly contacted by the pipe 45 and the transverse plate 411, so that the buffer portion 49 is compressed, and the workpiece attaching portion 410 is tightly contacted with the outer surface opposite to the workpiece, thereby assisting in clamping the workpiece, and the suction area 415 is generally matched with the pipe 45 to realize negative pressure suction, and in the process of compressing the buffer portion 49, the deformation area 414 can be further contacted with the workpiece, so that the surface area of the workpiece attaching portion 410 attached to the workpiece is increased, and a better lifting effect is brought.

The foregoing description is only illustrative of the utility model and is not to be construed as limiting the utility model. Various modifications and variations of the present utility model will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, or the like, which is within the spirit and principle of the present utility model, should be included in the scope of the claims of the present utility model.

Claims (7)

1. The manipulator capable of automatically loading and unloading comprises a supporting device (5) for supporting, a carrying path device (1) arranged on the supporting device (5) and a limiting sliding device (3) arranged on a carrying path;

the method is characterized in that:

the meal discharging device is characterized in that a grabbing device (4) is arranged on the meal discharging device of the limiting sliding device (3), a vertical lifting device (2) is arranged on the outer side of the grabbing device (4) and used for changing the position height of the grabbing device (4);

the grabbing device (4) comprises a combined part (44) used for connection, one end of the combined part (44) is movably connected with a swinging force arm (41), a driving part (42) is detachably fixed on the inner side of the swinging force arm (41), and a group of grabbing force arms (43) are arranged at the output shaft of the driving part (42) through a supporting backboard (47); the clamping device is used for clamping the connected workpieces.

2. The manipulator for automatically feeding and discharging according to claim 1, wherein: at least two grabbing force arms (43) are arranged, and one end of each grabbing force arm (43) is connected with a supporting backboard (47) through a driving gear (46).

3. The manipulator for automatically feeding and discharging according to claim 1, wherein: the inner side of the grabbing arm (43) is provided with a solid inner cavity (431), an outer shell (432) of the solid inner cavity (431), one or more air flow filling ports (433) for filling high-pressure air are arranged at one side, close to the clamping area, of the shell (432), and an air flow channel (434) is arranged at the position, located between the two air flow filling ports (433), of the inner side of the shell (432).

4. The manipulator for automatically feeding and discharging according to claim 1, wherein: a non-rigid clamping part (435) is arranged at one end of the grabbing arm (43), and the non-rigid clamping part (435) is communicated with the air flow channel (434).

5. The manipulator for automatically feeding and discharging according to claim 1, wherein: two telescopic parts (48) are arranged below the support backboard (47), a pipeline (45) is arranged between the two telescopic parts (48), and a transverse plate (411) is arranged below the pipeline (45) and the telescopic parts (48) through a butt joint hole (412) and a vent hole (413).

6. The automatic feeding and discharging manipulator according to claim 5, wherein: two symmetrically arranged buffer parts (49) are arranged below the transverse plate (411), and workpiece attaching parts (410) are arranged below the buffer parts (49) and used for reinforcing clamped workpieces.

7. The automatic feeding and discharging manipulator according to claim 6, wherein: the bottom of work piece laminating portion (410) is provided with deformation region (414) that are the linear array setting, the bulge of deformation region (414) is provided with adsorption area (415) that are linked together with work piece laminating portion (410) for carry out the negative pressure suction to the work piece.