CN220128255U - Suspension type trimming and blanking manipulator - Google Patents
Suspension type trimming and blanking manipulator Download PDFInfo
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- CN220128255U CN220128255U CN202321075761.4U CN202321075761U CN220128255U CN 220128255 U CN220128255 U CN 220128255U CN 202321075761 U CN202321075761 U CN 202321075761U CN 220128255 U CN220128255 U CN 220128255U
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- 238000009966 trimming Methods 0.000 title claims abstract description 19
- 239000000725 suspension Substances 0.000 title description 2
- 238000000034 method Methods 0.000 claims description 8
- 238000003466 welding Methods 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 230000008859 change Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000001095 motoneuron effect Effects 0.000 description 1
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Abstract
The utility model discloses a hanging type trimming and blanking manipulator which comprises a mechanical arm and a fixed column vertically arranged behind the mechanical arm, wherein an electric push rod is arranged in a push rod motor, a vertical suction hand is arranged below the electric push rod, pull rods are symmetrically arranged on the left side and the right side of the vertical suction hand respectively, two support rods are arranged below the pull rods, clamping arms are arranged at one ends of the two support rods, clamping jaws are arranged at the bottoms of the clamping arms, when the electric push rod pushes downwards, the vertical suction hand drives one ends of the pull rods to move downwards, then the support rods are pulled to move downwards, so that the clamping arms at the two sides are upwards retracted into clamping blocks, at the moment, the vertical suction hand stretches out and adsorbs a workpiece through a sucker, when the electric push rod pulls upwards, one ends of the clamping arms connected with the support rods are upwards moved, then the clamping jaws at the bottoms of the clamping arms are mutually close to clamp the workpiece, and the change of the grabbing modes of the manipulator is realized, so that the production processes of different workpieces are adapted, and the production efficiency is improved.
Description
Technical Field
The utility model belongs to the technical field of manipulators, and particularly relates to a hanging type trimming and blanking manipulator.
Background
The manipulator is an automatic operation device for grabbing and carrying objects or operation tools according to fixed procedures, is widely applied to industrial production at present, replaces heavy labor of people to realize mechanization and automation of production, certain products in factories are required to be processed through trimming equipment at present, and then production workpieces are required to be sent out from a production line through blanking manipulators, but the grabbing function of most manipulators on the market at present is single, the grabbing mode cannot be changed according to different shapes of the workpieces, and the production efficiency of the workpieces is affected.
Disclosure of Invention
The utility model aims to provide a hanging type trimming and blanking manipulator which solves the problems that most of the manipulators on the market at present, which are proposed in the background art, have single grabbing function, can not change grabbing modes according to different shapes of workpieces, and influence the production efficiency of the workpieces.
In order to achieve the above purpose, the present utility model provides the following technical solutions: a hanging type trimming and blanking manipulator comprises a mechanical arm and a fixing column vertically arranged behind the mechanical arm;
a servo motor is arranged behind the mechanical arm, rotating wheels are arranged on two sides of the interior of the mechanical arm, a sliding rail is arranged between the two rotating wheels, a belt is arranged on the rotating wheels, an inner clamping piece is arranged inside the mechanical arm, an outer clamping piece is arranged on the outer side of the inner clamping piece, and a fixing piece is arranged on the outer clamping piece;
the fixing piece is characterized in that a rotating arm is arranged above the front side of the fixing piece, a vertical arm is arranged on the rotating arm, a push rod motor is arranged on the front side of the vertical arm, an electric push rod is arranged inside the push rod motor, a vertical suction hand is arranged below the electric push rod, clamping blocks are arranged on the front side and the rear side of the vertical suction hand, pull rods are symmetrically arranged on the left side and the right side of the vertical suction hand respectively, two supporting rods are arranged below the pull rods, two clamping arms are arranged at one ends of the supporting rods, and clamping jaws are arranged at the bottoms of the clamping arms.
When the vertical suction hand moves upwards, the pull rod pulls the support rod upwards to enable the clamp arm to move downwards and enable the clamping jaw to approach.
Preferably, the front of the vertical arm is provided with a connecting block, the connecting block is vertically welded on the vertical arm, the welding part of the connecting block and the vertical arm is positioned above the push rod motor, the bottom of the connecting block is welded with the top of the front clamping block, and the bottom of the rear clamping block is welded with the bottom of the vertical arm.
Preferably, the vertical suction hand front is vertically provided with a longitudinal sliding block, the vertical suction hand can vertically move in a sliding groove on the clamping block through the longitudinal sliding block, one end of the pull rod is connected to the rear of the vertical suction hand through a rotating shaft, the other end of the pull rod is connected with the middle position of the supporting rod through a rotating shaft, one end of the supporting rod is connected to the inner wall of the rear clamping block through the rotating shaft, the two supporting rods are mutually parallel, the two other ends of the supporting rod are connected to the inside of the clamping arm through the rotating shaft, the bottom of the clamping arm is vertically provided with a clamping jaw, the clamping jaw is welded with the clamping arm, and the bottom of the vertical suction hand is provided with a sucking disc.
Preferably, the fixing piece is fixed with the outer clamping piece through a screw, the motor is driven at the rear of the fixing piece, and the driving motor is fixedly connected with the fixing piece through the screw.
Preferably, the rocking arm is connected with the mounting through the pivot, perpendicular arm upper end is passed through the positive bottom of mounting transversely is provided with the rail, the rail passes through screw and mounting fixed connection, horizontal slider and rail joint, horizontal slider can be on the rail about the removal, horizontal slider openly is provided with perpendicular slider perpendicularly, perpendicular arm accessible rear lug reciprocates in the recess on perpendicular slider.
Preferably, the outer clamping piece is fixedly connected with the inner clamping piece through a screw, the inner side of the inner clamping piece is clamped with the sliding rail, the sliding rail is fixed inside the mechanical arm through the screw, and the mechanical arm is welded with the fixing column.
Compared with the prior art, the utility model provides the hanging type trimming and blanking manipulator which has the following beneficial effects:
1. through push rod motor and the setting of vertical hand that absorbs, when opening push rod motor and pushing down the electricity push rod, can make vertical hand that absorbs down between the clamp splice, because the one end of branch is fixed on the inner wall of rear clamp splice, when the one end of pull rod follows vertical hand that absorbs down, the pull rod can downwardly pulling branch, make the pole drive the arm lock of both sides and remove and take in between the front and back clamp splice, stretch out between the clamp splice this moment vertical hand, can adsorb the work piece through the sucking disc of bottom, when the electricity push rod upwards draws up through push rod motor effect, can drive arm lock that pull rod one end upwards moved and made the connection on the pole moves down, later the clamping jaw of arm lock bottom is close to each other and presss from both sides the operation to the work piece, finally realize the change to the manipulator snatch the mode, thereby adapt to the production process of different work pieces, improve production efficiency.
2. Through the setting of driving motor and rocking arm, start driving motor and drive pivot rotation on the rocking arm to drive the rocking arm and rotate, when the rocking arm rotated to the left, horizontal slider can take the vertical arm to remove to the left, and the vertical arm can move down on the vertical slider simultaneously, afterwards driving motor reverses, drives the rocking arm and rotates to the right, and in the rotation in-process, the vertical arm can want to rise earlier and descend later, and at the in-process of controlling pivoted, the motion trail of clamping jaw and sucking disc on the vertical arm is parabolic, can avoid the clamping jaw to produce the collision with the object of horizontal direction in the unloading in-process.
Drawings
Fig. 1 is a schematic diagram of the front structure of the present utility model.
Fig. 2 is a schematic view of a folding structure of a clamping arm according to the present utility model.
FIG. 3 is a schematic view of the arm lock of the present utility model in a deployed configuration.
FIG. 4 is a view of the inside of the clip arm of the present utility model shown in a retracted elevational position.
FIG. 5 is a front view of the inside of the arm lock of the present utility model deployed.
Fig. 6 is a schematic view of a partial structure of the present utility model.
Fig. 7 is a partial side view of the present utility model.
In the figure: 1. a transverse slide block; 2. vertical hand suction; 3. a mechanical arm; 4. a servo motor; 5. a driving motor; 6. a belt; 7. a rotating wheel; 8. a slide rail; 9. a fixing member; 10. an outer clip; 11. an inner clip; 12. a rotating arm; 13. a vertical arm; 14. a transverse rail; 15. a connecting block; 16. a vertical slider; 17. fixing the column; 18. a longitudinal slide block; 19. clamping blocks; 20. a pull rod; 21. a support rod; 22. a clamp arm; 23. a push rod motor; 24. an electric push rod; 25. a clamping jaw; 26. and a sucking disc.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
The utility model provides a hanging type trimming and blanking manipulator as shown in figures 1-7, which comprises a mechanical arm 3 and a fixed column 17 vertically arranged behind the mechanical arm 3;
the servo motor 4 is arranged behind the mechanical arm 3, the rotating wheels 7 are arranged on two sides of the inside of the mechanical arm 3, the sliding rail 8 is arranged between the two rotating wheels 7, the belt 6 is arranged on the rotating wheels 7, the inner clamping piece 11 is arranged inside the mechanical arm 3, the outer clamping piece 10 is arranged on the outer side of the inner clamping piece 11, and the fixing piece 9 is arranged on the outer clamping piece 10;
the fixing piece 9 openly top is provided with rocking arm 12, is provided with perpendicular arm 13 on the rocking arm 12, and perpendicular arm 13 openly is provided with push rod motor 23, and push rod motor 23 inside is provided with electric push rod 24, and electric push rod 24 below is provided with vertical suction hand 2, and the outside is provided with clamp splice 19 around the vertical suction hand 2, and vertical suction hand 2 left and right sides symmetry is provided with pull rod 20 respectively, and pull rod 20 below is provided with two branches 21, and two branch 21 one end is provided with arm lock 22, and arm lock 22 bottom is provided with clamping jaw 25.
Wherein, the electric push rod 24 driven by the push rod motor 23 can push the vertical suction hand 2 to move up and down, when the vertical suction hand 2 moves down, the pull rod 20 pulls the supporting rod 21 downwards to enable the clamping arm 22 to move up and retract into the clamping block 19, and when the vertical suction hand 2 moves up, the pull rod 20 pulls the supporting rod 21 upwards to enable the clamping arm 22 to move down and enable the clamping jaw 25 to approach.
In this embodiment, the worker needs to fix the mechanical arm 3 on one side of the production line through the fixing column 17 and start the servo motor 4, after the workpiece needing trimming is processed, the servo motor 4 drives the rotating wheel 7 to rotate and drives the rotating wheel on the other side to rotate through the belt 6, so that the inner clamping piece 11 moves transversely on the sliding rail 8, and then the clamping jaw 25 or the sucking disc 26 can grab the workpiece and move transversely to the blanking area to blanking the workpiece.
As shown in fig. 2 and 6, the front of the vertical arm 13 is provided with a connecting block 15, the connecting block 15 is vertically welded on the vertical arm 13, the welding position of the connecting block 15 and the vertical arm 13 is located above the push rod motor 23, the bottom of the connecting block 15 is welded with the top of the front Fang Gakuai, the rear clamping block 19 is welded with the bottom of the vertical arm 13, the front of the vertical suction hand 2 is vertically provided with a longitudinal sliding block 18, and the vertical suction hand 2 can move up and down in a sliding groove on the clamping block 19 through the longitudinal sliding block 18.
As shown in fig. 2 and 3, one end of a pull rod 20 is connected to the rear of a vertical suction hand 2 through a rotating shaft, the other end of the pull rod 20 is connected to the middle position of a supporting rod 21 through a rotating shaft, one end of the supporting rod 21 is connected to the inner wall of a rear clamping block 19 through a rotating shaft, the two supporting rods 21 are parallel to each other, the other ends of the two supporting rods 21 are connected to the inside of a clamping arm 22 through a rotating shaft, a clamping jaw 25 is vertically arranged at the bottom of the clamping arm 22, the clamping jaw 25 is welded with the clamping arm 22, and a sucking disc 26 is arranged at the bottom of the vertical suction hand 2.
As shown in fig. 1 and 7, the fixing part 9 is fixed with the outer clamping part 10 through a screw, the driving motor 5 behind the fixing part 9 is fixedly connected with the fixing part 9 through a screw, the rotating arm 12 is connected with the fixing part 9 through a rotating shaft, the upper end of the vertical arm 13 is transversely provided with a transverse rail 14 through the bottom of the front face of the fixing part 9, the transverse rail 14 is fixedly connected with the fixing part 9 through a screw, the transverse sliding block 1 is clamped with the transverse rail 14, the transverse sliding block 1 can move left and right on the transverse rail 14, the front face of the transverse sliding block 1 is vertically provided with the vertical sliding block 16, the vertical arm 13 can move up and down in a groove on the vertical sliding block 16 through a bump at the rear, the outer clamping part 10 is fixedly connected with the inner clamping part 11 through a screw, the inner side of the inner clamping part 11 is clamped with the sliding rail 8, the sliding rail 8 is fixedly arranged inside the mechanical arm 3 through a screw, and the mechanical arm 3 is welded with the fixing column 17.
Preferably, when the push rod motor 23 is started to push the electric push rod 24 downwards, the vertical suction hand 2 can move downwards between the clamping blocks 19, because one end of the supporting rod 21 is fixed on the inner wall of the rear clamping block 19, when one end of the pull rod 20 moves downwards along with the vertical suction hand 2, the pull rod 20 can pull the supporting rod 21 downwards, so that the supporting rod 21 drives the clamping arms 22 on two sides to move upwards and retract between the front and rear clamping blocks 19, at the moment, the vertical suction hand 2 stretches out from between the clamping blocks 19, the workpiece can be adsorbed through the sucking disc 26 on the bottom, when the electric push rod 24 is pulled upwards under the action of the push rod motor 23, one end of the pull rod 20 is driven to move upwards, the clamping arms 22 connected with the supporting rod 21 are driven to move downwards, then the clamping jaws 25 on the bottom of the clamping arms 22 are mutually close, the workpiece is clamped, and finally, the grabbing mode of the mechanical hand is changed is realized, so that the production process of different workpieces is adapted, and the production efficiency is improved.
Preferably, the driving motor 5 is started to drive the rotating shaft on the rotating arm 12 to rotate, so as to drive the rotating arm 12 to rotate, when the rotating arm 12 rotates leftwards, the transverse sliding block 1 can drive the vertical arm 13 to move leftwards, meanwhile, the vertical arm 13 can move downwards on the vertical sliding block 16, then the driving motor 5 is reversed to drive the rotating arm 12 to rotate rightwards, in the rotating process, the vertical arm 13 can rise upwards and then descend, in the left-right rotating process, the movement track of the clamping jaw 25 and the sucking disc 26 on the vertical arm 13 is parabolic, and the clamping jaw can be prevented from colliding with an object in the horizontal direction in the blanking process.
Optionally, the suction cup 26 may be replaced if damaged, which may affect the gripping efficiency.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present utility model, and although the present utility model has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present utility model.
Claims (9)
1. A hanging type trimming and blanking manipulator comprises a transverse sliding block (1), a mechanical arm (3) and a fixing column (17) vertically arranged behind the mechanical arm (3);
the automatic clamping device is characterized in that a servo motor (4) is arranged behind the mechanical arm (3), rotating wheels (7) are arranged on two sides of the inside of the mechanical arm (3), a sliding rail (8) is arranged between the two rotating wheels (7), a belt (6) is arranged on the rotating wheels (7), an inner clamping piece (11) is arranged inside the mechanical arm (3), an outer clamping piece (10) is arranged on the outer side of the inner clamping piece (11), and a fixing piece (9) is arranged on the outer clamping piece (10);
the method is characterized in that: the fixing piece (9) is provided with a rotating arm (12) above the front surface, the rotating arm (12) is provided with a vertical arm (13), the front surface of the vertical arm (13) is provided with a push rod motor (23), an electric push rod (24) is arranged inside the push rod motor (23), a vertical suction hand (2) is arranged below the electric push rod (24), clamping blocks (19) are arranged on the front side and the rear side of the vertical suction hand (2), pull rods (20) are symmetrically arranged on the left side and the right side of the vertical suction hand (2) respectively, two supporting rods (21) are arranged below the pull rods (20), one ends of the two supporting rods (21) are provided with clamping arms (22), and clamping jaws (25) are arranged at the bottom of the clamping arms (22);
the driving electric push rod (24) of the push rod motor (23) can push the vertical suction hand (2) to move up and down, when the vertical suction hand (2) moves down, the pull rod (20) pulls the support rod (21) downwards to enable the clamping arm (22) to move up and retract into the clamping block (19), and when the vertical suction hand (2) moves up, the pull rod (20) pulls the support rod (21) upwards to enable the clamping arm (22) to move down and enable the clamping jaw (25) to approach.
2. The hanging trimming and blanking manipulator of claim 1, wherein: the vertical arm (13) openly is provided with connecting block (15), connecting block (15) vertical welding is on vertical arm (13), just connecting block (15) are located push rod motor (23) top with vertical arm (13) welded site, connecting block (15) bottom and place ahead clamp splice (19) top welding, the rear clamp splice (19) with vertical arm (13) bottom welding.
3. The hanging trimming and blanking manipulator of claim 1, wherein: the vertical suction hand (2) is vertically provided with a longitudinal sliding block (18) on the front surface, and the vertical suction hand (2) can move up and down in a sliding groove on a clamping block (19) through the longitudinal sliding block (18).
4. A hanging trimming and blanking manipulator according to claim 3, wherein: one end of the pull rod (20) is connected to the rear of the vertical suction hand (2) through a rotating shaft, the other end of the pull rod (20) is connected with the middle position of the supporting rod (21) through a rotating shaft, one end of the supporting rod (21) is connected to the inner wall of the rear clamping block (19) through a rotating shaft, two supporting rods (21) are parallel to each other, and the other ends of the two supporting rods (21) are connected to the inside of the clamping arm (22) through rotating shafts.
5. The hanging trimming and blanking manipulator of claim 4, wherein: clamping jaw (25) are vertically arranged at the bottom of the clamping arm (22), the clamping jaw (25) is welded with the clamping arm (22), and a sucking disc (26) is arranged at the bottom of the vertical suction hand (2).
6. The hanging trimming and blanking manipulator of claim 1, wherein: the fixing piece (9) is fixed with the outer clamping piece (10) through a screw, the motor (5) is driven at the rear of the fixing piece (9), and the driving motor (5) is fixedly connected with the fixing piece (9) through the screw.
7. The hanging trimming and blanking manipulator of claim 6, wherein: the rotary arm (12) is connected with the fixing piece (9) through a rotary shaft, the upper end of the vertical arm (13) is transversely provided with a transverse rail (14) through the bottom of the front face of the fixing piece (9), and the transverse rail (14) is fixedly connected with the fixing piece (9) through a screw.
8. The hanging trimming and blanking manipulator of claim 7, wherein: the transverse sliding block (1) is clamped with the transverse rail (14), the transverse sliding block (1) can move left and right on the transverse rail (14), the vertical sliding block (16) is vertically arranged on the front surface of the transverse sliding block (1), and the vertical arm (13) can move up and down in a groove on the vertical sliding block (16) through a lug at the rear.
9. The hanging trimming and blanking manipulator of claim 1, wherein: the outer clamping piece (10) is fixedly connected with the inner clamping piece (11) through a screw, the inner side of the inner clamping piece (11) is clamped with the sliding rail (8), the sliding rail (8) is fixed inside the mechanical arm (3) through the screw, and the mechanical arm (3) is welded with the fixing column (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321075761.4U CN220128255U (en) | 2023-05-08 | 2023-05-08 | Suspension type trimming and blanking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321075761.4U CN220128255U (en) | 2023-05-08 | 2023-05-08 | Suspension type trimming and blanking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220128255U true CN220128255U (en) | 2023-12-05 |
Family
ID=88950298
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321075761.4U Active CN220128255U (en) | 2023-05-08 | 2023-05-08 | Suspension type trimming and blanking manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220128255U (en) |
-
2023
- 2023-05-08 CN CN202321075761.4U patent/CN220128255U/en active Active
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