CN220260317U

CN220260317U - Material taking manipulator

Info

Publication number: CN220260317U
Application number: CN202321297137.9U
Authority: CN
Inventors: 白振敏
Original assignee: Shanghai Tongxi Molding Technology Co ltd
Current assignee: Shanghai Tongxi Molding Technology Co ltd
Priority date: 2023-05-26
Filing date: 2023-05-26
Publication date: 2023-12-29
Anticipated expiration: 2033-05-26

Abstract

The application discloses a material taking manipulator relates to the manipulator field, and comprises a truss, wherein an installation seat is arranged on the truss along the sliding direction, a cantilever is welded on one side of the installation seat, the cantilever is perpendicular to the length direction of the truss, a supporting seat is arranged on the cantilever along the length direction of the cantilever in a sliding manner, and a vertical lifting rail is arranged on the supporting seat in a lifting manner along the vertical direction; the lower end of the lifting rail is hinged with a gripping seat, a pneumatic clamping jaw is fixedly arranged on the gripping seat, a gripping cavity is arranged in the pneumatic clamping seat, and when the pneumatic clamping jaw clamps a workpiece, the workpiece can be clamped in the gripping cavity; the gripping seat is fixedly provided with a driving piece, the driving piece is an air cylinder, an output shaft of the driving piece is vertical, and the end part of the output shaft of the driving piece is provided with a clamping plate. Starting the driving piece, can follow the upside of work piece with work piece centre gripping in pneumatic clamping jaw, this application has improved the stability to work piece centre gripping.

Description

Material taking manipulator

Technical Field

The application relates to the field of manipulators, in particular to a material taking manipulator.

Background

The manipulator is an automatic operation device which can simulate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to fixed programs, the production efficiency can be improved, and truss manipulators are often used for transporting workpieces on a production line nowadays.

The existing truss manipulator comprises a truss, an installation seat is slidably installed on the truss along the length direction of the truss, a horizontal cantilever is fixedly arranged on the installation seat along the direction perpendicular to the truss, a supporting seat is slidably installed on the cantilever along the length direction of the cantilever, the supporting seat is located above a platform, a long-strip-shaped vertical lifting rail is installed on one side of the supporting seat in a lifting manner along the vertical direction, a pneumatic clamping jaw for grabbing a workpiece is fixedly arranged at the lower end of the lifting rail, a grabbing cavity is formed in the pneumatic clamping jaw, the workpiece on the platform can be grabbed in the grabbing cavity, and the workpiece is transported to a corresponding place along the length direction of the truss

For the related art, when clamping a workpiece, the workpiece is positioned in the pneumatic clamping jaw, the outer peripheral side of the workpiece is abutted against the inner peripheral side of the pneumatic clamping jaw, so that the workpiece is clamped in the pneumatic clamping jaw tightly, the size of the pneumatic clamping jaw is relatively fixed, and when clamping a smaller workpiece, the workpiece is easy to slide in the pneumatic clamping jaw and slide from the pneumatic clamping jaw.

Disclosure of Invention

In order to improve stability to work piece centre gripping, this application provides a material picking manipulator.

The application provides a get material manipulator adopts following technical scheme:

the utility model provides a material taking manipulator, includes the lifting rail, be equipped with on the lifting rail and grasp the seat, grasp and fixedly be equipped with pneumatic clamping jaw on the seat, be equipped with the cavity of gripping that is used for the centre gripping work piece in the pneumatic clamping jaw, grasp and be equipped with the grip block on the seat and be used for driving the grip block from grasping the seat and support the driving piece to the work piece towards the direction of pneumatic clamping jaw, the driving piece is fixed to be located on the seat of gripping.

Through adopting above-mentioned technical scheme, start pneumatic clamping jaw, can be with the work piece centre gripping in grabbing the intracavity, then start the driving piece, can order about the grip block and be close to the work piece for the grip block is with work piece butt at grabbing the intracavity, and grip block and pneumatic clamp cooperate, can follow work piece week side and carry out the centre gripping to the work piece fixedly, when carrying out the centre gripping to less work piece, can effectually with the work piece centre gripping and fix in grabbing the intracavity, wholly improved the stability of manipulator to the work piece centre gripping.

Optionally, the driving member includes a cylinder, and the clamping plate is mounted on an output shaft of the driving member.

Through adopting above-mentioned technical scheme, cylinder simple structure, stability is higher, can improve the stable system of grip block centre gripping, convenient operation.

Optionally, the coaxial fixed elastic telescopic link that is equipped with of an organic whole on the output shaft of driving piece, grip block fixed connection is kept away from the one end of driving piece at elastic telescopic link.

Through adopting above-mentioned technical scheme, start the driving piece and order about the grip block to the work piece, when the grip block collided the work piece, the flexible telescopic link of elasticity can be corresponding deformation shorten, has reduced the impact of grip block to the work piece, has reduced the damage that the work piece received, is favorable to keeping the good of work piece surface.

Optionally, a side of the clamping plate away from the driving member is arc-shaped.

Through adopting above-mentioned technical scheme, when the grip block presss from both sides the work piece, the arc side of grip block can carry out spacingly to the work piece to improved the stability of grip block to the work piece centre gripping, further improved the centre gripping effect to the work piece.

Optionally, the grip block is kept away from the fixed slipmat that is equipped with of one side of driving piece.

Through adopting above-mentioned technical scheme, the slipmat has strengthened the friction on the grip block, and when the grip block carried out the centre gripping to the work piece, the work piece was difficult for sliding from the grip block with the frictional force on the slipmat increase.

Optionally, two clamping plates are arranged, two clamping plates are positioned on two sides of the pneumatic clamping jaw, and two groups of clamping plates corresponding to the driving piece and the elastic telescopic rod one by one are arranged.

Through adopting above-mentioned technical scheme, two grip blocks cooperate, can support to the work piece from pneumatic clamping jaw's both sides, can strengthen the equilibrium that the work piece was grabbed on pneumatic clamping jaw, improved the effect of grabbing to the work piece.

Optionally, the gripping seat is hinged on the lifting rail, the hinge axis of the gripping seat is perpendicular to the length direction of the lifting rail, and the lifting rail is provided with a pushing piece for driving the gripping seat to rotate along the hinge axis of the gripping seat.

Through adopting above-mentioned technical scheme, control impeller can order about to grasp the seat rotation, is convenient for adjust the angle of work piece.

Optionally, the output shaft of the pushing piece is hinged with a transmission rod, one end of the transmission rod, which is far away from the pushing piece, is hinged on the grabbing seat, and the hinge axes of the two ends of the transmission rod are parallel to the hinge axes on the grabbing seat.

Through adopting above-mentioned technical scheme, the output shaft of catch bar shortens, can drive the transfer line and stimulate and grasp the seat rotation, can be more convenient realization to grasp the regulation of seat angle, can effectually adjust the angle of work piece.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the driving piece is started, the clamping plate can be driven to abut against the workpiece, and when the anti-slip pad abuts against the workpiece, the clamping plate can clamp the workpiece from the periphery of the workpiece in a pneumatic clamping mode, so that the workpiece is effectively clamped and fixed;

2. the elastic telescopic rod can buffer the clamping plate, and when the clamping plate clamps a workpiece, the elastic telescopic rod reduces the impact between the clamping plate and the workpiece, so that the workpiece is effectively protected;

3. through the mutual cooperation of the pushing piece and the transmission rod, the grabbing seat can be driven to rotate along the hinge axis of the grabbing seat, and the angle of a workpiece can be changed conveniently for an operator.

Drawings

FIG. 1 is a schematic overall structure of an embodiment of the present application;

fig. 2 is an enlarged schematic view of the portion a in fig. 1.

Reference numerals: 1. truss; 11. a mounting base; 111. a cantilever; 2. a support base; 3. lifting rails; 31. a pushing member; 32. a locking block; 4. a grip base; 41. a straight rod; 5. pneumatic clamping jaws; 51. a gripping chamber; 52. an elastic pad; 6. a transmission rod; 7. a driving member; 71. an elastic telescopic rod; 8. a clamping plate; 81. an anti-slip mat.

Detailed Description

The present application is described in further detail below in conjunction with figures 1-2.

The embodiment of the application discloses a material taking manipulator. Referring to fig. 1 and 2, a material taking manipulator includes a horizontal truss 1, a mounting seat 11 is slidably mounted on the truss 1 along the length of the truss 1, a horizontal cantilever 111 is welded on one side of the mounting seat 11, the cantilever 111 is perpendicular to the length direction of the truss 1, a supporting seat 2 is slidably mounted on the cantilever 111 along the length direction of the cantilever 111, and a vertical lifting rail 3 is vertically lifted and mounted on the supporting seat 2; the lower end of the lifting rail 3 is hinged with a gripping seat 4, a pneumatic clamping jaw 5 is fixedly arranged on the gripping seat 4, a gripping cavity 51 is arranged in the pneumatic clamping, and when the pneumatic clamping jaw 5 clamps a workpiece, the workpiece can be clamped in the gripping cavity 51; the mounting seat 11, the supporting seat 2 and the lifting rail 3 are matched with each other, so that three-way transportation of workpieces can be realized, and flexible transportation of the workpieces is realized.

Referring to fig. 2, a pushing member 31 is disposed on the lifting rail 3, the pushing member 31 is an air cylinder in the embodiment of the present application, a housing of the pushing member 31 is welded at the lower end of the lifting rail 3, an output shaft of the pushing member 31 is perpendicular to the lifting rail 3, a transmission rod 6 is hinged on the output shaft of the pushing member 31, a straight rod 41 is integrally and fixedly welded on one side of the gripping seat 4 facing the transmission rod 6 in a protruding manner, one end of the transmission rod 6 away from the pushing member 31 is hinged on the straight rod 41, and hinge axes at two ends of the transmission rod 6 are parallel to those of the gripping seat 4; the fixed salient in lower extreme of lifting rail 3 is equipped with locking piece 32, and the output shaft of control impeller 31 stretches out and draws back, can order about to grasp seat 4 and rotate along its articulated axis, when grasping seat 4 and the downside looks butt of locking piece 32, can carry out spacingly grasping seat 4's rotation, is convenient for in the angle of adjusting the work piece.

The driving piece 7 is fixedly arranged on the grabbing seat 4, the driving piece 7 is an air cylinder, a shell of the driving piece 7 is welded on the grabbing seat 4, an output shaft of the driving piece 7 is vertical, an elastic telescopic rod 71 is coaxially welded at the end part of the output shaft of the driving piece 7, the elastic telescopic rod 71 is a spring rod in the embodiment of the application, and a clamping plate 8 is welded at the lower end of the elastic telescopic rod 71; the driving piece 7 is started, the elastic telescopic rod 71 can be driven to drive the clamping plate 8 to abut against the workpiece from top to bottom, the workpiece can be clamped and fixed from the upper side and the lower side of the workpiece, the smaller workpiece can be clamped and fixed, and the clamping and fixing effect on the workpiece is improved.

Referring to fig. 1 and 2, an elastic pad 52 is disposed in the pneumatic clamping jaw 5, the elastic pad 52 is a foam cushion in the embodiment of the application, the foam cushion is laid on the inner side of the pneumatic clamping jaw 5, when the pneumatic clamping jaw 5 clamps a workpiece, the foam cushion is abutted with the workpiece, and when the pneumatic clamping jaw 5 clamps the workpiece, damage to the workpiece can be reduced.

The clamping plate 8 is an arc-shaped plate, the arc-shaped opening of the clamping plate 8 is positioned at one side of the clamping plate 8 far away from the driving piece 7, when the clamping plate 8 clamps a workpiece, the workpiece can be clamped at the arc-shaped opening of the arc-shaped plate,

the downside of grip block 8 is equipped with and pastes and adhere to there is curved slipmat 81, and slipmat 81 is the rubber pad in this application embodiment, and slipmat 81 has increased the friction with the work piece between, has improved the stability of grip block 8 to the work piece centre gripping.

The clamping plate 8, the anti-slip pad 81 and the pneumatic clamping jaw 5 are matched with each other, so that the workpiece can be clamped from the upper side and the lower side of the workpiece, and the stability of workpiece clamping is improved. The clamping plates 8, the anti-slip pads 81 and the driving pieces 7 are arranged in a one-to-one correspondence mode, the two clamping plates 8 are respectively located on two sides of the pneumatic clamping jaw 5, the two clamping plates 8 can clamp a workpiece in a more balanced mode, and the stability of clamping the workpiece is improved.

The implementation principle of the material taking manipulator in the embodiment of the application is as follows: the starting clamping jaw is controlled, so that a workpiece can be clamped in the clamping cavity 51 of the pneumatic clamping jaw 5, then the driving piece 7 is started, the clamping plate 8 can be driven to abut against the workpiece from top to bottom, and the clamping plate 8 and the pneumatic clamping jaw 5 can clamp and fix the workpiece rubber from the upper side and the lower side of the workpiece, so that the stability of clamping the workpiece is improved; the elastic telescopic rod 71 can reduce the collision between the clamping plate 8 and the workpiece, so that the workpiece is kept intact, and the workpiece clamping stability is improved as a whole.

The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims

1. The utility model provides a material picking manipulator, includes lift rail (3), its characterized in that: the lifting rail (3) is provided with a gripping seat (4), the gripping seat (4) is fixedly provided with a pneumatic clamping jaw (5), a gripping cavity (51) for clamping a workpiece is arranged in the pneumatic clamping jaw (5), the gripping seat (4) is provided with a clamping plate (8) and a driving piece (7) for driving the clamping plate (8) to prop against the workpiece from the gripping seat (4) towards the direction of the pneumatic clamping jaw (5), and the driving piece (7) is fixedly arranged on the gripping seat (4).

2. The reclaimer robot of claim 1, wherein: the driving piece (7) comprises an air cylinder, and the clamping plate (8) is arranged on an output shaft of the driving piece (7).

3. The reclaimer robot of claim 2, wherein: an elastic telescopic rod (71) is integrally and coaxially fixed on the output shaft of the driving piece (7), and the clamping plate (8) is fixedly connected to one end, far away from the driving piece (7), of the elastic telescopic rod (71).

4. The reclaimer robot of claim 1, wherein: the side of the clamping plate (8) far away from the driving piece (7) is arc-shaped.

5. The reclaimer robot of claim 4, wherein: one side of the clamping plate (8) far away from the driving piece (7) is fixedly provided with an anti-slip pad (81).

6. A pick out robot as claimed in claim 3, wherein: the clamping plates (8) are arranged at two sides of the pneumatic clamping jaw (5), and two groups of driving pieces (7) and elastic telescopic rods (71) are arranged in one-to-one correspondence with the clamping plates (8).

7. The reclaimer robot of claim 1, wherein: the grabbing seat (4) is hinged to the lifting rail (3), the hinge axis of the grabbing seat (4) is perpendicular to the length direction of the lifting rail (3), and the lifting rail (3) is provided with a pushing piece (31) for driving the grabbing seat (4) to rotate along the hinge axis of the grabbing seat (4).

8. The reclaimer robot of claim 7, wherein: the output shaft of the pushing piece (31) is hinged with a transmission rod (6), one end, far away from the pushing piece (31), of the transmission rod (6) is hinged on the grabbing seat (4), and the hinge axes of the two ends of the transmission rod (6) are parallel to the hinge axes of the grabbing seat (4).