CN220297108U - Side-taking manipulator assembly - Google Patents

Abstract

The utility model provides a side-taking manipulator assembly which comprises a machine table, a rectangular frame, a lifting seat, a movable arm, a clamping mechanism, a long cylinder, a lifting cylinder and a visual detection mechanism, wherein the lifting seat is installed in the rectangular frame in a lifting mode, the movable arm is movably inserted into the lifting seat, the clamping mechanism is fixed at the front end of the movable arm and used for clamping products, the long cylinder is used for pushing the movable arm to move in the lifting seat, the lifting cylinder is used for pushing the lifting seat to lift in the frame, the visual detection mechanism is fixed at the front end of the movable arm and used for detecting workpieces, and the rectangular frame is installed on the machine table through a first rotary cylinder. The visual detection mechanism is used for detecting the workpiece clamped by the clamping mechanism so as to identify defective products and qualified products, the clamping mechanism is rotated to the upper part of the defective product blanking port or the qualified product blanking port, products are classified, defective products are selected, the subsequent manual intervention procedures are reduced, and the production efficiency is improved.

Description

Side-taking manipulator assembly

Technical Field

The utility model relates to a manipulator, in particular to a side-taking manipulator assembly.

Background

In the technical field of injection molding, a side-picking manipulator is more common, for example, chinese patent discloses a side-picking manipulator (patent No. 202121496441.7), which comprises a frame and a grabbing robot, wherein the grabbing robot comprises a transverse moving mechanism, a longitudinal moving mechanism, a lifting mechanism and a rotating mechanism, the longitudinal moving mechanism is arranged on the transverse moving mechanism, and the rotating mechanism is arranged on the longitudinal moving mechanism through the lifting mechanism; the transverse moving mechanism, the longitudinal moving mechanism and the lifting mechanism all adopt motor gears and rack driving modes. According to the utility model, the movement of the grabbing mechanical arm in 3 directions can be realized through the transverse moving mechanism, the longitudinal moving mechanism, the lifting mechanism and the rotating mechanism, and meanwhile, the rotating action of any angle can be realized, so that the flexibility of the grabbing mechanical arm is increased to the greatest extent, the structure is simple, and the moving stroke of the grabbing mechanical arm can be accurately controlled; through the rotation of rotating electrical machines control tool board, guarantee rotatory precision, simultaneously through be provided with a plurality of grasping portions similar with product structure at the tool board lower extreme, guarantee to snatch the in-process and can not damage the product. The technical proposal recorded in the Chinese patent has the following problems when being specifically used: firstly, because it adopts the form of full electric drive, the cost is higher relatively, is unfavorable for promoting, and secondly, it does not possess visual detection system, can't classify the product, and the defective product can't classify at this step promptly.

Disclosure of Invention

The main object of the present utility model is to solve the above-mentioned problems and provide a side-picking manipulator assembly.

The utility model adopts the technical scheme that: the utility model provides a side is got manipulator assembly, includes board, rectangular frame, liftable install lifting seat in the rectangular frame, movable alternate is in remove the arm in the lifting seat, fix remove arm front end be used for pressing from both sides the clamp material mechanism of getting the product, be used for promoting remove the arm and be in the long cylinder that removes in the lifting seat, be used for promoting lifting seat is in the lifting cylinder that goes up and down in the frame, fix remove arm front end and be used for detecting the visual detection mechanism of work piece, rectangular frame passes through first revolving cylinder and installs on the board, the board sets up flaw article blanking mouth and qualified product blanking mouth.

The lifting seat is provided with two sliding seats sleeved on the two guide rods, a sliding block is fixed in the middle of the sliding seat, and the movable arm is installed on the sliding block through a guide rail.

The cylinder body of the lifting cylinder is fixed at the top of the rectangular frame, and a piston rod of the lifting cylinder is connected with the lifting seat.

The cylinder body of the long cylinder is parallel to the movable arm and fixed on the lifting seat, and the cylinder shaft of the long cylinder is connected with the front end of the movable arm.

The material clamping mechanism and the visual detection mechanism are fixed at the front end of the movable arm through a fixing plate, and the material clamping mechanism is located below the visual detection mechanism.

The clamping mechanism comprises a second rotary cylinder fixed with the fixed plate, a clamping cylinder fixed with a rotary rod of the second rotary cylinder and a clamping assembly fixed with a cylinder shaft of the clamping cylinder, wherein the clamping assembly comprises a clamping seat, a left clamping plate movably connected with the clamping seat and a right clamping plate movably connected with the clamping seat, and the left clamping plate and the right clamping plate are movably connected with a piston rod of the clamping cylinder through connecting rods.

The visual detection mechanism comprises a third rotary cylinder fixed with the fixing plate, a rotary table fixed with a rotary rod of the third rotary cylinder, an eccentric shaft eccentrically arranged on the rotary table, a deflection cylinder fixed on the eccentric shaft, a fixing frame fixed with a cylinder body of the deflection cylinder, a hinge arranged on the fixing frame and a CCD camera arranged on the hinge.

The hinge comprises a rotating shaft fixed on the fixing frame, a rotating drum movably connected on the rotating shaft, a first pivot seat fixed with a piston rod of the deflection cylinder, a second pivot seat fixed with the CCD camera and a connecting rod movably connected with the first pivot seat and the second pivot seat, and the rotating drum is fixed with the CCD camera.

The beneficial effects of the utility model are as follows: the visual detection mechanism is used for detecting the workpiece clamped by the clamping mechanism so as to identify defective products and qualified products, and then the first rotary cylinder is used for driving the rectangular frame to rotate, so that the clamping mechanism rotates to the position above the defective product blanking port or the qualified product blanking port, the products are classified, defective products are selected, the subsequent manual intervention procedures are reduced, and the production efficiency is improved.

Drawings

Fig. 1 is an overall schematic of the present utility model.

Fig. 2 and 3 are perspective views of the utility model at different angles after the machine is removed.

Fig. 4 is a schematic structural view of the clamping mechanism of the present utility model.

Fig. 5 is a schematic structural view of the visual inspection mechanism of the present utility model.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the utility model is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "leaf level," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Referring to fig. 1 to 5 together, the present utility model provides a side-picking manipulator assembly, which includes a machine 10, a rectangular frame 20, a lifting seat 30 installed in the rectangular frame 20 in a liftable manner, a moving arm 40 movably inserted in the lifting seat 30, a clamping mechanism 50 fixed at the front end of the moving arm 40 and used for clamping products, a long cylinder 60 used for pushing the moving arm 40 to move in the lifting seat 30, a lifting cylinder 70 used for pushing the lifting seat 30 to lift in the frame 20, a visual detection mechanism 80 fixed at the front end of the moving arm 40 and used for detecting workpieces, wherein the rectangular frame 20 is installed on the machine 10 through a first rotary cylinder 21, the machine 10 is provided with a defective product blanking port 11 and a qualified product blanking port 12, and the clamping mechanism 50 can be accurately aligned with the position of a workpiece and clamped by the characteristics of the lifting seat 30, the rotatable function of the rectangular frame 20 and the moving arm 40, and simultaneously the visual detection mechanism 80 can be used for detecting the defective products, and the defective products are detected through the first rotary cylinder 21, and the defective products are detected by the rotary cylinder 20, and the defective products are detected by the subsequent rotary cylinder 20, and the defective products are detected by the manual products are detected by the rotary cylinder 20, and the defective products are detected by the rotary cylinder 20.

Specifically, in this embodiment, two corresponding guide rods 21 are disposed inside the rectangular frame 20, the lifting seat 30 is provided with two sliding seats 31 sleeved on the two guide rods 31, a sliding block 32 is fixed in the middle of the sliding seat 31, and the moving arm 40 is mounted on the sliding block 32 through a guide rail 41, so that the moving arm 40 can move on the sliding seat 31, and it is worth mentioning that the moving arm 40 is perpendicular to the two guide rods 31.

Further, the cylinder body of the lifting cylinder 70 is fixed on the top of the rectangular frame 20, and the piston rod of the lifting cylinder 70 is connected with the lifting seat 30. Thereby realizing the function of lifting the lifting seat 30 on the rectangular frame 20.

Specifically, in this embodiment, the cylinder body of the long cylinder 60 is parallel to the moving arm 40 and is fixed on the lifting seat 30, and the cylinder shaft of the long cylinder 60 is connected to the front end of the moving arm 40, so that the long cylinder 60 can push the moving arm 40 to move in the lifting seat by means of the cooperation of the guide rail 41 and the sliding block 32.

The material clamping mechanism 50 and the visual detection mechanism 80 are fixed at the front end of the movable arm 40 through a fixing plate A, and the material clamping mechanism 50 is positioned below the visual detection mechanism 80. In the present embodiment, the cylinder shaft of the long cylinder 60 is fixed to the fixing plate a, so that the pulling movement of the moving arm 40 is achieved.

The clamping mechanism 50 comprises a second rotary air cylinder 51 fixed with the fixed plate A, a clamping air cylinder 52 fixed with a rotary rod of the second rotary air cylinder 51 and a clamping component 53 fixed with an air cylinder shaft of the clamping air cylinder 52, the clamping component 53 comprises a clamping seat 531, a left clamping plate 532 movably connected with the clamping seat 531 and a right clamping plate 533 movably connected with the clamping seat 531, the left clamping plate 532 and the right clamping plate 533 are movably connected to a piston rod of the clamping air cylinder 52 through connecting rods, and the left clamping plate 532 and the right clamping plate 533 are driven to move oppositely or reversely through the clamping air cylinder 52 so as to achieve a clamping effect.

The visual inspection mechanism 80 includes a third rotary cylinder 81 fixed to the fixing plate a, a rotary table 82 fixed to a rotary rod of the third rotary cylinder 81, an eccentric shaft 83 eccentrically provided on the rotary table 82, a deflection cylinder 84 fixed to the eccentric shaft 83, a fixing frame 85 fixed to a cylinder body of the deflection cylinder 84, a hinge 86 mounted on the fixing frame 85, and a CCD camera 87 mounted on the hinge 86, the hinge 86 includes a rotary shaft 861 fixed to the fixing frame 85, a rotary drum 862 movably connected to the rotary shaft 861, a first pivot 863 fixed to a piston rod of the deflection cylinder 84, a second pivot 864 fixed to the CCD camera 87, and a link 865 movably connected to the first pivot 863 and the second pivot 864, the rotary drum 862 being fixed to the CCD camera, thereby realizing pushing the deflection of the CCD camera by the deflection cylinder 84.

The embodiments of the present utility model and the accompanying drawings are only for illustrating the design concept of the present utility model, and the scope of the present utility model should not be limited to this embodiment.

From the above, it can be seen that the design object of the present utility model can be effectively implemented. Portions of the embodiments illustrate the objects of the utility model, as well as the functional and structural subject matter of the implementation, and include other equivalents and alternatives.

Therefore, the utility model is defined by the claims to include other equivalent implementations, with reference to the claims for the full scope of the claims.

Claims (8)

1. The utility model provides a mechanical arm assembly is got to side which characterized in that: the automatic lifting device comprises a machine table, a rectangular frame, a lifting seat, a movable arm, a clamping mechanism, a long cylinder, a lifting cylinder and a visual detection mechanism, wherein the lifting seat is installed in the rectangular frame in a lifting mode, the movable arm is movably inserted into the lifting seat, the clamping mechanism is fixed at the front end of the movable arm and used for clamping products, the long cylinder is used for pushing the movable arm to move in the lifting seat, the lifting cylinder is used for pushing the lifting seat to lift in the frame, the visual detection mechanism is fixed at the front end of the movable arm and used for detecting workpieces, the rectangular frame is installed on the machine table through a first rotary cylinder, and the machine table is provided with a flaw product blanking port and a qualified product blanking port.

2. The side-taking manipulator assembly according to claim 1, wherein two corresponding guide rods are arranged in the rectangular frame, two sliding seats sleeved on the two guide rods are arranged on the lifting seat, a sliding block is fixed in the middle of the sliding seat, and the moving arm is mounted on the sliding block through a guide rail.

3. The side-lift manipulator assembly of claim 2, wherein the cylinder body of the lift cylinder is fixed to the top of the rectangular frame, and the piston rod of the lift cylinder is connected to the lift base.

4. A side-lift manipulator assembly as in claim 3, wherein the cylinder body of the long cylinder is parallel to the movable arm and is fixed to the lifting base, and wherein the cylinder shaft of the long cylinder is connected to the front end of the movable arm.

5. The side-draw manipulator assembly of claim 4, wherein the clamping mechanism and the vision inspection mechanism are fixed to the front end of the movable arm by a fixing plate, and the clamping mechanism is located below the vision inspection mechanism.

6. The side-draw manipulator assembly of claim 5, wherein the clamping mechanism comprises a second rotary cylinder fixed with the fixed plate, a clamping cylinder fixed with a rotary rod of the second rotary cylinder and a clamping assembly fixed with a cylinder shaft of the clamping cylinder, and the clamping assembly comprises a clamping seat, a left clamping plate movably connected with the clamping seat and a right clamping plate movably connected with the clamping seat, and the left clamping plate and the right clamping plate are movably connected with a piston rod of the clamping cylinder through connecting rods.

7. The side-access robot assembly of claim 6, wherein the visual inspection mechanism comprises a third rotary cylinder fixed to the fixed plate, a turntable fixed to a rotary rod of the third rotary cylinder, an eccentric shaft eccentrically disposed on the turntable, a deflection cylinder fixed to the eccentric shaft, a fixed frame fixed to a cylinder of the deflection cylinder, a hinge mounted on the fixed frame, and a CCD camera mounted on the hinge.

8. The side-access robot assembly of claim 7, wherein the hinge comprises a shaft fixed to the fixed frame, a rotating drum movably connected to the shaft, a first pivot seat fixed to a piston rod of the yaw cylinder, a second pivot seat fixed to the CCD camera, and a connecting rod movably connected to the first pivot seat and the second pivot seat, the rotating drum being fixed to the CCD camera.