CN221274500U - Manipulator grabbing device - Google Patents

Abstract

The utility model discloses a manipulator grabbing device, which is used for transporting products and comprises: machine, first horizontal transfer mechanism, second horizontal transfer mechanism and transport tongs, first horizontal transfer mechanism includes: first slide rail and fixed plate, the fixed plate includes: first fixed plate and second fixed plate, the slider that sets up on first fixed plate and the first slide rail carries out sliding connection, and second horizontal transfer mechanism includes: transport subassembly and cable fixed subassembly, cable fixed subassembly and transport subassembly all with second fixed plate fixed connection, second level transport mechanism is wholly fixed in on the fixed plate of L type structure, transport tongs include: the vertical lifting mechanism that mechanical clamping jaw and mechanical clamping jaw drive connection, this kind of setting mode, two anchor clamps that mechanical clamping jaw set up snatch the product after, cooperate first horizontal transfer mechanism and second horizontal transfer mechanism to carry out the horizontal transfer with the product, have improved transfer efficiency.

Description

Manipulator grabbing device

Technical Field

The utility model relates to the technical field of industrial manufacturing, in particular to a manipulator grabbing device.

Background

Along with the acceleration of manufacturing industry, transfer device is widely used in electronic equipment research and development mill and processing production line, the producer is attach importance the reliability of transfer device in carrying out the power adapter transportation process gradually, because current power adapter is in carrying out the transportation in-process, the transportation speed is slower, current power adapter is generally by the manual work with each power adapter on the production line after taking one by one, manual operation places the power adapter on the conveyer belt of corresponding one and carries out the transportation, can touch the packaging film of power adapter generally in carrying out the in-process of manual operation, can lead to the packaging film on the power adapter to drop in carrying out the process of transporting, and then influence the qualification rate that the power adapter leaves the factory, the workman frequently takes the power adapter, consume a large amount of human resources, thereby lead to the time that a series of types of electronic products such as power adapter used is too complicated in the transportation process of power adapter is carried out by the manual work, and a series of market conditions such as fingerprint are left to the shell of product easily in carrying out the process of carrying out the power adapter, thereby influence the whole qualification rate of product and the product is carried out the product, the present has the problem that the manipulator is used in the transportation of the existing mechanical device is lower in the efficiency of leaving the factory.

Disclosure of utility model

The utility model discloses a manipulator grabbing device, which aims to solve the problem that the existing manipulator grabbing device has lower product transferring efficiency in the using process.

The utility model provides a manipulator grabbing device, which is used for transporting products and is characterized by comprising: the device comprises a machine table, a first horizontal transfer mechanism, a second horizontal transfer mechanism and a transfer gripper, wherein the first horizontal transfer mechanism, the second horizontal transfer mechanism and the transfer gripper are fixedly connected with the machine table, and the transfer gripper is vertically arranged on one side of the machine table;

The first horizontal transfer mechanism comprises: the utility model provides a set up in first slide rail on the board horizontal plane and with first slide rail upper end fixed connection's fixed plate, the fixed plate includes: the first fixing plate is in sliding connection with a first sliding block arranged on the first sliding rail, and the second fixing plate is vertically fixed on one side of the first fixing plate to form an L-shaped structure;

The second horizontal transfer mechanism comprises: the cable fixing assembly and the transferring assembly are fixedly connected with the second fixing plate, the cable fixing assembly is provided with a hinge, one end of the hinge is fixedly connected with the first connecting plate, the first connecting plate arranged by the cable fixing assembly is fixedly connected with the second connecting plate arranged by the transferring assembly, and the second horizontal transferring mechanism is integrally fixed on the fixing plate of the L-shaped structure;

The transfer gripper comprises: the mechanical clamping jaw and with mechanical clamping jaw fixed connection's vertical lifting mechanism, two anchor clamps that mechanical clamping jaw set up snatch behind the product cooperate first horizontal transfer mechanism and the horizontal transfer of product is carried out to second horizontal transfer mechanism.

The manipulator grabbing device comprises a machine table, a first fixing plate, a second fixing plate and a first sliding block, wherein two flanges are arranged on one side of the first fixing plate, which faces towards the machine table, a plurality of screw holes are formed in one side of the flanges, which faces away from the second fixing plate, a bolt is arranged in each screw hole, and the flanges arranged on the first fixing plate are fixedly connected with the first sliding block through the bolts.

The utility model provides a manipulator grabbing device, wherein, the one end fixedly connected with vertical lifting mechanism of transporting tongs, vertical lifting mechanism fixedly connected with limiting plate of an L type structure, the shorter one end of limiting plate of L type structure with transport the outside fixed connection of subassembly.

The manipulator grabbing device comprises a lifting frame and a vertical guide rail arranged on one side of the lifting frame, wherein a second sliding block is arranged on the vertical guide rail.

The utility model provides a manipulator grabbing device, wherein, transport tongs and transport the subassembly and be connected with a cylinder respectively, one side of cylinder is connected with a choke valve, the cylinder passes through pneumatic drive in the choke valve the clamping jaw that transports the tongs setting separates and folds.

A robotic grasping device, wherein the transport assembly comprises: the throttle valve on one side of the air cylinder drives the third sliding block to move along the direction of the horizontal guide rail.

The manipulator grabbing device comprises a first connecting plate, a second connecting plate, a third sliding block, a limiting plate and a transporting handle, wherein the first connecting plate faces to one side of the first fixing plate and is fixedly connected with the third sliding block, and one side of the first connecting plate, which faces away from the first fixing plate, is fixedly connected with the limiting plate of the L-shaped structure arranged on the transporting handle.

The manipulator grabbing device comprises a first connecting plate, wherein one side of the first connecting plate is provided with a limiting hole and a limiting groove, a bolt is assembled in the limiting hole, and one end of the sliding hinge, which is away from the fixing piece, is connected with the limiting groove of the first connecting plate.

The manipulator grabbing device comprises a first connecting plate, a second connecting plate, a first connecting plate and a second connecting plate, wherein two limiting columns are arranged on one side of the second connecting plate, each limiting column is parallel to the horizontal plane of the machine table, a screw hole is further formed in one side of the second connecting plate, and the screw hole is fixedly connected with a bolt arranged on the first connecting plate.

The manipulator grabbing device is characterized in that the other side of the machine table opposite to the first horizontal transfer mechanism is further provided with another cable fixing assembly, and the other cable fixing assembly and the first horizontal transfer mechanism are all flush with the horizontal plane of the machine table.

Compared with the prior art, the utility model has the following advantages:

The utility model provides a manipulator grabbing device, which is used for transporting products and comprises: machine, first horizontal transfer mechanism, second horizontal transfer mechanism and transport tongs, first horizontal transfer mechanism includes: first slide rail and fixed plate, the fixed plate includes: first fixed plate and second fixed plate, first fixed plate carries out sliding connection with the first slider that sets up on the first slide rail, and second horizontal transfer mechanism includes: transport subassembly and cable fixed subassembly, cable fixed subassembly and transport subassembly all with second fixed plate fixed connection, second level transport mechanism is wholly fixed in on the fixed plate of L type structure, transport tongs include: the vertical lifting mechanism that mechanical clamping jaw and mechanical clamping jaw drive connection, this kind of setting mode, two anchor clamps that mechanical clamping jaw set up snatch the product after, cooperate first horizontal transfer mechanism and second horizontal transfer mechanism to carry out the horizontal transfer with the product, have improved transfer efficiency.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is an overall structure diagram of a manipulator gripping device according to an embodiment of the present utility model;

Fig. 2 is an overall structure diagram of a first horizontal transfer mechanism and a second horizontal transfer mechanism of a manipulator gripping device according to an embodiment of the present utility model;

FIG. 3 is a side view of a manipulator gripping device according to an embodiment of the present utility model;

fig. 4 is a top view of a manipulator gripping device according to an embodiment of the present utility model;

fig. 5 is a diagram of a transfer assembly of a manipulator gripping device according to an embodiment of the present utility model;

Fig. 6 is a diagram of a transfer gripper structure of a manipulator gripping device according to an embodiment of the present utility model.

The machine platform 1, the first horizontal transfer mechanism 2, the second horizontal transfer mechanism 3, the transfer tongs 4, the cable fixing assembly 5, the vertical lifting mechanism 6, the product 7, the air cylinder 8, the clamp 9, the first fixing plate 10, the second fixing plate 11, the first sliding rail 12, the first sliding block 13, the transfer assembly 14, the first connecting plate 15, the second connecting plate 16, the limiting plate 17 of L-shaped structure, the limiting column 18, the horizontal guide rail 19, the second sliding block 21 and the third sliding block 22.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the utility model. 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.

It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

Referring to fig. 1, 2, 3 and 6, as shown in the drawings, a manipulator gripping device according to the present utility model is used for transporting a product, wherein the manipulator gripping device includes: the device comprises a machine table 1, a first horizontal transfer mechanism 2, a second horizontal transfer mechanism 3 and a transfer gripper 4, wherein the first horizontal transfer mechanism 2, the second horizontal transfer mechanism 3 and the transfer gripper 4 are fixedly connected with the machine table 1, and the transfer gripper 4 is vertically arranged on one side of the machine table 1;

the first horizontal transfer mechanism 2 includes: the device comprises a first sliding rail 12 arranged on the horizontal plane of the machine table 1 and a fixing plate fixedly connected with the upper end of the first sliding rail 12, wherein the fixing plate comprises: the first fixing plate 10 is in sliding connection with a first sliding block 13 arranged on the first sliding rail 12, and the second fixing plate 11 is vertically fixed on one side of the first fixing plate 10 to form an L-shaped structure;

The second horizontal transfer mechanism 3 includes: the cable fixing assembly 5 and the transferring assembly 14 are fixedly connected with the second fixing plate 11, the cable fixing assembly 5 is provided with a hinge (not shown in the figure), one end of the hinge is fixedly connected with the first connecting plate 15, the first connecting plate 15 arranged on the cable fixing assembly 5 is fixedly connected with the second connecting plate 16 arranged on the transferring assembly 14, and the second horizontal transferring mechanism 3 is integrally fixed on the fixing plate of the L-shaped structure;

the transfer grip 4 includes: mechanical clamping jaw (not shown) and with mechanical clamping jaw carries out fixed connection's vertical lift mechanism 6, two anchor clamps 9 that mechanical clamping jaw set up snatch behind the product cooperate first horizontal transfer mechanism 2 and the horizontal transfer of product is carried out to second horizontal transfer mechanism 3.

Specifically, in this embodiment, a manipulator grabbing device includes a first horizontal transfer mechanism 2, a second horizontal transfer mechanism 3, and a transfer gripper 4, and the first horizontal transfer mechanism 2 includes: the utility model provides a set up in first slide rail 12 on the horizontal plane of board 1 and with first slide rail 12 upper end fixed connection's fixed plate, the fixed plate is whole L shape structure, L shape structure is first connecting plate 15 along the shorter one end of board 1 horizontal direction, L shape structure is second connecting plate 16 along the shorter one end of board 1 vertical direction, first fixed plate 10 lower extreme fixedly connected with first slider, carry out sliding connection between first slider and the slide rail, the junction of first fixed plate 10 and second fixed plate 11 is provided with second horizontal transfer mechanism 3, second horizontal transfer mechanism 3 wholly and the horizontal plane mutually perpendicular of lathe, form 90% cross structure, this kind of setting mode drives second horizontal transfer mechanism 3 wholly through first horizontal transfer mechanism 2 and moves along the setting direction of slide rail, conveniently set up and carry out horizontal transfer to the transportation tongs 4 of board 1 one side, thereby improve the holistic transfer efficiency to product 7, reduce the time that the manual work consumes.

Further, the second horizontal transfer mechanism 3 includes: the transfer assembly 14 and set up in the fixed subassembly 5 of a cable at transfer assembly 14 top, the fixed subassembly 5 of cable with horizontal cylinder 8 all with second fixed plate 11 fixed connection, the fixed subassembly 5 of cable set up first connecting plate 15 with the second connecting plate 16 that transfer assembly 14 set up carries out fixed connection, and the second connecting plate 16 can drive simultaneously and transport tongs 4 and carry out the directional removal of horizontal direction, and this kind of setting mode uses through cooperation first horizontal transfer mechanism 2 and the horizontal transfer mechanism 3 of second to make transport tongs 4 horizontal direction transport, place specific position with product 7, reduce the time that the manual work spent.

Further, transport the tongs 4 and include mechanical clamping jaw and carry out the elevating system that drive is connected with mechanical clamping jaw, one side of elevating system still is provided with the limiting plate 17 of an L shape structure, and the shorter one end of limiting plate and one side fixed connection of second horizontal transport mechanism 3, longer one end is fixed with the one end of transporting tongs 4, and one side towards ground of fixed tongs is provided with two pressers, two the pressers are connected with a cylinder 8, and cylinder 8 is used for driving two pressers to open and shut and uses to further control transport tongs 4 wholly snatch product 7, this kind of setting mode, first horizontal transport mechanism 2 and second transport mechanism are synchronous to transport tongs 4 and carry out directional drive, so that transport tongs 4 are directed to the direction of predetermineeing and move, conveniently transport product 7 fast, thereby reduce the time that the manual work consumed.

Referring to fig. 1 and 2, as shown in the drawings, two flanges (not shown) are disposed on a side of the first fixing plate 10 facing the machine table 1, a plurality of screw holes (not shown) are disposed on a side of the flanges facing away from the second fixing plate 11, a bolt is disposed in the screw holes, and the flanges disposed on the first fixing plate 10 are fixedly connected with the first slider through the bolt.

Specifically, in this embodiment, the first fixed plate 10 is provided with two flanges perpendicularly towards one side of the machine 1, each flange is located on the same side of the first fixed plate 10, and one side of the flange close to the machine 1 is provided with a plurality of screw holes, a bolt is arranged in each screw hole, the flange that the first fixed plate 10 set up and the first sliding block are fixedly connected through the bolt, the whole horizontal fixing of the fixed plate of L-shaped structure is on one side of the first sliding block, thereby the whole horizontal transfer mechanism 3 of the second horizontal transfer mechanism is driven synchronously towards the other side of the sliding rail through the first sliding block on the first sliding rail 12 to carry out horizontal displacement, and the transfer handles 4 are driven synchronously along the sliding rail to carry out horizontal displacement by the first horizontal transfer mechanism 2 and the second transfer mechanism, so that the transfer handles 4 are driven synchronously to carry out directional movement towards the preset direction, and the product 7 is convenient to carry out rapid transfer, thereby the time consumed manually is reduced.

Referring to fig. 1 and 6, as shown in the drawing, one end of the transferring gripper 4 is fixedly connected with a vertical lifting mechanism 6, the vertical lifting mechanism 6 is fixedly connected with a limiting plate 17 with an L-shaped structure, and a shorter end of the limiting plate 17 with the L-shaped structure is fixedly connected with the outer side of the transferring assembly 14.

Specifically, in this scheme embodiment, the one end fixedly connected with vertical lift mechanism 6 of transporting tongs 4, the limiting plate of a L type structure of one side fixedly connected with of vertical lift mechanism 6, the shorter side of limiting plate of L type structure carries out fixed connection with the shell of the transport subassembly 14 that second horizontal transport mechanism 3 set up, the mechanical clamping jaw of by vertical lift mechanism 6 control lower extreme carries out the lifting operation, conveniently snatchs perpendicularly and place perpendicularly product 7, this kind of setting mode, transport subassembly 14 through the setting of second horizontal transport mechanism 3 and set up in a cable fixed subassembly 5 at transport subassembly 14 top to transport tongs 4 by cable fixed subassembly 5 and transport subassembly 14 synchronous drive and carry out directional movement, so that transport tongs 4 carry out directional movement towards the direction of predetermineeing, conveniently transport product 7 fast, thereby reduce the time that the manual work consumes.

Further, in an embodiment, the second connection board 16 disposed outside the shell of the transferring assembly 14 driven by the cable fixing assembly 5 disposed on the second horizontal transferring mechanism 3 moves, so as to drive the shell of the transferring assembly 14 to move directionally along the direction (the direction perpendicular to the horizontal plane of the machine table 1) of the cable fixing assembly 5, and further drive the transferring clamp to move directionally towards the preset direction, so that the product 7 is convenient to transfer quickly, and the time consumed by manpower is reduced.

Referring to fig. 1 and 6, as shown in the drawings, the vertical lifting mechanism 6 includes a lifting frame and a vertical guide rail disposed at one side of the lifting frame, and a second slider 21 is disposed on the vertical guide rail.

Specifically, in this scheme embodiment, vertical lift mechanism 6 is wholly fixed in the longer one end of limiting plate 17 of L shape structure, and vertical lift mechanism 6 includes the crane and sets up in the vertical guide of crane one side, be provided with the second slider on the vertical guide, one side fixed connection of second slider and mechanical clamping jaw, and two anchor clamps 9 that mechanical clamping jaw opposite side set up are all the time towards one side level setting on ground, and two anchor clamps 9 set up in mechanical clamping jaw's same side relatively all the time, vertical lift mechanism 6 drive second slider 21 carries out vertical lift, thereby further drive mechanical clamping jaw that is located second slider 21 one side carries out vertical lift, make things convenient for mechanical clamping jaw wholly to carry out horizontal transport, thereby reduce the time that the manual work consumes, need not a plurality of manual synchronization and carry out manual transport's correlation operation.

Referring to fig. 2 and 3, as shown in the drawings, a limiting hole (not shown) and a limiting groove (not shown) are provided on one side of the first connecting plate 15, a bolt (not shown) is assembled in the limiting hole, and one end of the hinge, which is away from the fixing member, is engaged with the limiting groove of the first connecting plate 15.

Specifically, in this scheme embodiment, one side of first connecting plate 15 is provided with spacing hole and a spacing groove, and the in-hole assembly bolt of spacing hole, the hinge deviate from the one end of mounting with the spacing groove of first connecting plate 15 links up, and first connecting plate 15 is whole to be connected with the driving end fixed of hinge, and the driving end of hinge is the one end of keeping away from the mounting, and the one end of hinge deviating from the mounting and the spacing groove looks fixed connection of first connecting plate 15, and the bolt in the spacing hole that sets up first connecting plate 15 is used for carrying out fixed connection with second connecting plate 16, and this kind of setting mode is through first connecting plate 15 and the second connecting plate 16 that drive at the hinge for will transport tongs 4 and appear shake or skew in the in-process that carries out quick travel, reduces the product 7 and carries out quick transport in proper order to product 7 on the clamp getting the in-process, thereby further makes things convenient for machinery clamping jaw to carry out the quick transport to the product 7 on the product line, and need not a plurality of manual synchronization to carry out the relative operation of manual transport, in order to improve the whole efficiency of manipulator grabbing device.

Referring to fig. 2 and 3, as shown in the drawings, two limiting posts 18 are disposed on one side of the second connecting plate 16, each of the limiting posts 18 is parallel to the horizontal plane of the machine table 1, and a screw hole (not shown) is further disposed on one side of the second connecting plate 16, and is fixedly connected with a bolt disposed on the first connecting plate 15.

Specifically, one side of second connecting plate 16 is provided with two spacing posts 18, each spacing post 18 all is on a parallel with the horizontal plane setting of board 1, one side of second connecting plate 16 still is provided with the screw, the screw carries out fixed connection with the bolt fixed connection that first connecting plate 15 set up with second connecting plate 16 through the bolt, in one embodiment, spacing post 18 is used for carrying out spacing with transporting handle 4, this kind of setting mode, prevent to transport handle 4 and appear shake or skew in carrying out quick travel's in-process, reduce the dropping probability of product 7 in the clamp and get the in-process, further make things convenient for mechanical clamping jaw to carry out quick transport in proper order to reduce the time that the manual work consumes, need not a plurality of manual synchronization and carry out the relative operation of manual transport, thereby further improve the holistic transportation efficiency of manipulator grabbing device.

Referring to fig. 1, 3, 5 and 6, as shown in the drawings, the transfer gripper 4 and the transfer assembly 14 are respectively connected with a cylinder 8, one side of the cylinder is connected with a throttle valve (not shown in the drawings), and the cylinder 8 drives the clamping jaw (not shown in the drawings) arranged on the transfer gripper 4 to separate and close by air pressure in the throttle valve.

Specifically, in this scheme embodiment, transport tongs 4 and transport subassembly 14 are connected with a cylinder 8 respectively, and one side of cylinder 8 is connected with a choke valve, the cylinder passes through pneumatic drive in the choke valve the clamping jaw separation and the foling that transport tongs 4 set up, this kind of setting up mode makes things convenient for mechanical clamping jaw to snatch fast and place a series of operations such as product 7, and cooperation first horizontal transport mechanism 2 and the horizontal transport mechanism 3 of second carry out synchronous use, and convenient transport tongs 4 carry out fast transport in proper order to product 7 on the production line to reduce the time that the manual work was spent, need not a plurality of manual synchronization and carry out the relative operation of manual transport.

Referring to fig. 2 and 3, as shown, the transfer assembly 14 includes: a housing (not shown) and a horizontal guide 19 arranged inside the recess of the housing, wherein a third slide 22 is mounted on the horizontal guide 19, and a throttle valve (not shown) at one side of the cylinder drives the third slide 22 to move along the direction of the horizontal guide 19.

Specifically, in this embodiment, the transfer assembly includes: the shell and set up in the inboard horizontal guide 19 of recess of shell, be equipped with a third slider 22 on the horizontal guide 19, throttle (not marked in the figure) drive on one side of the cylinder the third slider 22 is followed the direction of horizontal guide carries out the sliding connection, in an embodiment, the whole embedding of third slider 22 is in the shell of transporting subassembly 14, be provided with a cavity in the shell of transporting subassembly 14, an in-cavity is equipped with a horizontal guide that mutually parallel sets up with cable fixed subassembly 5, install third slider 22 on the horizontal guide, the spliced pole of third slider 22 runs through the shell of transporting subassembly 14 and is connected with second connecting piece looks fixed connection, thereby carry out spacingly to the second connecting piece is whole, the second connecting piece can only carry out horizontal migration along the direction of setting up of guide rail in the in-process of transporting, this kind of setting up the mode, through the first connecting plate 15 and the second connecting plate 16 that drive at the hinge, be used for carrying out buffering and spacing with transporting hand 4, prevent transporting hand 4 to carry out the manual shaking in the line of the time of taking 7 in proper order and take the time to take the product to take the device to take the product to the time of the manual shaking more than the whole in order, thereby the manual operation of the device takes the time of 7 to take the product to take the place in proper order, the time of the manual shaking of the whole of the device is reduced.

Referring to fig. 2 and 3, as shown in the drawing, a side of the second connecting plate 16 facing the second fixing plate 11 is fixedly connected with the third slider 22, and a side of the second connecting plate 16 facing away from the second fixing plate 11 is fixedly connected with the L-shaped limiting plate of the transporting gripper 4.

Specifically, in this embodiment, the second connecting plate 16 is towards one side and the third slider 22 fixed connection of second fixed plate 11, and the second connecting plate 16 deviates from the limiting plate fixed connection of L type structure that one side of second fixed plate 11 and transportation handle 4 set up, in one embodiment, the first connecting plate 15 of setting of hinge one side is by setting up the cylinder 8 of transporting subassembly 14 one side and carrying out directional drive, and then drive the hinge is whole to be moved in a directional way, and the one end of hinge is fixed, and the other end of hinge is directional crooked, and this kind of setting mode is through installing a hinge additional in one side of transporting subassembly 14 for remove spacingly to transporting handle 4's direction of movement, prevent to transport handle 4 and appear trembling or skew in the in-process that carries out quick movement, reduce the dropping of product 7 in the clamping in-process, further make things convenient for mechanical clamping jaw to carry out quick transportation in proper order to product 7 on the production line, thereby reduce the time that the manual work consumes, need not a plurality of manual synchronization and carry out the relative operation of manual transportation.

Referring to fig. 1, 2, 3 and 6, as shown in the drawings, another cable fixing assembly 5 is further disposed on the other side of the machine 1 opposite to the first horizontal transfer mechanism 2, and the other cable fixing assembly 5 and the first horizontal transfer mechanism 2 are all level with the horizontal plane of the machine 1.

Specifically, the board 1 still is provided with another cable fixed subassembly 5 for the opposite side of first horizontal transfer mechanism 2, and cable fixed subassembly 5 and first horizontal transfer mechanism 2 all with the horizontal plane parallel and level of board 1, the cable fixed subassembly 5 that the horizontal plane of board 1 set up is used for driving first horizontal transfer mechanism 2 and carries out directional removal along the setting direction of first slide rail 12, this kind of setting mode, need not to carry product 7 in proper order through the manual work, only drive the whole setting direction along the slide rail of second horizontal transfer mechanism 3 through first horizontal transfer mechanism 2 and remove, the convenience sets up the transportation tongs 4 of carrying out horizontal transfer in board 1 one side, thereby further improve the holistic transportation efficiency to product 7, reduce the time that the manual work consumes.

The utility model provides a manipulator grabbing device, which is used for transporting products and comprises: machine, first horizontal transfer mechanism, second horizontal transfer mechanism and transport tongs, first horizontal transfer mechanism includes: first slide rail and fixed plate, the fixed plate includes: the first fixed plate is in sliding connection with a first sliding block arranged on the first sliding rail. The second horizontal transfer mechanism comprises: transport subassembly and cable fixed subassembly, cable fixed subassembly and transport subassembly all with second fixed plate fixed connection, second level transport mechanism wholly is fixed in on the fixed plate of L type structure. The transportation tongs include: the vertical lifting mechanism that mechanical clamping jaw and mechanical clamping jaw drive connection, this kind of setting mode, two anchor clamps that mechanical clamping jaw set up snatch the product after, cooperate first horizontal transfer mechanism and second horizontal transfer mechanism to carry out the horizontal transfer with the product, have improved transfer efficiency.

While the utility model has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the utility model. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.

Claims (10)

1. A manipulator gripping device for transferring a product, the manipulator gripping device comprising: the device comprises a machine table, a first horizontal transfer mechanism, a second horizontal transfer mechanism and a transfer gripper, wherein the first horizontal transfer mechanism, the second horizontal transfer mechanism and the transfer gripper are fixedly connected with the machine table, and the transfer gripper is vertically arranged on one side of the machine table;

The first horizontal transfer mechanism comprises: the utility model provides a set up in first slide rail on the board horizontal plane and with first slide rail upper end fixed connection's fixed plate, the fixed plate includes: the first fixing plate is in sliding connection with a first sliding block arranged on the first sliding rail, and the second fixing plate is vertically fixed on one side of the first fixing plate to form an L-shaped structure;

The second horizontal transfer mechanism comprises: the cable fixing assembly and the transferring assembly are fixedly connected with the second fixing plate, the cable fixing assembly is provided with a hinge, one end of the hinge is fixedly connected with the first connecting plate, the first connecting plate arranged by the cable fixing assembly is fixedly connected with the second connecting plate arranged by the transferring assembly, and the second horizontal transferring mechanism is integrally fixed on the fixing plate of the L-shaped structure;

The transfer gripper comprises: the mechanical clamping jaw and with mechanical clamping jaw fixed connection's vertical lifting mechanism, two anchor clamps that mechanical clamping jaw set up snatch behind the product cooperate first horizontal transfer mechanism and the horizontal transfer of product is carried out to second horizontal transfer mechanism.

2. The manipulator grabbing device according to claim 1, wherein two flanges are arranged on one side, facing towards the machine table, of the first fixing plate, a plurality of screw holes are formed in one side, facing away from the second fixing plate, of the flanges, one bolt is arranged in each screw hole, and the flanges arranged on the first fixing plate are fixedly connected with the first sliding blocks through the bolts.

3. The manipulator grabbing device according to claim 1, wherein one end of the transfer gripper is fixedly connected with a vertical lifting mechanism, the vertical lifting mechanism is fixedly connected with a limiting plate of an L-shaped structure, and one shorter end of the limiting plate of the L-shaped structure is fixedly connected with the outer side of the transfer assembly.

4. The manipulator grabbing device according to claim 1, wherein the vertical lifting mechanism comprises a lifting frame and a vertical guide rail arranged on one side of the lifting frame, and the vertical guide rail is provided with a second sliding block.

5. The manipulator grabbing device according to claim 1, wherein the transferring gripper and the transferring assembly are respectively connected with a cylinder, one side of the cylinder is connected with a throttle valve, and the cylinder drives the two clamping jaws of the transferring gripper to separate or close through air pressure in the throttle valve.

6. The robotic grasping device of claim 1, wherein the transfer assembly comprises: the throttle valve on one side of the air cylinder drives the third sliding block to move along the direction of the horizontal guide rail.

7. The manipulator grabbing device according to claim 1, wherein one side of the second connecting plate facing the second fixing plate is fixedly connected with the third sliding block, and one side of the second connecting plate facing away from the second fixing plate is fixedly connected with the limiting plate of the L-shaped structure arranged on the transferring gripper.

8. The manipulator grabbing device according to claim 1, wherein a limiting hole and a limiting groove are formed in one side of the first connecting plate, a bolt is assembled in the limiting hole, and one end of the sliding hinge, which is away from the fixing piece, is connected with the limiting groove of the first connecting plate.

9. The manipulator grabbing device according to claim 1, wherein two limiting columns are arranged on one side of the second connecting plate, each limiting column is parallel to the horizontal plane of the machine table, a screw hole is further formed in one side of the second connecting plate, and the screw hole is fixedly connected with a bolt arranged on the first connecting plate.

10. The manipulator grabbing device according to claim 1, wherein another cable fixing component is further disposed on the other side of the machine platform opposite to the first horizontal transfer mechanism, and the other cable fixing component and the first horizontal transfer mechanism are flush with a horizontal plane of the machine platform.