CN221364823U - Material transfer device using mechanical arm - Google Patents

Abstract

The utility model relates to the technical field of material transfer devices, in particular to a material transfer device applying a mechanical arm, which comprises a clamping assembly and a mechanical arm used for conveying the clamping assembly, wherein the clamping assembly comprises an adapter plate, a telescopic driving part, a linkage plate, a convex plate, connecting rods, sliding sleeves, limiting plates and clamping plates.

Description

Material transfer device using mechanical arm

Technical Field

The utility model relates to the technical field of material transfer devices, in particular to a material transfer device using a manipulator.

Background

When the material is in work, the material is often required to be moved to different stations for processing, and the mechanical arm material transfer device can also realize integration and optimization of an automatic production line. The automatic production line can be matched with other automatic equipment to realize the automation and the intellectualization of the production process. For example, the manipulator material transfer device can cooperate with a robot to jointly finish tasks such as material carrying, assembly and detection, a clamping device is usually arranged at the output end of the manipulator to clamp materials, a single clamping position is not favorable for clamping multiple parts simultaneously, and different power sources are independently adopted to drive the clamping positions to clamp, so that the cost is high, and the clamping of the materials is not favorable.

Disclosure of utility model

(One) solving the technical problems

Aiming at the defects of the prior art, the utility model provides a material transfer device using a manipulator, which has the effects of adopting a linkage structure with fewer power sources, facilitating the transfer of materials clamped at a plurality of positions at the same time and reducing the cost.

(II) technical scheme

In order to achieve the above purpose, the present utility model provides the following technical solutions: a material transfer device using a manipulator comprises a clamping assembly and a manipulator arm for conveying the clamping assembly;

The clamping assembly comprises an adapter plate, telescopic driving parts, a linkage plate, convex plates, connecting rods, sliding sleeves, limiting plates and clamping plates, wherein the adapter plate is arranged at the output end of a mechanical arm, the telescopic driving parts are arranged on the adapter plate, the linkage plate is connected with the output end of each telescopic driving part, the linkage plate is connected with the convex plates, the convex plates are rotationally connected with at least two connecting rods, the connecting rods on the same convex plates are inclined towards the two sides of the convex plates, the connecting rods are rotationally connected with the sliding sleeves one by one, each sliding sleeve is slidably connected with the limiting plate, and the limiting plates are connected with the adapter plate.

Preferably, the clamping assembly further comprises guide rails and sliding blocks, the limiting plates are in a cross-like plate shape, a plurality of guide rails are arranged on the limiting plates, the guide rails are connected with a plurality of sliding blocks in a sliding mode, the sliding blocks are connected with sliding sleeves one by one, the clamping plates are connected to the sliding sleeves, and the sliding sleeves are sleeved on the limiting plates.

Preferably, the clamping assembly further comprises a support column, the limiting plate is connected with the adapter plate through the support column, a through hole corresponding to the support column is formed in the middle of the linkage plate, and the linkage plate is sleeved on the support column.

Preferably, the clamping assembly further comprises a wear-resistant sleeve, the middle part of the linkage plate is provided with the wear-resistant sleeve, and the wear-resistant sleeve is sleeved outside the support column.

Preferably, the clamping assembly further comprises an extension plate and a sensor, the plurality of extension plates are arranged on the limiting plate, the sensor is arranged on the extension plate, and the positions of the sensor and the clamped part are arranged oppositely.

Preferably, the opposite ends of the two clamping plates which are opposite to the same convex plate are provided with limit grooves corresponding to the clamped parts.

(III) beneficial effects

Compared with the prior art, the utility model provides a material transfer device using a manipulator, which has the following beneficial effects:

This material transfer device of application manipulator, it shifts to drive the clamping assembly through the robotic arm between a plurality of positions of part transmission department, and through when needing to press from both sides tight part, make the output shaft of flexible drive portion stretch out, and then drive the linkage board and remove, the linkage board drives each flange and removes, flange and connecting rod rotate and connect, the cooperation between connecting rod and the limiting plate, and then effectively drive slip cap and clamping plate and remove, clamping plate clamping part department, and then in a plurality of clamping part departments, be adapted to the position that presss from both sides tight in a plurality of departments, and through the setting of limiting plate, improve the guide effect to the slip cap, be favorable to pressing from both sides tight department location, this kind of many departments press from both sides tightly, and adopt the linkage structure that less power supply goes on, conveniently press from both sides the material of tight many departments simultaneously and transfer, the cost is reduced.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic view of a partial enlarged structure of the present utility model at A in FIG. 1;

FIG. 3 is a schematic perspective view of a clamping assembly according to the present utility model;

FIG. 4 is a schematic view of a partial enlarged structure at B in FIG. 3 according to the present utility model;

FIG. 5 is a schematic view of a clamping assembly according to the present utility model;

Fig. 6 is a schematic view of a partially enlarged structure of fig. 5C according to the present utility model.

The reference numerals in the drawings: 1. a mechanical arm; 2. an adapter plate; 3. a telescopic driving part; 4. a linkage plate; 5. a convex plate; 6. a connecting rod; 7. a sliding sleeve; 8. a limiting plate; 9. a support post; 10. a wear-resistant sleeve; 11. a guide rail; 12. a slide block; 13. a clamping plate; 14. an extension plate; 15. a sensor.

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.

Examples:

referring to fig. 1-6, a material transfer apparatus using a robot includes a clamping assembly and a robot arm 1 for transferring the clamping assembly.

The clamping assembly comprises an adapter plate 2, a telescopic driving part 3, a linkage plate 4, a convex plate 5, connecting rods 6, sliding sleeves 7, limiting plates 8 and clamping plates 13, wherein the adapter plate 2 is arranged at the output end of a mechanical arm 1, a plurality of telescopic driving parts 3 are arranged on the adapter plate 2, the linkage plate 4 is connected with the output end of each telescopic driving part 3, the linkage plate 4 is connected with a plurality of convex plates 5, the convex plates 5 are rotationally connected with at least two connecting rods 6, the connecting rods 6 positioned on the same convex plate 5 are inclined towards the two sides of the convex plate 5, the connecting rods 6 and the sliding sleeves 7 are rotationally connected one by one, each sliding sleeve 7 is slidably connected on the limiting plate 8, the limiting plates 8 are connected with the adapter plate 2, the rotational connection mode is preferably a pin shaft installation mode and matched with a clamping ring for limiting the pin shaft, the telescopic driving parts 3 are one of an air cylinder, a hydraulic cylinder and an electric cylinder, the mechanical arm 1 is a mechanical moving part, preferably a six-axis mechanical arm, preferably two connecting rods 6 and the same convex plate 5 are connected as shown, so that two limiting plates 8 are mutually close to or far away from each other, so as to clamp materials conveniently, the mechanical arm 1 drives the clamping assembly to move among a plurality of positions at a part transmission position, and when the part is required to be clamped, the output shaft of the telescopic driving part 3 stretches out, so that the linkage plate 4 is driven to move, the linkage plate 4 drives each convex plate 5 to move, the convex plate 5 is rotationally connected with the connecting rods 6, the connecting rods 6 are matched with the limiting plates 8, so that the sliding sleeve 7 and the clamping plate 13 are effectively driven to move, the clamping plate 13 clamps the part, and is suitable for clamping a plurality of positions to be clamped at the part, the guiding effect of the sliding sleeve 7 is improved through the arrangement of the limiting plates 8, the positioning of the clamping position is facilitated, and the linkage structure with fewer power sources is adopted, so that materials at a plurality of positions are conveniently clamped and transferred at the same time, and the cost is reduced.

Referring to fig. 1 and 2, the clamping assembly further comprises a guide rail 11 and a sliding block 12, the limiting plate 8 is in a cross plate shape, a plurality of guide rails 11 are installed on the limiting plate 8, a plurality of sliding blocks 12 are connected to the guide rail 11 in a sliding mode, the sliding blocks 12 are connected with the sliding sleeves 7 one by one, the clamping plates 13 are connected to the sliding sleeves 7, the sliding sleeves 7 are sleeved on the limiting plate 8, the sliding sleeves 7 are guided through the guide rail 11 and the sliding blocks 12, the moving positions of the sliding sleeves 7 are further limited, and the position deviation of the sliding sleeves 7 is reduced.

Referring to fig. 1 and 2, the clamping assembly further comprises a support column 9, the limiting plate 8 and the adapter plate 2 are connected through the support column 9, a through hole corresponding to the support column 9 is formed in the middle of the linkage plate 4, the linkage plate 4 is sleeved on the support column 9, the limiting plate 8 and the adapter plate 2 are further effectively connected through the arrangement of the support column 9, the moving position of the linkage plate 4 is limited, and the guiding effect on the linkage plate 4 is improved.

Referring to fig. 2, the clamping assembly further comprises a wear-resistant sleeve 10, the middle of the linkage plate 4 is provided with the wear-resistant sleeve 10, the wear-resistant sleeve 10 is sleeved outside the support post 9, the wear-resistant sleeve 10 is preferably a copper sleeve, and abrasion between the linkage plate 4 and the support post 9 is reduced through the arrangement of the wear-resistant sleeve 10.

Referring to fig. 2, the clamping assembly further comprises an extension plate 14 and a sensor 15, wherein a plurality of extension plates 14 are installed on the limiting plate 8, the sensor 15 is installed on the extension plate 14, the positions of the sensor 15 and the clamped parts are arranged oppositely, the sensor 15 is preferably one of a photoelectric sensor and a proximity sensor, and through the arrangement of the sensor 15, whether materials are located at the clamping position or not is detected conveniently, and whether the clamping position clamps the parts is detected conveniently or not.

Referring to fig. 2, the opposite ends of two clamping plates 13 opposite to the same convex plate 5 are provided with limiting grooves corresponding to the clamped parts, the limiting grooves are in shapes matched with the parts to be clamped, and the positions of the parts to be clamped are reduced by the arrangement of the limiting grooves.

When the mechanical arm 1 drives the clamping assembly to be transmitted to a part supporting position, then the output shaft of the telescopic driving part 3 is retracted, the linkage plate 4 is driven to move, the linkage plate 4 drives the convex plate 5 to move, the convex plate 5 drives the connecting rod 6, the sliding sleeve 7 and the clamping plate 13 to move, the part is clamped, then the mechanical arm 1 drives the clamped part to move to the other position, then the output shaft of the telescopic driving part 3 is extended, and then the clamping plate 13 is loosened to clamp the part.

It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

It should be readily understood that the terms "on … …", "above … …" and "above … …" in this disclosure should be interpreted in the broadest sense so that "on … …" means not only "directly on something" but also includes "on something" with intermediate features or layers therebetween, and "above … …" or "above … …" includes not only the meaning "on something" or "above" but also the meaning "above something" or "above" without intermediate features or layers therebetween (i.e., directly on something).

Further, spatially relative terms, such as "below," "beneath," "above," "over," and the like, may be used herein for ease of description to describe one element or feature's relationship to another element or feature as illustrated. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may have other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims (6)

1. A material transfer device using a manipulator, characterized in that: comprises a clamping assembly and a mechanical arm (1) for conveying the clamping assembly;

The clamping assembly comprises an adapter plate (2), telescopic driving parts (3), a linkage plate (4), convex plates (5), connecting rods (6), sliding sleeves (7), limiting plates (8) and clamping plates (13), wherein the adapter plate (2) is arranged at the output end of a mechanical arm (1), a plurality of telescopic driving parts (3) are arranged on the adapter plate (2), the linkage plate (4) is connected with the output end of each telescopic driving part (3), the convex plates (5) are connected on the linkage plate (4), at least two connecting rods (6) are rotatably connected on the convex plates (4), the connecting rods (6) are arranged on the same convex plate (5) and are inclined towards the two sides of the convex plates (5), the connecting rods (6) are rotatably connected with the sliding sleeves (7) one by one, and each sliding sleeve (7) is slidably connected on the limiting plates (8), and the limiting plates (8) are connected with the adapter plate (2).

2. The material transfer apparatus using a robot as claimed in claim 1, wherein: the clamping assembly further comprises guide rails (11) and sliding blocks (12), the limiting plate (8) is in a cross-like plate shape, a plurality of guide rails (11) are arranged on the limiting plate (8), the guide rails (11) are connected with a plurality of sliding blocks (12) in a sliding mode, the sliding blocks (12) are connected with the sliding sleeves (7) one by one, the clamping plates (13) are connected to the sliding sleeves (7), and the sliding sleeves (7) are sleeved on the limiting plate (8).

3. The material transfer apparatus using a robot as claimed in claim 1, wherein: the clamping assembly further comprises a support column (9), the limiting plate (8) is connected with the adapter plate (2) through the support column (9), through holes corresponding to the support column (9) are formed in the middle of the linkage plate (4), and the linkage plate (4) is sleeved on the support column (9).

4. A material transfer apparatus using a robot as claimed in claim 3, wherein: the clamping assembly further comprises a wear-resistant sleeve (10), the middle part of the linkage plate (4) is provided with the wear-resistant sleeve (10), and the wear-resistant sleeve (10) is sleeved outside the support column (9).

5. The material transfer apparatus using a robot as claimed in claim 1, wherein: the clamping assembly further comprises an extension plate (14) and a sensor (15), wherein the extension plates (14) are arranged on the limiting plate (8), the sensor (15) is arranged on the extension plate (14), and the positions of the sensor (15) and the clamped parts are arranged oppositely.

6. The material transfer apparatus using a robot as claimed in claim 1, wherein: limiting grooves corresponding to the clamped parts are formed in the opposite ends of the two clamping plates (13) which are opposite to the same convex plate (5).