CN107838936B - Manipulator clamping jaw mechanism for blow molding disc - Google Patents
Manipulator clamping jaw mechanism for blow molding disc Download PDFInfo
- Publication number
- CN107838936B CN107838936B CN201711471586.XA CN201711471586A CN107838936B CN 107838936 B CN107838936 B CN 107838936B CN 201711471586 A CN201711471586 A CN 201711471586A CN 107838936 B CN107838936 B CN 107838936B
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- CN
- China
- Prior art keywords
- clamping jaw
- blow
- slide rail
- blow molding
- suction nozzle
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
- Blow-Moulding Or Thermoforming Of Plastics Or The Like (AREA)
Abstract
The application discloses a manipulator clamping jaw mechanism for a blow molding disc, which comprises a substrate, wherein a manipulator flange connector is arranged at the center point of the substrate, and two suction nozzle fixing plates with product suction nozzles are arranged in the middle of the lower surface of the substrate; three linear slide rails are respectively arranged at the left end and the right end of the upper surface of the substrate, each linear slide rail is provided with a clamping jaw mounting plate through a slide rail connecting block, the lower part of each clamping jaw mounting plate is provided with an opening, the bottom of each clamping jaw mounting plate is provided with an anti-adhesion clamping jaw, the outer end face of each clamping jaw is provided with a separation clamping jaw upper and lower cylinder, and a telescopic rod of each separation clamping jaw upper and lower cylinder is connected with a separation clamping jaw positioned in the opening; the slide rail connecting blocks positioned at the same end are jointly provided with a clamping jaw connecting arm controlled by a clamping jaw translation cylinder. The application combines the clamping jaw of the blow molding disc and the product suction nozzle into a whole, has the advantages of low design cost, small occupied space, easy guarantee of processing precision, convenient operation, short maintenance period and the like, and has an anti-adhesion mechanism, thereby being better suitable for the characteristics of the blow molding disc.
Description
Technical Field
The application relates to a clamping jaw mechanism, in particular to a mechanical arm clamping jaw mechanism for a blow molding disc.
Background
The storage mode of the electronic products in the market is mostly placed in a blow molding disc, and the method reduces the requirement of storage cost while realizing safe storage of the electronic products. The clamping jaw mechanism is an important component for replacing manpower in automatic feeding and discharging equipment of electronic products, and brings new challenges to the design of automatic clamping jaw equipment along with the mass application of blow molding discs. Because the blow molding disc is a plastic product and has a thin thickness, the disc body of the blow molding disc has low strength and variability, and the upper and lower trays are easy to adhere when stacked, so that the clamping jaw brings up the equipment failure of the next blow molding disc when clamping the upper blow molding disc.
Most jaw mechanisms are designed separately when gripping blow molded trays and products in the blow molded trays, with two different jaws used to accomplish the two actions. The above structures all have their own advantages of use, as well as their own drawbacks that are difficult to overcome, such as: 1. the separated design cost of the blow molding disc clamping jaw and the product clamping jaw is high; 2. the two sets of clamping claws occupy large space, so that the space utilization rate is reduced; 3. the two sets of clamping claws are high in maintenance cost and inconvenient.
Disclosure of Invention
In order to overcome the defects in the prior art, the application aims to provide the manipulator clamping jaw mechanism for the blow molding disc, which combines the blow molding disc clamping jaw and the product suction nozzle into a whole, has the advantages of low design cost, small occupied space, simplicity, convenience and rapidness in maintenance, and has an anti-adhesion mechanism, and can better adapt to the characteristics of the blow molding disc.
In order to achieve the technical purpose and the technical effect, the application is realized by the following technical scheme:
the manipulator clamping jaw mechanism for the blow molding disc comprises a bilaterally symmetrical base plate, wherein a manipulator flange connector is arranged at the center point of the upper surface of the base plate, two symmetrically distributed suction nozzle fixing plates are arranged in the middle of the lower surface of the base plate, and a vertically downward product suction nozzle is respectively arranged on four vertex angles of each suction nozzle fixing plate; a front part, a middle part and a rear part of the left end and the right end of the upper surface of the substrate are respectively provided with a linear slide rail, each linear slide rail is provided with a movable slide rail connecting block, the three slide rail connecting blocks positioned at the same end are jointly provided with a clamping jaw connecting arm, and the middle parts of the upper surfaces of the left clamping jaw connecting arm and the right clamping jaw connecting arm are respectively provided with a clamping jaw translation cylinder connecting block; the upper parts of the sliding rail connecting blocks positioned in the middle parts of the left end and the right end are respectively provided with a clamping jaw translation cylinder through clamping jaw translation cylinder fixing blocks, and telescopic rods of the left clamping jaw translation cylinder and the right clamping jaw translation cylinder are respectively connected with the clamping jaw translation cylinder connecting blocks through floating connectors; each sliding rail connecting block is provided with a vertical downward clamping jaw mounting plate on the outer side end face, each clamping jaw mounting plate is provided with an opening on the lower portion of each clamping jaw mounting plate, the bottom of each clamping jaw mounting plate is provided with an inward bending anti-adhesion clamping jaw, each clamping jaw mounting plate is provided with a vertical downward separating clamping jaw upper and lower cylinder on the outer side end face, each separating clamping jaw upper and lower cylinder telescopic rod is connected with an inward bending separating clamping jaw respectively, and each separating clamping jaw is located in the corresponding opening respectively.
Further, two groups of blow molding disc sensing devices are respectively arranged at the left end and the right end of the upper surface of the base plate, and the two groups of blow molding disc sensing devices positioned at the same end are respectively positioned at two sides of the corresponding clamping jaw translation cylinder; each group of blow molding disc sensing devices comprises a blow molding disc probe arranged on the substrate through a gasket, a linear bearing and a spring, and a probe sensor is arranged right above the blow molding disc probe through a sensor fixing seat.
Further, when the blow-molded disc probe is topped up, the upper end of the blow-molded disc probe is in contact with the corresponding probe sensor.
Further, a product detection sensor is respectively arranged at the left end and the right end of the suction nozzle fixing plate.
Further, the six clamping jaw mounting plates are driven by the two clamping jaw translation cylinders, the two clamping jaw connecting arms and the six sliding rail connecting blocks to move inwards or outwards simultaneously.
Further, the six separating clamping jaws are driven by the six separating clamping jaw up-down cylinders to move upwards or downwards simultaneously.
The beneficial effects of the application are as follows:
the clamping jaw mechanism is a novel product after the improvement of appearance, performance and technology is integrated, the clamping jaw of the blow molding disc and the product suction nozzle are combined into a whole, a high-performance sensor and a standardized pneumatic component are adopted, and meanwhile, the design of two product suction stations is adopted.
The clamping jaw mechanism can be used in an automatic electronic product taking and discharging mechanism in full-automatic equipment and a manipulator taking and discharging mechanism, and can also be applied to automatic feeding and discharging equipment, and the novel structural design and appearance design of the clamping jaw mechanism are superior in processing, assembly precision and later maintenance and are the existing mechanism in the market.
The foregoing description is only an overview of the present application, and is intended to provide a better understanding of the present application, as it is embodied in the following description, with reference to the preferred embodiments of the present application and the accompanying drawings. Specific embodiments of the present application are given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a perspective view of the present application;
FIG. 2 is an enlarged view of FIG. 1 at A;
FIG. 3 is a side view of the present application in use with a blow-molded disc.
Reference numerals in the drawings: 1. clamping jaw translation cylinder fixed block; 2. separating the clamping jaw; 3. a linear slide rail; 4. a slide rail connecting block; 5. a manipulator flange connector; 6. a linear bearing; 7. blow molding a disc probe; 8. a gasket; 9. a suction nozzle fixing plate; 10. a product suction nozzle; 11. the sensor fixing seat; 12. a probe sensor; 13. a jaw connecting arm; 14. separating an upper cylinder and a lower cylinder of the clamping jaw; 15. a clamping jaw translation cylinder; 16. clamping jaw translation cylinder connecting block; 17. a floating joint; 18. a substrate; 19. placing an adhesion clamping jaw; 20. a jaw mounting plate; 21. a spring; 22. a product detection sensor.
Detailed Description
The application will be described in detail below with reference to the drawings in combination with embodiments.
Referring to fig. 1-3, a manipulator clamping jaw mechanism for a blow molding tray comprises a base plate 18 which is symmetric in left and right, wherein a manipulator flange connector 5 is arranged at the center point of the upper surface of the base plate 18, two symmetrically distributed suction nozzle fixing plates 9 are arranged in the middle of the lower surface of the base plate 18, and a vertically downward product suction nozzle 10 is respectively arranged on four vertex angles of each suction nozzle fixing plate 9; a linear slide rail 3 is respectively arranged at the front, middle and rear parts of the left and right ends of the upper surface of the base plate 18, a movable slide rail connecting block 4 is arranged on each linear slide rail 3, a clamping jaw connecting arm 13 is commonly arranged on the three slide rail connecting blocks 4 positioned at the same end, and a clamping jaw translation cylinder connecting block 16 is respectively arranged in the middle of the upper surfaces of the left and right clamping jaw connecting arms 13; the upper parts of the slide rail connecting blocks 4 positioned in the middle of the left end and the right end are respectively provided with a clamping jaw translation cylinder 15 through clamping jaw translation cylinder fixing blocks 1, and telescopic rods of the left clamping jaw translation cylinder 15 and the right clamping jaw translation cylinder 15 are respectively connected with the clamping jaw translation cylinder connecting blocks 16 through floating connectors 17; each sliding rail connecting block 4 is provided with a vertical downward clamping jaw mounting plate 20 on the outer side end face, each clamping jaw mounting plate 20 is provided with an opening in the lower portion, each clamping jaw mounting plate 20 is provided with an inward bending anti-adhesion clamping jaw 19 in the bottom, each clamping jaw mounting plate 20 is provided with a vertical downward separating clamping jaw upper and lower cylinder 14 on the outer side end face, each separating clamping jaw upper and lower cylinder 14 is connected with an inward bending separating clamping jaw 2 in the telescopic rod, and each separating clamping jaw 2 is located in the corresponding opening.
Further, two groups of blow molding disc sensing devices are respectively arranged at the left end and the right end of the upper surface of the base plate 18, and the two groups of blow molding disc sensing devices positioned at the same end are respectively positioned at two sides of the corresponding clamping jaw translation cylinder 15; each group of blowing disc sensing devices comprises a blowing disc probe 7 arranged on a base plate 18 through a gasket 8, a linear bearing 6 and a spring 21, and a probe sensor 12 is arranged right above the blowing disc probe 7 through a sensor fixing seat 11.
Further, when the blow-molded disc probe 7 is lifted up, the upper end of the blow-molded disc probe 7 is in contact with the corresponding probe sensor 12.
Further, a product detecting sensor 22 is provided at each of the left and right ends of the suction nozzle fixing plate 9.
Further, the six jaw mounting plates 20 are driven by the two jaw translation cylinders 15, the two jaw connecting arms 13 and the six slide rail connecting blocks 4 to move inwards or outwards simultaneously.
Further, the six separating jaws 2 are driven by the six separating jaw up-down cylinders 14 to move upwards or downwards simultaneously.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (6)
1. A manipulator clamping jaw mechanism for blowing dish, its characterized in that: the automatic suction nozzle comprises a base plate (18) which is bilaterally symmetrical, wherein a manipulator flange connector (5) is arranged at the center point of the upper surface of the base plate (18), two suction nozzle fixing plates (9) which are symmetrically distributed are arranged in the middle of the lower surface of the base plate (18), and a vertical downward product suction nozzle (10) is respectively arranged on four vertex angles of each suction nozzle fixing plate (9); a front, a middle and a rear of the left and right ends of the upper surface of the base plate (18) are respectively provided with a linear slide rail (3), each linear slide rail (3) is provided with a movable slide rail connecting block (4), the three slide rail connecting blocks (4) at the same end are jointly provided with a clamping jaw connecting arm (13), and the middle parts of the upper surfaces of the left and right clamping jaw connecting arms (13) are respectively provided with a clamping jaw translation cylinder connecting block (16); the upper parts of the sliding rail connecting blocks (4) positioned at the middle parts of the left end and the right end are respectively provided with a clamping jaw translation cylinder (15) through clamping jaw translation cylinder fixing blocks (1), and telescopic rods of the left clamping jaw translation cylinder and the right clamping jaw translation cylinder (15) are respectively connected with the clamping jaw translation cylinder connecting blocks (16) through floating connectors (17); every be provided with a vertical decurrent clamping jaw mounting panel (20) on the outside terminal surface of slide rail connecting block (4) respectively, every clamping jaw mounting panel (20) the trompil has been seted up respectively to the lower part of clamping jaw mounting panel (20) the bottom of every clamping jaw mounting panel (20) is provided with an anti-adhesion clamping jaw (19) of inwards buckling respectively, every be provided with a vertical decurrent separation clamping jaw cylinder (14) on the outside terminal surface of clamping jaw mounting panel (20) respectively, every the telescopic link of cylinder (14) is connected with a separation clamping jaw (2) of inwards buckling respectively about the separation clamping jaw, every separation clamping jaw (2) are located respectively in the trompil that corresponds.
2. The robot jaw mechanism for blow-molded trays of claim 1, wherein: two groups of blow molding disc sensing devices are respectively arranged at the left end and the right end of the upper surface of the base plate (18), and the two groups of blow molding disc sensing devices positioned at the same end are respectively positioned at two sides of the corresponding clamping jaw translation cylinder (15); each group of blowing disc sensing devices comprises a blowing disc probe (7) arranged on a substrate (18) through a gasket (8), a linear bearing (6) and a spring (21), and a probe sensor (12) is arranged right above the blowing disc probe (7) through a sensor fixing seat (11).
3. The robot jaw mechanism for blow-molded trays of claim 2, wherein: when the blow-molded disc probe (7) is topped up, the upper end of the blow-molded disc probe (7) is in contact with the corresponding probe sensor (12).
4. The robot jaw mechanism for blow-molded trays of claim 1, wherein: the left end and the right end of the suction nozzle fixing plate (9) are respectively provided with a product detection sensor (22).
5. The robot jaw mechanism for blow-molded trays of claim 1, wherein: the six clamping jaw mounting plates (20) are driven by the two clamping jaw translation cylinders (15), the two clamping jaw connecting arms (13) and the six sliding rail connecting blocks (4) to move inwards or outwards simultaneously.
6. The robot jaw mechanism for blow-molded trays of claim 1, wherein: the six separating clamping jaws (2) are driven by the six separating clamping jaw up-down cylinders (14) to move upwards or downwards simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711471586.XA CN107838936B (en) | 2017-12-29 | 2017-12-29 | Manipulator clamping jaw mechanism for blow molding disc |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711471586.XA CN107838936B (en) | 2017-12-29 | 2017-12-29 | Manipulator clamping jaw mechanism for blow molding disc |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107838936A CN107838936A (en) | 2018-03-27 |
| CN107838936B true CN107838936B (en) | 2023-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711471586.XA Active CN107838936B (en) | 2017-12-29 | 2017-12-29 | Manipulator clamping jaw mechanism for blow molding disc |
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| CN (1) | CN107838936B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942982A (en) * | 2018-07-23 | 2018-12-07 | 武汉理工大学 | A kind of blow molding disk manipulator clip claw mechanism with sterilizing function |
| CN108817359B (en) * | 2018-09-10 | 2024-03-15 | 江苏天宏智能装备有限公司 | Casting robot pick-up device |
| CN112209115A (en) * | 2020-08-27 | 2021-01-12 | 南京昱晟机器人科技有限公司 | Industrial robot with automatic material loading and unloading function and method |
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| CN107838936A (en) | 2018-03-27 |
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