CN213859264U

CN213859264U - Manipulator capable of automatically feeding and discharging

Info

Publication number: CN213859264U
Application number: CN202022811307.3U
Authority: CN
Inventors: 彭洪滨
Original assignee: Dalian Tianhong Automobile Steering Pump Co ltd
Current assignee: Dalian Tianhong Automobile Steering Pump Co ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2021-08-03
Anticipated expiration: 2030-11-30

Abstract

The utility model discloses a manipulator capable of automatically feeding and discharging material, relating to the technical field of mechanical processing equipment; the device comprises a rail, wherein a sliding fixture block is movably clamped on the rail, and a moving mechanism is arranged in the sliding fixture block; the bottom of the sliding fixture block is provided with a driving box, the bottom of the driving box is rotatably provided with a first rotating shaft through a bearing, and a rotating motor for driving the first rotating shaft is arranged in the driving box; a bracket is arranged at the lower end of the first rotating shaft, a telescopic rod is arranged on one side of the bottom surface of the bracket, and the output end of the telescopic rod is connected with a clamping mechanism; the device is communicated with the air pipe through the air pressure pump to exhaust air so that the sucker can be stably attached to the surface of a workpiece, and the clamping jaw is convenient to rotate and adjust according to the gradient of the surface of the workpiece, so that the clamping is convenient.

Description

Manipulator capable of automatically feeding and discharging

Technical Field

The utility model relates to a machining equipment technical field specifically is a manipulator of unloading in can being automatic.

Background

The manipulator is an automatic operation device which can imitate certain motion functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program; it is characterized by that it can be programmed to implement various desired operations. With the rapid development of economy, the automation degree of production is also continuously improved, the manipulator is used for replacing the operation of workers in various industrial production, the manipulator can realize the operation which cannot be carried out by the workers, and the manipulator is an indispensable device in mechanical processing.

At present, most of domestic feeding and discharging manipulators are technically developed to a certain extent, but still have some problems, and the feeding and discharging manipulators with all directions and large areas are complex in equipment manufacture, expensive in selling price, low in production efficiency and inconvenient to operate; some robots are not suitable for grasping various parts due to their fixed shape, and are inconvenient to move.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a manipulator of unloading in can being automatic to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a manipulator capable of automatically feeding and discharging comprises a rail, wherein a sliding clamping block is movably clamped on the rail, and a moving mechanism is arranged in the sliding clamping block; the bottom of the sliding fixture block is provided with a driving box, the bottom of the driving box is rotatably provided with a first rotating shaft through a bearing, and a rotating motor for driving the first rotating shaft is arranged in the driving box; the lower extreme of first pivot is provided with the support, bottom surface one side of support is provided with the telescopic link, the output of telescopic link is connected with fixture.

As a further aspect of the present invention: the moving mechanism comprises two gears, the gears are arranged on a second rotating shaft, the second rotating shaft is arranged at the bottom of the inner side of the sliding clamping block, a double-shaft motor for driving the second rotating shaft to rotate is further arranged at the bottom of the inner side of the sliding clamping block, a shaft sleeve is arranged on the second rotating shaft, and the shaft sleeve is fixed at the bottom of the inner side of the sliding clamping block.

As a further aspect of the present invention: the top of the inner side of the sliding clamping block is provided with a plurality of rollers, the rollers are movably clamped on the rail, the bottom of the rail is provided with a tooth path matched with the gear, and the tooth path is meshed with the gear.

As a further aspect of the present invention: the clamping mechanism comprises a fixing seat, wherein two movable arms are symmetrically arranged at the bottom of the fixing seat through a sliding groove in a movable mode, the movable arms are hinged to clamping claws at one ends of the outer portions of the fixing seat through rotating supports, and threaded sleeves are arranged at one ends of the movable arms inside the fixing seat.

As a further aspect of the present invention: the threaded sleeve is arranged on the threaded rod, the threaded rod is rotatably arranged inside the fixing seat and is parallel to the sliding groove, and a variable frequency motor for driving the threaded rod to rotate is further arranged on the outer side of the fixing seat.

As a further aspect of the present invention: the inside of gripper jaw is provided with a plurality of sucking discs, the inside of gripper jaw is provided with the trachea, sucking disc and trachea intercommunication.

As a further aspect of the present invention: and a pneumatic pump is further arranged on the outer side of the clamping jaw and communicated with the air pipe.

Compared with the prior art, the beneficial effects of the utility model are that: according to the device, the moving mechanism is arranged in the sliding fixture block, the gear in the sliding fixture block is meshed with the tooth track on the track, and the gear rotates to move on the tooth track, so that the sliding fixture block drives the clamping mechanism at the bottom to move, and the control device can move conveniently to carry out loading and unloading;

the device is characterized in that a plurality of suckers are arranged on the inner side of a clamping claw of a clamping mechanism, the suckers are communicated with an air pipe inside a clamping claw, and the air pipe is communicated through a pneumatic pump to exhaust air so that the suckers can be stably attached to the surface of a workpiece, and the clamping is stable; and the clamping jaw is hinged on the movable arm, so that the workpiece can be conveniently rotated and adjusted according to the inclination of the convenient surface of the workpiece, and the clamping is convenient.

Drawings

Fig. 1 is a schematic structural diagram of a robot capable of automatically loading and unloading.

Fig. 2 is a schematic structural diagram of a moving mechanism in a robot capable of automatically loading and unloading.

Fig. 3 is a schematic structural view of a tooth path in a robot capable of automatically feeding and discharging material.

Fig. 4 is a schematic structural diagram of a clamping mechanism in a robot capable of automatically loading and unloading.

In the figure: the device comprises a track-1, a sliding clamping block-2, a driving box-3, a bearing-4, a first rotating shaft-5, a bracket-6, a telescopic rod-7, a fixed seat-8, a movable arm-9, a rotating support-10, a clamping claw-11, a sucker-12, a roller-13, a gear-14, a second rotating shaft-15, a double-shaft motor-16, a shaft sleeve-17, a threaded rod-18, a threaded sleeve-19, a variable frequency motor-20, a pneumatic pump-21, an air pipe-22 and a tooth track-23.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

Referring to fig. 1 to 3, in embodiment 1 of the present invention, a manipulator capable of automatically loading and unloading includes a rail 1, a sliding fixture block 2 is movably clamped on the rail 1, and a moving mechanism is disposed in the sliding fixture block 2; the bottom of the sliding fixture block 2 is provided with a driving box 3, the bottom of the driving box 3 is rotatably provided with a first rotating shaft 5 through a bearing 4, and a rotating motor for driving the first rotating shaft 5 is arranged in the driving box 3; the lower extreme of first pivot 5 is provided with support 6, and first pivot 5 is used for driving support 6 and rotates, conveniently adjusts fixture's angle, bottom surface one side of support 6 is provided with telescopic link 7, the output of telescopic link 7 is connected with fixture, and telescopic link 7 is used for driving fixture and carries out telescopic movement.

Further, moving mechanism includes two gears 14, gear 14 sets up in second pivot 15, second pivot 15 sets up in the inboard bottom of slip fixture block 2, the inboard bottom of slip fixture block 2 still is provided with drive second pivot 15 pivoted double-shaft motor 16, be provided with axle sleeve 17 in the second pivot 15, axle sleeve 17 is fixed in the inboard bottom of slip fixture block 2, and axle sleeve 17 makes second pivot 15 drive gear 14 rotate steadily.

Furthermore, a plurality of rollers 13 are arranged at the top of the inner side of the sliding fixture block 2, the rollers 13 are movably clamped on the rail 1, so that the sliding fixture block 2 can move on the rail 1 conveniently, a tooth track 23 matched with the gear 14 is arranged at the bottom of the rail 1, the tooth track 23 is meshed with the gear 14, and the gear 14 rotates to move on the tooth track 23 to drive the sliding fixture block 2 to move on the rail 1.

Example 2

Referring to fig. 1 to 3, the clamping mechanism includes a fixing seat 8, two movable arms 9 are movably and symmetrically disposed at the bottom of the fixing seat 8 through a sliding chute, a clamping jaw 11 is hinged to one end of each movable arm 9 outside the fixing seat 8 through a rotating support 10, so that the clamping jaw 11 can conveniently rotate according to the inclination of the surface of a workpiece to clamp the workpiece, and a threaded sleeve 19 is disposed at one end of each movable arm 9 inside the fixing seat 8 and used for driving the movable arm 9 to move.

Further, threaded bush 19 sets up on threaded rod 18, and threaded rod 18 is used for driving threaded bush 19 and rotates, threaded rod 18 rotates the inside that sets up at fixing base 8 to with spout parallel arrangement, the outside of fixing base 8 still is provided with drive threaded rod 18 pivoted inverter motor 20.

Furthermore, a plurality of suckers 12 are arranged on the inner side surface of the clamping claw 11, an air pipe 22 is arranged inside the clamping claw 11, and the suckers 12 are communicated with the air pipe 22; the outer side of the clamping claw 11 is also provided with a pneumatic pump 21, the pneumatic pump 21 is communicated with an air pipe 22, and air in the air pipe 22 is pumped out through the pneumatic pump 21, so that the air pipe is firmly attached to the surface of a workpiece and is stably clamped.

The payroll principle: the double-shaft motor 16 is controlled to work to drive the gear 14 to rotate, so that the gear 14 moves on the tooth track 23, the sliding clamping block 2 is driven to move on the track 1, the clamping mechanism is controlled to reach a corresponding position for clamping, the height of the clamping mechanism is controlled through the telescopic rod 7, and the driving box 3 drives the support 6 to rotate to adjust the angle of the clamping mechanism; during clamping, the variable frequency motor 20 is controlled to work to drive the threaded rod 18 to rotate, the threaded rod 18 drives the movable arm 9 to move through the threaded sleeve 19, the movable arm 9 drives the clamping claw 11 to move to clamp a workpiece, the clamping claw 11 can be rotationally adjusted through the inclination of the surface of the workpiece, and meanwhile, the pneumatic pump 21 is controlled to pump out air in the sucker 12, so that the sucker 12 is firmly attached to the surface of the workpiece, and the grabbing is more stable; the device is communicated with the air pipe through the air pressure pump to exhaust air so that the sucker can be stably attached to the surface of a workpiece, and the clamping jaw is convenient to rotate and adjust according to the gradient of the surface of the workpiece, so that the clamping is convenient.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The mechanical arm capable of automatically feeding and discharging is characterized by comprising a rail (1), wherein a sliding clamping block (2) is movably clamped on the rail (1), and a moving mechanism is arranged in the sliding clamping block (2); a driving box (3) is arranged at the bottom of the sliding clamping block (2), a first rotating shaft (5) is rotatably arranged at the bottom of the driving box (3) through a bearing (4), and a rotating motor for driving the first rotating shaft (5) is arranged in the driving box (3); the lower extreme of first pivot (5) is provided with support (6), bottom surface one side of support (6) is provided with telescopic link (7), the output of telescopic link (7) is connected with fixture.

2. The manipulator capable of automatically feeding and discharging materials as claimed in claim 1, wherein the moving mechanism comprises two gears (14), the gears (14) are arranged on a second rotating shaft (15), the second rotating shaft (15) is arranged at the bottom of the inner side of the sliding fixture block (2), a double-shaft motor (16) for driving the second rotating shaft (15) to rotate is further arranged at the bottom of the inner side of the sliding fixture block (2), a shaft sleeve (17) is arranged on the second rotating shaft (15), and the shaft sleeve (17) is fixed at the bottom of the inner side of the sliding fixture block (2).

3. The manipulator capable of automatically feeding and discharging according to any one of claims 1-2, wherein a plurality of rollers (13) are arranged at the top of the inner side of the sliding fixture block (2), the rollers (13) are movably clamped on the track (1), a tooth path (23) matched with the gear (14) is arranged at the bottom of the track (1), and the tooth path (23) is meshed with the gear (14).

4. The manipulator capable of automatically feeding and discharging materials as claimed in claim 1, wherein the clamping mechanism comprises a fixed seat (8), two movable arms (9) are movably and symmetrically arranged at the bottom of the fixed seat (8) through a sliding groove, one ends of the movable arms (9) outside the fixed seat (8) are hinged to clamping claws (11) through rotating supports (10), and one ends of the movable arms (9) inside the fixed seat (8) are provided with threaded sleeves (19).

5. The manipulator capable of automatically feeding and discharging materials as claimed in claim 4, wherein the threaded sleeve (19) is arranged on a threaded rod (18), the threaded rod (18) is rotatably arranged inside the fixed seat (8) and is parallel to the sliding groove, and a variable frequency motor (20) for driving the threaded rod (18) to rotate is further arranged on the outer side of the fixed seat (8).

6. The manipulator capable of automatically feeding and discharging materials as claimed in claim 4, wherein a plurality of suckers (12) are arranged on the inner side surface of the clamping claw (11), an air pipe (22) is arranged inside the clamping claw (11), and the suckers (12) are communicated with the air pipe (22).

7. The manipulator capable of automatically feeding and discharging materials as claimed in claim 6, wherein a pneumatic pump (21) is further arranged on the outer side of the clamping claw (11), and the pneumatic pump (21) is communicated with an air pipe (22).