CN217751488U - Automatic change manipulator - Google Patents

Abstract

The utility model discloses an automatic manipulator, the swing arm mechanism includes first vertical mounting panel, swing arm, pivot and second vertical mounting panel, is equipped with the shaft hole that extends about on first vertical mounting panel, and the pivot passes the shaft hole and is fixed with the shaft hole through the bearing assembly, and the swing arm middle part is solid to overlap at the pivot left end, and second vertical mounting panel is connected at the pivot right-hand member, can drive the swing arm to make a round trip to rotate when the cylinder pole of first cylinder stretches out and draws back to drive the pivot rotation, and then drive the rotation of second vertical mounting panel; the clamping jaw mechanism comprises two clamping jaw assemblies and a clamping jaw driving assembly, the two clamping jaw assemblies are fixed on a second vertical mounting plate, the clamping jaw assemblies can be driven to face downwards in turn when the second vertical mounting plate rotates back and forth, and when the clamping jaw assemblies are located at downward positions of the directions, the clamping jaw driving assembly can drive the clamping jaw assemblies to open or close. The utility model discloses effectively improved work efficiency, and structural design is ingenious, can realize full automated control, be favorable to the manipulator to widely popularize and apply.

Description

An automated manipulator

technical field

The utility model relates to the technical field of fixtures, in particular to an automatic manipulator.

Background technique

The manipulator is a mechanical device that realizes the function of the machine replacing humans through mechanical structure design and electrical program control. In the structural composition of the manipulator, the gripper is the final action execution part. When the manipulator moves to the specified position, the gripper is like a human finger. Similarly, the clamping or loosening action is completed in order to achieve operations such as picking and placing and processing of external components. Most manipulator heads are usually equipped with only one gripper tool, and only one gripper tool is used to clamp external parts back and forth, which is inefficient and takes a long time; at present, some manipulator heads are equipped with two gripper tools, each A jaw tool includes two clamping blocks, and each clamping block needs to be equipped with a cylinder, and the two jaw tools need to be equipped with four cylinders. The structure is complex and the cost is high, which is not conducive to the vigorous promotion and application of manipulators.

Utility model content

Aiming at the problems existing in the above-mentioned prior art, the utility model aims to provide an automatic manipulator with two jaw assemblies, which can improve work efficiency, and the position of the two jaw assemblies can be changed through one cylinder. The opening and closing of the jaw assembly at a designated position can be realized through a jaw driving assembly.

In order to achieve the above object, the utility model proposes an automatic manipulator, including a swing arm mechanism and a jaw mechanism, and the swing arm mechanism includes a first vertical mounting plate, a swing arm, a rotating shaft and a second vertical mounting plate. The first vertical mounting plate is provided with a shaft hole extending left and right, the shaft passes through the shaft hole and is fixed to the shaft hole by a bearing assembly in the middle, the middle part of the swing arm is fixedly sleeved on the left end of the shaft, and the second The vertical mounting plate is connected to the right end of the rotating shaft, and the first cylinder is fixed on the first vertical mounting plate. The cylinder rod of the first cylinder is hinged to one end of the swing arm, and the cylinder rod of the first cylinder can drive the swing arm when stretching. Rotating back and forth, thereby driving the rotating shaft to rotate back and forth, and then driving the second vertical mounting plate to rotate back and forth;

The jaw mechanism includes two jaw assemblies and a jaw drive assembly, and the two jaw assemblies are fixed on the right end surface of the second vertical mounting plate facing downward and backward respectively, and the second vertical mounting plate When rotating back and forth, the jaw assembly can be driven downward in turn. When the jaw assembly is in a downward position, the jaw driving assembly can drive the jaw assembly to open or close.

In the above solution: the jaw assembly facing downwards includes a guide block, a third vertical mounting plate, two transmission blocks and two jaws, and the upper end of the third vertical mounting plate is connected to the second vertical mounting plate. A first pin shaft is arranged between them, and the guide block slides left and right and is sleeved on the first pin shaft. Second pin shafts are respectively provided between the two sides of the lower end of the third vertical mounting plate and the second vertical mounting plate, and the two transmission blocks are respectively rotatably sleeved on the two second pin shafts. Two arc-shaped guide grooves are arranged horizontally on both sides of the bottom surface, and the distance between the two arc-shaped guide grooves gradually decreases from left to right. The tops of the two transmission blocks are provided with connectors matching the arc-shaped guide grooves. The connectors of the blocks are movably embedded in the two arc-shaped guide grooves, and the two jaws are respectively fixed on the bottom of the two transmission blocks one by one; when the guide block moves to the left, the tops of the two transmission blocks Move closer, and the bottoms of the two transmission blocks are opened under the action of the second pin, thereby driving the two jaws to open. When the guide block moves to the right, the tops of the two transmission blocks are opened, and the second pin The bottoms of the two transmission blocks move closer together under the action of the action, thereby driving the two jaws to close together for clamping; the jaw assembly facing backward has the same structure as the jaw assembly facing downward. Through the cooperation of the guide block and the two transmission blocks, only one driving force is needed to drive the guide block to move, and the opening or closing of the two jaws is realized through the principle of leverage, the structure is ingenious, and the driving cost is low.

In the above solution: the jaw drive assembly includes a "7"-shaped mounting frame, the end of the horizontal section of the mounting frame is fixed on the right end surface of the first vertical mounting plate, and the vertical section of the mounting frame is located at On the right side of the third vertical mounting plate, a second cylinder is fixed on the vertical section of the mounting frame, the direction of the cylinder rod of the second cylinder is towards the left, and the cylinder rod is connected with a push rod, and the push rod is directly For the right end face of the guide block, a spring is arranged between the guide block and the second vertical mounting plate; when the cylinder rod of the second cylinder stretches out to the left, it can drive the push rod to push the guide block to move to the left, and the spring is stressed Compression, when the cylinder rod of the second cylinder retracts to the right and drives the push rod to retract, the restoring force of the spring can drive the guide block to move to the right. Through the cooperation of the first cylinder and the second cylinder, the switching of the position of the jaw assembly and the opening and closing of the jaw assembly at the specified position can be quickly realized, and there is no need to arrange a separate air cylinder for each jaw in the jaw assembly, which is low in cost. It is conducive to the vigorous promotion and application of manipulators.

In the above solution: the left end surface of the first vertical mounting plate is provided with a limit block for limiting the swing arm’s back and forth rotation range. When the swing arm abuts against one of the limit blocks, the direction of a jaw assembly is Down, when the swing arm abuts against another limit block, the direction of the other jaw assembly is downward. The limit block plays the role of limit, which is convenient for the two jaw components to quickly switch to the designated position.

In the above solution: the second vertical mounting plate is in the shape of a "7", the right end of the rotating shaft is connected at the inflection point of the "7", and the two jaw assemblies are respectively fixed on the two sides of the "7", The distance between the two jaw assemblies and the inflection point is the same, so as to ensure that the two jaw assemblies can correspond to the position of the jaw driving assembly after they are switched to the designated positions.

In the above scheme: there are two first pin shafts, and the two first pin shafts are arranged at intervals one after the other, and there are two springs. The first bearing pin and the spring prevent the two from interfering.

In the above solution: the shaft hole is located at the lower end of the first vertical mounting plate, the first cylinder is fixed on the upper end of the first vertical mounting plate through a door-shaped mounting seat, and the cylinder rod of the first cylinder faces downward, so the structure is simple , easy to set up.

The beneficial effects of the utility model are:

1. There are two jaw assemblies on the manipulator, and the workpiece is transported by the two jaw assemblies, which effectively improves the work efficiency and shortens the working time compared with single-jaw handling.

2. Through the cooperation of the cylinder, the shaft and the bearing assembly, the position switching of the two jaw assemblies is realized, and then the opening and closing of the jaw assembly at the specified position is realized through the jaw driving assembly. This structure is ingeniously designed and can realize fully automatic control. It is conducive to the vigorous promotion and application of manipulators.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the utility model.

FIG. 2 is a schematic diagram of another angle of FIG. 1 .

Fig. 3 is a structural schematic diagram of the jaw mechanism.

Fig. 4 is a schematic structural view of the jaw assembly.

Fig. 5 is a bottom view of the guide block.

Fig. 6 is a structural schematic diagram of the transmission block.

Detailed ways

As shown in Figure 1-6, an automatic manipulator is mainly composed of a swing arm mechanism and a gripper mechanism.

The swing arm mechanism includes a first vertical mounting plate 1, a swing arm 2, a rotating shaft 3 and a second vertical mounting plate 4, the first vertical mounting plate 1 is provided with a shaft hole extending left and right, and the rotating shaft 3 passes through the shaft hole And the middle part is fixed with the shaft hole by the bearing assembly, the middle part of the swing arm 2 is fixedly sleeved on the left end of the rotating shaft 3, and the second vertical mounting plate 4 is connected to the right end of the rotating shaft 3. The first vertical mounting plate 1 is fixed with a first cylinder 5, the cylinder rod of the first cylinder 5 is hinged to one end of the swing arm 2, and the cylinder rod of the first cylinder 5 can drive the swing arm 2 to rotate back and forth when stretching. This drives the rotating shaft 3 to rotate back and forth, and then drives the second vertical mounting plate 4 to rotate back and forth.

The jaw mechanism includes two jaw assemblies 6 and a jaw drive assembly 7, and the two jaw assemblies 6 are fixed on the right end surface of the second vertical mounting plate 4 facing downward and backward respectively. When the second vertical mounting plate 4 rotates back and forth, it can drive the jaw assembly 6 downward in turn. When the jaw assembly 6 is in the downward position, the jaw driving assembly 7 can drive the jaw assembly 6 to open or close.

The jaw assembly 6 facing downwards includes a guide block 8 , a third vertical mounting plate 9 , two transmission blocks 10 and two jaws 11 . A first pin shaft 12 is disposed between the upper end of the third vertical mounting plate 9 and the second vertical mounting plate 4 , and the guide block 8 is sleeved on the first pin shaft 12 by sliding left and right. The middle part of the lower end of the third vertical mounting plate 9 is connected with the second vertical mounting plate 4 by a transverse connection plate 13, and the lower end both sides of the third vertical mounting plate 9 and the second vertical mounting plate 4 are arranged respectively. There is a second pin shaft 14, and the two transmission blocks 10 are rotatably sleeved on the two second pin shafts 14 respectively. Both sides of the bottom surface of the guide block 8 are horizontally provided with two arc-shaped guide grooves 15, and the distance between the two arc-shaped guide grooves 15 gradually decreases from left to right. Connecting head 16, the connecting head 16 of two transmission blocks 10 is movably embedded in two arc-shaped guide grooves 15 respectively, and two jaws 11 are respectively fixed on the bottom of two transmission blocks 10 one in front and one in back.

When the guide block 8 moved to the left, the tops of the two transmission blocks 10 moved closer, and the bottoms of the two transmission blocks 10 opened under the action of the second bearing pin 14, thereby driving the two jaws 11 to open. When the guide block 8 moved to the right, the tops of the two transmission blocks 10 opened, and the bottoms of the two transmission blocks 10 moved closer under the action of the second bearing pin 14, thereby driving the two jaws 11 to be clamped. Through the cooperation of the guide block 8 and the two transmission blocks 10, only one driving force is needed to drive the guide block 8 to move, and the opening or closing of the two jaws 11 is realized by the principle of leverage, the structure is ingenious, and the driving cost is low.

The backward jaw assembly 6 has the same structure as the downward jaw assembly 6 .

Preferably, the jaw driving assembly 7 includes a "7"-shaped mounting frame 17, the end of the horizontal section of the mounting frame 17 is fixed on the right end face of the first vertical mounting plate 1, and the vertical section of the mounting frame 17 is located at the first vertical mounting plate 1. Three vertical mounting plates 9 on the right. On the vertical section of mounting frame 17, second cylinder 18 is fixed, and the direction of the cylinder rod of second cylinder 18 is toward the left, and is connected with push rod 19 on the cylinder rod, and described push rod 19 faces the right end face of guide block 8 , A spring 20 is arranged between the guide block 8 and the second vertical mounting plate 4 . When the cylinder rod of the second cylinder 18 stretched out to the left, it could drive the push rod 19 to promote the guide block 8 to move left, and the spring 20 was compressed under force. When the cylinder rod of the second cylinder 18 retracts to the right and drives the push rod 19 to retract, the restoring force of the spring 20 can drive the guide block 8 to move to the right. Through the cooperation of the first cylinder 5 and the second cylinder 18, the switching of the position of the jaw assembly 6 and the opening and closing of the jaw assembly 6 at the specified position can be quickly realized, without the need for separate arrangements for each jaw 11 in the jaw assembly 6 One cylinder, low cost, is conducive to the vigorous promotion and application of manipulators.

Preferably, the left end surface of the first vertical mounting plate 1 is provided with a limit block 21 for limiting the range of the swing arm 2 to rotate back and forth. When the swing arm 2 abuts on one of the limit blocks 21, a jaw The direction of the assembly 6 is downward, and when the swing arm 2 abuts on the other limiting block 21 , the direction of the other jaw assembly 6 is downward. The limit block 21 acts as a limit, so that the two jaw assemblies 6 can be quickly switched to a designated position.

Preferably, the second vertical mounting plate 4 is in the shape of a "7", the right end of the rotating shaft 3 is connected at the inflection point of the "7", and the two jaw assemblies 6 are respectively fixed on both sides of the "7". The distance between the assembly 6 and the inflection point is the same, so as to ensure that the two jaw assemblies 6 can correspond to the position of the jaw drive assembly 7 after switching to the designated position.

Preferably, there are two first pin shafts 12, and the two first pin shafts 12 are arranged at intervals one after the other, and there are two springs 20, and the two springs 20 are arranged between the two first pin shafts 12 one by one, which is reasonable. The first pin shaft 12 and the spring 20 are arranged to prevent the two from interfering.

Preferably, the shaft hole is located at the lower end of the first vertical mounting plate 1, and the first cylinder 5 is fixed on the upper end of the first vertical mounting plate 1 by a gate-type mounting seat 22, and the cylinder rod of the first cylinder 5 faces downward, and the structure Simple and easy to set up.

The working process of the present utility model is:

The initial state before the manipulator clamps the workpiece (the two jaw assemblies 6 are divided into the first jaw assembly and the second jaw assembly): the first cylinder 5 cylinder rod retracts, the direction of the first jaw assembly faces downward, and the second cylinder 18 The cylinder rod stretches out, and the first jaw assembly opens; the direction of the second jaw assembly is backward, and its spring is not compressed, and the second jaw assembly is closed.

Action description:

The manipulator moves to the loading position, the direction of the first jaw assembly is aimed downward at the workpiece, the cylinder rod of the second cylinder 18 is retracted, and the spring 20 at the first jaw assembly rebounds to push the guide block 8, so that the first jaw assembly Close up and clamp the workpiece; the manipulator moves up a short distance, the cylinder rod of the first cylinder 5 stretches out, pushes the swing arm 4 to rotate, and makes the direction of the second jaw assembly face downward, and the cylinder rod of the second cylinder 18 stretches out to push the guide block 8, so that The second jaw assembly opens; the manipulator moves down to the position of the workpiece, the cylinder rod of the second cylinder 18 retracts, and the spring 20 at the second jaw assembly rebounds to push the guide block 8, so that the second jaw assembly closes and clamps workpiece;

The manipulator moves to the unloading position, and the cylinder rod of the second cylinder 18 stretches out to push the guide block 8, so that the second jaw assembly is opened to unload the workpiece, and then the cylinder rod of the second cylinder 18 is retracted, and the second jaw assembly is closed; The cylinder rod of the first cylinder 5 is retracted, and the swing arm 4 is pushed to rotate, so that the direction of the first jaw assembly is downward, and the cylinder rod of the second cylinder 18 is stretched out to push the guide block 8, so that the first jaw assembly is opened to unload the workpiece; The manipulator returns to the loading position, and repeats the above actions to realize repeated loading and unloading of workpieces.

Claims (7)

1. The utility model provides an automatic change manipulator, includes swing arm mechanism and gripper mechanism, its characterized in that: the swing arm mechanism comprises a first vertical mounting plate (1), a swing arm (2), a rotating shaft (3) and a second vertical mounting plate (4), wherein shaft holes extending leftwards and rightwards are formed in the first vertical mounting plate (1), the rotating shaft (3) penetrates through the shaft holes and is fixed with the shaft holes through bearing assemblies at the middle parts of the rotating shaft (3), the middle part of the swing arm (2) is fixedly sleeved at the left end of the rotating shaft (3), the second vertical mounting plate (4) is connected to the right end of the rotating shaft (3), a first air cylinder (5) is fixedly arranged on the first vertical mounting plate (1), an air cylinder rod of the first air cylinder (5) is hinged to one end of the swing arm (2), and the air cylinder rod of the first air cylinder (5) can drive the swing arm (2) to rotate back and forth when stretching, so that the rotating shaft (3) is driven to rotate back and forth, and then the second vertical mounting plate (4) is driven to rotate back and forth;

clamping jaw mechanism includes two clamping jaw subassembly (6) and a clamping jaw drive assembly (7), two clamping jaw subassembly (6) respectively the direction down with the direction towards the rear fixation on the right-hand member face of second vertical mounting panel (4), can drive clamping jaw subassembly (6) down in turn when second vertical mounting panel (4) make a round trip to rotate, when clamping jaw subassembly (6) is in the direction position down, clamping jaw drive assembly (7) can drive clamping jaw subassembly (6) and open or fold.

2. The automated manipulator of claim 1, wherein: the downward-oriented clamping jaw assembly (6) comprises a guide block (8), a third vertical mounting plate (9), two transmission blocks (10) and two clamping jaws (11), a first pin shaft (12) is arranged between the upper end of the third vertical mounting plate (9) and the second vertical mounting plate (4), the guide block (8) is sleeved on the first pin shaft (12) in a left-right sliding mode, the middle of the lower end of the third vertical mounting plate (9) is connected with the second vertical mounting plate (4) through a transverse connecting plate (13), second pin shafts (14) are respectively arranged between two sides of the lower end of the third vertical mounting plate (9) and the second vertical mounting plate (4), the two transmission blocks (10) are respectively sleeved on the two second pin shafts (14) in a rotating mode, two arc-shaped guide grooves (15) are horizontally arranged on two sides of the bottom surface of the guide block (8), the spacing distance between the two arc-shaped guide grooves (15) is gradually reduced from left to right, two arc-shaped guide grooves (16) matched with the arc-shaped guide grooves (15) are respectively arranged on the tops of the two transmission blocks (10), and two movable connectors (16) are respectively fixed in the front clamping jaw connectors (11); when the guide block (8) moves to the left, the tops of the two transmission blocks (10) are close, the bottoms of the two transmission blocks (10) are opened under the action of the second pin shaft (14) so as to drive the two clamping jaws (11) to open, when the guide block (8) moves to the right, the tops of the two transmission blocks (10) are opened, the bottoms of the two transmission blocks (10) are close under the action of the second pin shaft (14) so as to drive the two clamping jaws (11) to close and clamp; the backward-oriented clamping jaw assembly (6) has the same structure as the downward-oriented clamping jaw assembly (6).

3. The automated manipulator of claim 2, wherein: the clamping jaw driving assembly (7) comprises a 7-shaped mounting frame (17), the end of the horizontal section of the mounting frame (17) is fixed on the right end face of the first vertical mounting plate (1), the vertical section of the mounting frame (17) is positioned on the right side of the third vertical mounting plate (9), a second air cylinder (18) is fixed on the vertical section of the mounting frame (17), the air cylinder rod of the second air cylinder (18) faces to the left, a push rod (19) is connected onto the air cylinder rod, the push rod (19) is right opposite to the right end face of the guide block (8), and a spring (20) is arranged between the guide block (8) and the second vertical mounting plate (4); when the cylinder rod of the second cylinder (18) extends leftwards, the push rod (19) can be driven to push the guide block (8) to move leftwards, the spring (20) is compressed under force, and when the cylinder rod of the second cylinder (18) retracts rightwards and drives the push rod (19) to retract, the restoring force of the spring (20) can drive the guide block (8) to move rightwards.

4. The automated manipulator of claim 1, wherein: be provided with on the left end face of first vertical mounting panel (1) and be used for restricting swing arm (2) rotation range's that makes a round trip stopper (21), when swing arm (2) butt on one of them stopper (21), a clamping jaw subassembly (6) orientation is down, when swing arm (2) butt on another stopper (21), another clamping jaw subassembly (6) orientation is down.

5. The automated manipulator of claim 1, wherein: the vertical mounting panel of second (4) is "7" font, pivot (3) right-hand member is connected in the inflection point position department of "7" font, two clamping jaw subassembly (6) are fixed respectively on the both sides of "7" font, and two clamping jaw subassemblies (6) are the same to the interval distance between the inflection point.

6. The automated manipulator of claim 3, wherein: the two first pin shafts (12) are arranged at intervals in tandem, the two first pin shafts (12) are arranged at intervals, the two springs (20) are arranged between the two first pin shafts (12) one above the other, and the two springs (20) are arranged between the two first pin shafts (12) one below the other.

7. The automated manipulator of claim 1, wherein: the shaft hole is located at the lower end of the first vertical mounting plate (1), the first air cylinder (5) is fixed at the upper end of the first vertical mounting plate (1) through the door-shaped mounting seat (22), and an air cylinder rod of the first air cylinder (5) faces downwards.

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