CN110774043A - A helping hand manipulator for work piece unloading - Google Patents
A helping hand manipulator for work piece unloading Download PDFInfo
- Publication number
- CN110774043A CN110774043A CN201911085675.XA CN201911085675A CN110774043A CN 110774043 A CN110774043 A CN 110774043A CN 201911085675 A CN201911085675 A CN 201911085675A CN 110774043 A CN110774043 A CN 110774043A
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- CN
- China
- Prior art keywords
- fixedly connected
- cushion pad
- hydraulic rod
- gripper
- manipulator
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of power-assisted manipulators, and discloses a power-assisted manipulator for workpiece blanking, which comprises a cylinder barrel main body, wherein one side of the cylinder barrel main body is movably connected with a hydraulic rod, one side of the cylinder barrel main body, which is close to the hydraulic rod, is fixedly connected with a first cushion pad, and one side of the first cushion pad is movably connected with a second cushion pad. This a helping hand manipulator for work piece unloading, through the gripper, the bar slide rail, the jack, the inserted bar, the sliding block, concave groove, press the clamp plate, the movable rod, the fixed plate, the fixture block, reset spring and rubber isolation layer's setting, slide the sliding block along one side of bar slide rail, then the inserted bar can contact gradually and be fixed with the jack, will press the clamp plate to the inside press of gripper this moment, then the movable rod removes thereupon and drives fixture block and concave groove and contact gradually, reset spring is in the extrusion state this moment, the triangle sawtooth block of fixture block one side is fixed with concave groove joint, the rubber isolation pad can prevent to press from damaging the work piece with gripper fixed connection.
Description
Technical Field
The invention relates to the technical field of power-assisted manipulators, in particular to a power-assisted manipulator for workpiece blanking.
Background
The mechanical fingers can imitate some action functions of human hands and arms, and are used for grabbing, carrying objects or operating an automatic operating device of a tool according to a fixed program. The device mainly comprises an actuating mechanism, a driving mechanism and a control system. The manipulator is an automatic machine for grabbing and carrying objects according to a set program, and can be divided into hydraulic, pneumatic, electric and mechanical manipulators according to a driving mode.
A gripper of helping hand manipulator for work piece unloading can contact with the work piece when snatching the work piece, because the gripper is made by steel, causes the scratch easily to the work piece, influences the quality of work piece, the manipulator of the oscilaltion motion in the pneumatic type manipulator of manipulator, wherein snatch the part and can take place constantly to collide with parts such as cylinder, nevertheless the manipulator collides with the cylinder for a long time and leads to mechanical damage easily and even the collision produced fright power can cause the product breakage to reduce the quality of product. Therefore, we propose a power-assisted manipulator for blanking a workpiece to solve the above problems.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the power-assisted manipulator for workpiece blanking, which has the advantages of protecting a gripped workpiece, having a buffering effect, reducing collision and the like, and solves the problems that the gripped workpiece is easy to scratch and the air cylinder is easy to collide when moving.
The technical scheme adopted by the invention for solving the technical problems is as follows: a power-assisted manipulator for workpiece blanking comprises a cylinder barrel main body, wherein one side of the cylinder barrel main body is movably connected with a hydraulic rod, one side of the cylinder barrel main body, which is close to the hydraulic rod, is fixedly connected with a first cushion pad, one side of the first cushion pad is movably connected with a second cushion pad, the outer surface of the hydraulic rod is movably connected with a buffer spring, one side of the hydraulic rod, which is far away from the cylinder barrel main body, is fixedly connected with a connecting plate, one side of the connecting plate is fixedly connected with a separation block, one side of the connecting plate, which is far away from the hydraulic rod, is fixedly connected with a hinged support, one side of the hinged support is movably connected with a movable air cylinder, one side of the movable air cylinder, which is far away from the hinged support, is movably connected with a mechanical claw, one side of the mechanical claw, the mechanical gripper is characterized in that a sliding block is fixedly connected to one side of the inserted rod, a concave groove is formed in one side of the inserted rod, a pressing plate is movably connected to one side of the mechanical gripper, a movable rod is fixedly connected to one side of the pressing plate, a fixed plate is fixedly connected to one side of the pressing plate, a clamping block is fixedly connected to one side of the movable rod, a reset spring is fixedly connected to one side of the movable rod far away from the pressing plate, and a rubber isolation layer is fixedly connected to one side of the sliding block.
Furthermore, a clamping groove is formed in one side of the first cushion pad, and one side of the second cushion pad is fixedly connected with a clamping block matched with the clamping groove.
Furthermore, an arc-shaped groove matched with the hydraulic rod is formed in one side of the first cushion pad, and an arc-shaped groove matched with the hydraulic rod is formed in one side of the second cushion pad.
Furthermore, one side of the mechanical claw is provided with a through hole matched with the movable rod.
Furthermore, one side of the clamping block is fixedly connected with a triangular sawtooth block.
Furthermore, one side fixedly connected with stopper of rubber isolation layer, and one side and the strip slide rail of stopper keep away from the one side of jack and contact.
The invention has the beneficial effects that:
1. this a helping hand manipulator for work piece unloading, through the gripper, the bar slide rail, the jack, the inserted bar, the sliding block, concave groove, press the clamp plate, the movable rod, the fixed plate, the fixture block, the joint setting between reset spring and the rubber isolation layer, slide the sliding block along one side of bar slide rail, then the inserted bar can contact gradually and accomplish fixedly with the jack, press the clamp plate to the gripper is inside to press this moment, then the movable rod removes thereupon and drives fixture block and concave groove and contact gradually, reset spring is in the extrusion state this moment, the triangle sawtooth block of fixture block one side is fixed with concave groove joint, rubber isolation pad and gripper fixed connection, can effectually prevent to press the bad work piece, will press the clamp plate to keep away from gripper one side during the dismantlement pull open can, high durability and convenient use, the operation is portable.
2. This a helping hand manipulator for work piece unloading, through the cylinder main part, the hydraulic stem, first blotter, the second blotter, buffer spring, the joint setting between connecting plate and the spacing block, guarantee that the gripper removes at the horizontal direction when cylinder main part and hydraulic stem normal operating, buffer spring makes a round trip to stretch out and draw back when the hydraulic stem removes, the spacing block of connecting plate one side removes thereupon and continuous collision first blotter and second blotter, can effectually alleviate the vibrations sense between gripper and the cylinder main part, reduce the collision friction between connecting plate and the cylinder main part, play the effect of protection cylinder main part.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of the structure of FIG. 1 at A according to the present invention.
Description of reference numerals: 1 cylinder barrel main part, 2 hydraulic stems, 3 first blotters, 4 second blotters, 5 buffer springs, 6 connecting plates, 7 spacing blocks, 8 articulated support, 9 moving cylinders, 10 gripper, 11 bar slide rails, 12 jacks, 13 inserted bars, 14 sliding blocks, 15 concave grooves, 16 pressing plates, 17 movable rods, 18 fixed plates, 19 clamping blocks, 20 reset springs and 21 rubber isolation layers.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1-2, a power-assisted manipulator for workpiece blanking comprises a cylinder barrel body 1, a hydraulic rod 2 is movably connected to one side of the cylinder barrel body 1, a first cushion pad 3 is fixedly connected to one side of the cylinder barrel body 1 close to the hydraulic rod 2, a second cushion pad 4 is movably connected to one side of the first cushion pad 3, a buffer spring 5 is movably connected to the outer surface of the hydraulic rod 2, a connecting plate 6 is fixedly connected to one side of the hydraulic rod 2 away from the cylinder barrel body 1, a spacer block 7 is fixedly connected to one side of the connecting plate 6, a hinged support 8 is fixedly connected to one side of the connecting plate 6 away from the hydraulic rod 2, a moving cylinder 9 is movably connected to one side of the hinged support 8, a gripper 10 is movably connected to one side of the moving cylinder 9 away from the hinged support 8, a strip-shaped slide rail 11 is arranged on one side of the gripper 10, one side swing joint of jack 12 has inserted bar 13, one side fixedly connected with sliding block 14 of inserted bar 13, concave groove 15 has been seted up to one side of inserted bar 13, one side swing joint of gripper 10 has press plate 16, one side fixedly connected with movable rod 17 of press plate 16, one side fixedly connected with fixed plate 18 of press plate 16, one side fixedly connected with fixture block 19 of movable rod 17, one side fixedly connected with reset spring 20 of press plate 16 is kept away from to movable rod 17, one side fixedly connected with rubber isolation layer 21 of sliding block 14.
Joint groove has been seted up to one side of first blotter 3, and the joint piece of one side fixedly connected with and joint groove looks adaptation of second blotter 4, the convenience is dismantled first blotter 3 and second blotter 4, the arc wall with 2 looks adaptations of hydraulic stem is seted up to one side of first blotter 3, the arc wall with 2 looks adaptations of hydraulic stem is seted up to one side of second blotter 4, guarantee the normal operating of hydraulic stem 2, the through-hole with 17 looks adaptations of movable rod is seted up to one side of gripper 10, make things convenient for the removal of movable rod 17, one side fixedly connected with triangle sawtooth block of fixture block 19, it is more stable when fixture block 19 and concave groove joint, one side fixedly connected with stopper of rubber isolation layer 21, and one side that jack 12 was kept away from to one side of stopper and bar slide rail 11 contacts, it is spacing to carry out rubber isolation pad 21.
When the clamping device is used, the sliding block 14 slides along one side of the strip-shaped sliding rail 11 through the combined arrangement of the mechanical claw 10, the strip-shaped sliding rail 11, the jack 12, the inserting rod 13, the sliding block 14, the concave groove 15, the pressing plate 16, the movable rod 17, the fixing plate 18, the clamping block 19, the reset spring 20 and the rubber isolation layer 21, the inserting rod 13 and the jack 12 can be gradually contacted and fixed, at the moment, the pressing plate 16 is pressed towards the inside of the mechanical claw 10, the movable rod 17 moves along with the pressing plate and drives the clamping block 19 to be gradually contacted with the concave groove 15, at the moment, the reset spring 20 is in an extrusion state, the triangular sawtooth block on one side of the clamping block 19 is clamped and fixed with the concave groove 15, the rubber isolation pad 21 is fixedly connected with the mechanical claw 10, a workpiece can be effectively prevented from being clamped, the pressing plate 16 can be pulled away from one side of the mechanical, Hydraulic stem 2, first blotter 3, second blotter 4, buffer spring 5, the joint setting between connecting plate 6 and the spacer 7, guarantee that gripper 10 removes at the horizontal direction when cylinder main part 1 and hydraulic stem 2 normal operating, buffer spring 5 makes a round trip to stretch out and draws back when hydraulic stem 2 removes, spacer 7 of connecting plate 6 one side removes thereupon and continuous collision first blotter 3 and second blotter 4, can effectually alleviate the vibrations sense between gripper 10 and the cylinder main part 1, reduce the collision friction between connecting plate 6 and the cylinder main part 1, play the effect of protection cylinder main part 1.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. The utility model provides a helping hand manipulator for work piece unloading, includes cylinder main part (1), its characterized in that: one side of the cylinder barrel body (1) is movably connected with a hydraulic rod (2), one side of the cylinder barrel body (1) close to the hydraulic rod (2) is fixedly connected with a first cushion pad (3), one side of the first cushion pad (3) is movably connected with a second cushion pad (4), the outer surface of the hydraulic rod (2) is movably connected with a buffer spring (5), one side of the hydraulic rod (2) far away from the cylinder barrel body (1) is fixedly connected with a connecting plate (6), one side of the connecting plate (6) is fixedly connected with a spacing block (7), one side of the connecting plate (6) far away from the hydraulic rod (2) is fixedly connected with a hinged support (8), one side of the hinged support (8) is movably connected with a movable cylinder (9), one side of the movable cylinder (9) far away from the hinged support (8) is movably connected with a mechanical claw (10), one side of the mechanical claw (10) is provided, jack (12) have been seted up on one side of gripper (10) and the right side that is located bar slide rail (11), one side swing joint of jack (12) has inserted bar (13), one side fixedly connected with sliding block (14) of inserted bar (13), concave groove (15) have been seted up to one side of inserted bar (13), one side swing joint of gripper (10) presses platen (16), one side fixedly connected with movable rod (17) of pressing platen (16), one side fixedly connected with fixed plate (18) of pressing platen (16), one side fixedly connected with fixture block (19) of movable rod (17), one side fixedly connected with reset spring (20) of pressing platen (16) are kept away from in movable rod (17), one side fixedly connected with rubber isolation layer (21) of sliding block (14).
2. The power-assisted manipulator for blanking workpieces as recited in claim 1, wherein: the joint groove has been seted up to one side of first blotter (3), and one side fixedly connected with of second blotter (4) and the joint piece of joint groove looks adaptation.
3. The power-assisted manipulator for blanking workpieces as recited in claim 1, wherein: the arc-shaped groove matched with the hydraulic rod (2) is formed in one side of the first cushion pad (3), and the arc-shaped groove matched with the hydraulic rod (2) is formed in one side of the second cushion pad (4).
4. The power-assisted manipulator for blanking workpieces as recited in claim 1, wherein: one side of the mechanical claw (10) is provided with a through hole matched with the movable rod (17).
5. The power-assisted manipulator for blanking workpieces as recited in claim 1, wherein: one side of the clamping block (19) is fixedly connected with a triangular sawtooth block.
6. The power-assisted manipulator for blanking workpieces as recited in claim 1, wherein: one side fixedly connected with stopper of rubber isolation layer (21), and one side of stopper and bar slide rail (11) keep away from one side of jack (12) and contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911085675.XA CN110774043A (en) | 2019-11-08 | 2019-11-08 | A helping hand manipulator for work piece unloading |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911085675.XA CN110774043A (en) | 2019-11-08 | 2019-11-08 | A helping hand manipulator for work piece unloading |
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| Publication Number | Publication Date |
|---|---|
| CN110774043A true CN110774043A (en) | 2020-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911085675.XA Pending CN110774043A (en) | 2019-11-08 | 2019-11-08 | A helping hand manipulator for work piece unloading |
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| Country | Link |
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| CN (1) | CN110774043A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111761578A (en) * | 2020-06-28 | 2020-10-13 | 江苏工程职业技术学院 | Stacking robot and control method thereof |
| CN114633145A (en) * | 2022-03-27 | 2022-06-17 | 南通尧成机械设备制造有限公司 | Intelligent mechanical manufacturing gripping device |
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|---|---|---|---|---|
| US4941700A (en) * | 1988-09-28 | 1990-07-17 | Lin Huoo Shuenn | Gate array IC puller |
| CN105736528A (en) * | 2016-05-09 | 2016-07-06 | 成都市双流区克美拉帽业有限公司 | Simple road traffic sign board fastening device |
| CN105916343A (en) * | 2016-04-22 | 2016-08-31 | 叶建格 | Disassembling-and-assembling-facilitating power device fixing device component |
| CN107598957A (en) * | 2017-11-01 | 2018-01-19 | 黄石磊福机电设备有限公司 | A kind of automatic mechanical hand with clamper |
| CN207402794U (en) * | 2017-10-27 | 2018-05-25 | 安徽工程大学 | A kind of turning manipulator |
| CN207480620U (en) * | 2017-11-01 | 2018-06-12 | 黄石磊福机电设备有限公司 | A kind of automatic mechanical hand with clamper |
| CN208246815U (en) * | 2018-04-25 | 2018-12-18 | 合肥领盛电子有限公司 | A kind of mould machine hand that stamped metal uses |
| CN208516476U (en) * | 2018-07-11 | 2019-02-19 | 合肥固泰自动化有限公司 | A kind of robot palletizer spring chuck |
-
2019
- 2019-11-08 CN CN201911085675.XA patent/CN110774043A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4941700A (en) * | 1988-09-28 | 1990-07-17 | Lin Huoo Shuenn | Gate array IC puller |
| CN105916343A (en) * | 2016-04-22 | 2016-08-31 | 叶建格 | Disassembling-and-assembling-facilitating power device fixing device component |
| CN105736528A (en) * | 2016-05-09 | 2016-07-06 | 成都市双流区克美拉帽业有限公司 | Simple road traffic sign board fastening device |
| CN207402794U (en) * | 2017-10-27 | 2018-05-25 | 安徽工程大学 | A kind of turning manipulator |
| CN107598957A (en) * | 2017-11-01 | 2018-01-19 | 黄石磊福机电设备有限公司 | A kind of automatic mechanical hand with clamper |
| CN207480620U (en) * | 2017-11-01 | 2018-06-12 | 黄石磊福机电设备有限公司 | A kind of automatic mechanical hand with clamper |
| CN208246815U (en) * | 2018-04-25 | 2018-12-18 | 合肥领盛电子有限公司 | A kind of mould machine hand that stamped metal uses |
| CN208516476U (en) * | 2018-07-11 | 2019-02-19 | 合肥固泰自动化有限公司 | A kind of robot palletizer spring chuck |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111761578A (en) * | 2020-06-28 | 2020-10-13 | 江苏工程职业技术学院 | Stacking robot and control method thereof |
| CN114633145A (en) * | 2022-03-27 | 2022-06-17 | 南通尧成机械设备制造有限公司 | Intelligent mechanical manufacturing gripping device |
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Application publication date: 20200211 |