CN203638729U

CN203638729U - Flexible brick clamping manipulator

Info

Publication number: CN203638729U
Application number: CN201320783980.8U
Authority: CN
Inventors: 麦森文; 张晓明
Original assignee: Dynamo-Electric Co Ltd Of Sharp Rich Pottery Of Foshan City
Current assignee: Dynamo-Electric Co Ltd Of Sharp Rich Pottery Of Foshan City
Priority date: 2013-11-30
Filing date: 2013-11-30
Publication date: 2014-06-11
Anticipated expiration: 2023-11-30

Abstract

The utility model discloses a flexible brick clamping manipulator. The flexible brick clamping manipulator comprises a hanging arm, a first cylinder, a cross beam, clamping arms, a second cylinder, chucks and a plurality of ejector rods, wherein the first cylinder is fixed on the hanging arm; the cross beam is hung on the first cylinder through a knuckle bearing; the clamping arms are respectively hinged to two ends of the cross arm; the second cylinder is hinged between the two clamping arms so as to drive the two clamping arms to be combined with each other or separated from each other; the chucks are arranged on the clamping arms; the ejector rods are uniformly distributed on a corresponding brick surface, are abutted to the brick surface and are fixedly connected with the cross beam; a positioning block is fixed at the lower end of the hanging arm; a conical sleeve hole with a downward expanded opening is formed in the positioning block; a positioning column which is connected with the conical sleeve hole in a penetrating manner is fixed on the cross beam; the upper end of the positioning column is a conical head; and the length of the positioning column is suitable, so that the conical head end of the positioning column is exactly clamped in the conical sleeve hole when the cross beam is reduced, and penetrates in the positioning block when the cross beam rises. The flexible brick clamping manipulator has a flexible brick clamping function and a rigid moving function.

Description

Flexible brick-clamping mechanical hand

Technical field

The utility model relates to ceramic tile production equipment technical field, relates in particular to the manipulator for gripping Ceramic Tiles.

Background technology

In wall floor tile industry, often need Ceramic Tiles to be transplanted on another station from a station, when handover, normally adopt manipulator to carry out gripping Ceramic Tiles, the arm of manipulator is arranged on pan carriage, and manipulator is clamped Ceramic Tiles and is transferred along pan carriage.Due to the thickness error of Ceramic Tiles brick own, stack error, deposit the error producing in the bracket error of brick and transportation, it is completely accurately unified that the specification that Ceramic Tiles stacks can not reach, all there is deviation in each buttress and every a slice, require manipulator can be suitable for harsh nonstandard operating environment completely, therefore, manipulator will have the universal swing function while starting brick folding, it is flexible brick folding function, gripping is transplanted on assigned address to Ceramic Tiles and requires manipulator not swing, i.e. rigidity locomotive function.The current manipulator that clamps is difficult to accomplish that both take into account, and takes into account for realizing both, mostly adopts comparatively complicated bindiny mechanism.Therefore, be necessary to research and develop a kind of flexible brick-clamping mechanical hand, it can be swung arbitrarily in the time starting brick folding, after brick folding, can not swing.

Utility model content

The technical problems to be solved in the utility model is to provide a kind of manipulator that can flexible gripping Ceramic Tiles.

The technical scheme that the utility model adopts for technical solution problem: a kind of flexible brick-clamping mechanical hand, include arm, be fixed on the first cylinder of arm, be lifted on the crossbeam of the piston rod of the first cylinder by oscillating bearing, be hinged on respectively the jig arm at crossbeam two ends, be hinged between two jig arm to drive the second cylinder of two jig arm foldings, be arranged on the chuck in jig arm, and the evenly some push rods that are fixedly connected with crossbeam that offset with brick face of laying of corresponding brick face, it is characterized in that: the lower end of described arm is fixed with locating piece, locating piece offers enlarging taper sleeve hole down, on crossbeam, be fixed with the registration mast of corresponding taper sleeve hole cross-under, the upper end of registration mast is set as conehead, the conehead end that the length of described registration mast is set as registration mast in the time that crossbeam reduces just blocks in taper sleeve hole, and the conehead end of registration mast is through locating piece in the time that crossbeam raises.

On the basis of the above, between described two jig arm, be hinged with the gangbar that intersects at crossbeam.

On the basis of the above, be provided with it and slide up and down the induction rod offseting with brick face coordinating on described crossbeam, the upper end of induction rod is fixed with sensor block, and sensor that can sensed triggering is fixed on crossbeam.

On the basis of the above, described push rod and induction rod all offset by roller and brick face.

The beneficial effect that adopts the utility model to bring: locating piece and registration mast that the flexible brick-clamping mechanical hand of the utility model is provided with, utilize the cooperation of the conehead end of taper sleeve hole on locating piece and registration mast, starting the decline along with manipulator when brick folding, the fit surplus of taper sleeve hole and conehead end realizes manipulator and can swing arbitrarily, and after brick folding along with the rising of manipulator, the identical cover of registration mast and taper sleeve hole fetches the swing of limit mechanical hand.Visible, the flexible brick-clamping mechanical hand of the utility model had both had flexible brick folding function, had again rigidity locomotive function.

Accompanying drawing explanation

Fig. 1 is the structural representation of the flexible brick-clamping mechanical hand of the utility model;

Fig. 2 is the cutaway view of the flexible brick-clamping mechanical hand of the utility model;

Fig. 3 is the structural representation of the flexible brick-clamping mechanical hand of the utility model while starting brick folding;

Fig. 4 is the structural representation after the flexible brick-clamping mechanical hand brick folding of the utility model.

The specific embodiment

As Figure 1-4, a kind of flexible brick-clamping mechanical hand, include arm 1, be fixed on arm 1 the first cylinder 2, be lifted on the crossbeam 4 of the piston rod of the first cylinder 2 by oscillating bearing 3, be hinged on respectively crossbeam 4 two ends jig arm 5, be hinged between two jig arm 5 the second cylinder 6 to drive two jig arm 5 foldings, be arranged on the some push rods 8 that are fixedly connected with crossbeam 4 that offset with brick face that chuck 7 in jig arm 5 and corresponding brick face are evenly laid.The lower end of described arm 1 is fixed with locating piece 9, locating piece 9 offers enlarging taper sleeve hole 9.1 down, on crossbeam 4, be fixed with the registration mast 10 of corresponding taper sleeve hole 9.1 cross-under, the upper end of registration mast 10 is set as conehead, and the conehead end that the length of described registration mast 10 is set as registration mast 10 in the time that crossbeam 4 reduces is just stuck in the conehead end of registration mast 10 in taper sleeve hole 9.1 and in the time that crossbeam 4 raises through locating piece 10.

Flexible brick-clamping mechanical hand drops to piled bricks top, the first cylinder 2 drives crossbeam 4 to decline simultaneously, the conehead end of registration mast 10 is just stuck in taper sleeve hole 9.1, now, taper sleeve hole 9.1 and conehead end there is fit surplus, crossbeam 4 can freely swing around oscillating bearing 3, until all push rods 8 all withstand on brick face, then the second cylinder 6 drives the jig arm 5 of both sides to clamp the two ends of Ceramic Tiles 11, then the first cylinder 2 drives crossbeam 4 to rise, make the conehead end of registration mast 10 through locating piece 10, utilize the identical cover of registration mast and taper sleeve hole to fetch the swing of limit mechanical hand, flexible brick-clamping mechanical hand is clamped Ceramic Tiles 11 and is risen, Ceramic Tiles 11 is stably transplanted on to destination.

In the present embodiment, in order to guarantee the synchronous swing of both sides jig arm 5, between two jig arm 5, be hinged with the gangbar 12 that intersects at crossbeam 4.In order to realize the automatic control of manipulator lifting, on described crossbeam 4, be provided with it and slide up and down the induction rod 13 offseting with brick face coordinating, the upper end of induction rod 13 is fixed with sensor block 14, sensor (the common parts that can sensed 14 trigger, in figure, do not indicate) be fixed on crossbeam 4, on induction rod 13, be also set with the Compress Spring 16 that keeps its falling tendency.In order to guarantee that push rod does not damage brick face in the time contacting Ceramic Tiles with induction rod, push rod 8 and induction rod 13 all offset by roller 15 and brick face.

Claims

1. a flexible brick-clamping mechanical hand, include arm, be fixed on the first cylinder of arm, be lifted on the crossbeam of the piston rod of the first cylinder by oscillating bearing, be hinged on respectively the jig arm at crossbeam two ends, be hinged between two jig arm to drive the second cylinder of two jig arm foldings, be arranged on the chuck in jig arm, and the evenly some push rods that are fixedly connected with crossbeam that offset with brick face of laying of corresponding brick face, it is characterized in that: the lower end of described arm is fixed with locating piece, locating piece offers enlarging taper sleeve hole down, on crossbeam, be fixed with the registration mast of corresponding taper sleeve hole cross-under, the upper end of registration mast is set as conehead, the conehead end that the length of described registration mast is set as registration mast in the time that crossbeam reduces just blocks in taper sleeve hole, and the conehead end of registration mast is through locating piece in the time that crossbeam raises.

2. flexible brick-clamping mechanical hand according to claim 1, is characterized in that: between described two jig arm, be hinged with the gangbar that intersects at crossbeam.

3. flexible brick-clamping mechanical hand according to claim 1, it is characterized in that: on described crossbeam, be provided with it and slide up and down the induction rod offseting with brick face coordinating, the upper end of induction rod is fixed with sensor block, and sensor that can sensed triggering is fixed on crossbeam.

4. flexible brick-clamping mechanical hand according to claim 3, is characterized in that: described push rod and induction rod all offset by roller and brick face.