CN203792338U - 2.5-dimensional manipulator - Google Patents
2.5-dimensional manipulator Download PDFInfo
- Publication number
- CN203792338U CN203792338U CN201420173502.XU CN201420173502U CN203792338U CN 203792338 U CN203792338 U CN 203792338U CN 201420173502 U CN201420173502 U CN 201420173502U CN 203792338 U CN203792338 U CN 203792338U
- Authority
- CN
- China
- Prior art keywords
- projection
- base
- dimension
- gripping arm
- clamping
- Prior art date
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a 2.5-dimensional manipulator which comprises a two-dimensional translation support and a plurality of groups of lifting and clamping jigs, wherein the two-dimensional translation support comprises an X-axis translation base, a Y-axis translation base and two cross rods arranged on the X-axis translation base and the Y-axis translation base; the lifting and clamping jigs are mounted on the two cross rods respectively; each lifting and clamping jig comprises a base fixed on one corresponding cross rod, a clamping arm for clamping a workpiece and a connecting part connected between the base and the clamping arm; and each clamping arm comprises an upward lifting part, a pivot joint part and a downward pressing part which are integrated, the pivot joint part is movably connected to the corresponding connecting part which is provided with an avoiding slope corresponding to the downward pressing part. When the lifting and clamping jigs clamp the workpieces, the upward lifting parts can be lifted automatically with the movement of the pivot joint parts after the workpiece are clamped to certain force in the Y-axis direction, and the downward pressing parts descend and are limited by the avoiding slopes, so that products can be pulled out upwards from molds after clamped and are fed to a next work station after separated from the molds, and the technical problem that the products are difficult to be separated from the molds after stretched is solved.
Description
Technical field
The utility model relates to manipulator art, refers in particular to a kind of 2.5 dimension manipulators.
Background technology
The manipulator that can move in the coordinate (X-axis, Y-axis) in two dimensional surface space claims 2 dimension manipulators, the manipulator that can move in the coordinate (X-axis, Y-axis, Z axis) in three-dimensional planar space claims 3 dimension manipulators, 2.5 dimension manipulators are a kind of states between 2 dimensions and 3 dimensions, it can move in the coordinate (X-axis, Y-axis) in two dimensional surface space, but can not fully on Z axis, move.
In the transport process of machined part, 2 dimensions and 3 dimension manipulators are widely used at present.Such as, if desired by workpiece when the transmission of a station needs " clamping " → " moving " → " translation " → " moving down " → " release " five steps, generally need to adopt 3 dimension manipulators just can complete, but the design of 3 dimension manipulators is complicated, cost is high.How could adopt 2.5 dimension manipulators simple in structure to remove equally " clamping " → " above moving " → " translation " → " moving down " → " release " five steps, be engineer's problem demanding prompt solution in the industry.
Utility model content
In view of this, the utility model is for the disappearance of prior art existence, and its main purpose is to provide a kind of 2.5 dimension manipulators, not only can on two dimensional surface, move, can also raise product, make after product break away from moulds again to next work station feeding, simple in structure, practical.
For achieving the above object, the utility model adopts following technical scheme:
2.5 dimension manipulators, comprise
One two-dimensional translation support, it comprise X-axis translating base, Y-axis translating base and be located at this X and Y-axis translating base on two cross bars;
At least two groups are raised clamping tool, are installed on respectively two cross bars, this raise clamping tool comprise be fixed on the base of cross bar, for the gripping arm of gripping workpiece, be connected on the connector between base and gripping arm; This gripping arm comprise integral type on lift portion, articulated section and pressing down section, the movable connector that is connected in this articulated section, the corresponding pressing down section of this connector is provided with dodges slope, movable with articulated section, above the portion of lifting rises, pressing down section declines and is limited in and dodges slope.
Preferably, the articulated section of described gripping arm comprise be located at gripping arm bottom the first projection, be opened in the axis hole of the first projection; The head end of the connector of correspondence is provided with a shrinkage pool, and this first projection is connected with axle in shrinkage pool, and this gripping arm swings centered by axle.
Preferably: the head end of described base is provided with perforate, and the tail end of described connector is provided with the second projection, this second projection coordinates installation with this perforate, and the length of perforate is greater than the length of the second projection, between the rear end face of the second projection and the hole sidewall of perforate, butt has spring.
Preferably, described in raise on clamping tool, to be provided with to differentiate and clamp the whether smoothly induction installation of gripping workpiece of arm, this induction installation comprises a touch pole and can be touched bar touching and the inductive switch of action.
Preferably, the head end of described touch pole is fixed in the second projection by a plate, the removable back-up block that is arranged in rear end of this touch pole, and the terminal part of touch pole is over against inductive switch.
Preferably, described gripping arm on lift portion head end side be the jaws of a circular arc.
The utility model compared with prior art has obvious advantage and beneficial effect, particularly, as shown from the above technical solution, mainly to adopt 2.5 dimension manipulators to raise product, when the counterdie of two groups of diels is positioned at differing heights, raise after clamping tool clamping work pieces, in Y direction, clip to after certain dynamics, can automatically raise, to reach, clamp after product can be from the effect of upwards extracting product in mould, make after product break away from moulds again to next work station feeding, solved after product stretches the technical problem from being difficult in mould depart from.The clamping force that this raises whole process that clamping tool moves in Z-direction provides by clamping work pieces promotes, without any power providing as the drive unit of cylinder, motor and so on, make robot manipulator structure simple, cost of manufacture is low, machinery control procedure is only identical with 2 dimension manipulators, control procedure is simple and reliable, practical.
For more clearly setting forth architectural feature of the present utility model and effect, below in conjunction with accompanying drawing and specific embodiment, the utility model is elaborated.
Accompanying drawing explanation
Fig. 1 is the assembling schematic perspective view of the embodiment of the utility model;
Fig. 2 raises the partial schematic diagram that clamping tool is installed on two-dimensional translation support in the embodiment of the utility model;
Fig. 3 is the schematic diagram that in the embodiment of the utility model, clamping tool (not with inductive switch) raised on a left side;
Fig. 4 is the schematic diagram that in the embodiment of the utility model, clamping tool (with inductive switch) raised on the right side;
Fig. 5 is the exploded view of Fig. 4;
Fig. 6 raises clamping tool with the sectional view of inductive switch in the embodiment of the utility model;
Fig. 7 is the schematic diagram of raising clamping tool clamping work pieces upward state in Fig. 6.
Accompanying drawing identifier declaration:
10, two-dimensional translation support 11, X-axis translating base
12, Y-axis translating base 13, drive unit
14, cross bar
20 ', raise clamping tool 20, raise clamping tool
21, base 211, perforate
22, gripping arm 221, on lift portion
2211, jaws 222, articulated section
2221, the first projection 2222, axis hole
223, pressing down section 23, connector
231, shrinkage pool 232, axle
233, dodge slope 234, the second projection
235, spring 24, induction installation
241, touch pole 242, inductive switch
243, connecting plate 244, back-up block.
The specific embodiment
Please refer to shown in Fig. 1, it has demonstrated the concrete structure of the preferred embodiment of the utility model, and what this 2.5 dimension manipulator comprised a two-dimensional translation support that can move on two dimensional surface 10 and was installed on this two-dimensional translation support 10 raises clamping tool 20.Wherein:
Described two-dimensional translation support 10 comprises X-axis translating base 11, is movablely installed on Y-axis translating base 12 on X-axis translating base 11, is installed on two cross bars 14 on this Y-axis translating base 12.Under the effect of drive unit 13, by X-axis and Y-axis translating base 11,12, drive two cross bars 14 along X-direction and the formed two dimensional surface translation motion of Y direction.
As shown in Figure 2, described in raise clamping tool and have two at least, be distributed in respectively two cross bars 14, and two raise clamping tool 20 ', 20 each other over against.Certainly, raise clamping tool 20 ', 20 quantity do not limit left and right over against two, can also be according to being arranged to left and right two rows, (as left side cross bar establish 10 raise clamping tool 20 ', the right cross bar is also established 10 and is raised clamping tool 20), with by workpiece from a upper station gripping be sent to next station, this many groups raise clamping tool 20 ', 20 the design workpiece on can disposable transmission multistation, operating efficiency effectively rises to original several times even tens times.
In the present embodiment, as shown in Figures 2 to 4, left and right over against two raise clamping tool 20 ', 20 structure is basic identical, difference is that the clamping tool 20 of raising of a side is provided with induction installation 24, and opposite side raise clamping tool 20 ' can not establish induction installation 24.When left and right raise clamping tool 20 ', during 20 close to each other and gripping workpiece, touch inducing device 24, operating system can judge and send the signal of " OK ", continues driving device action; When left and right raise clamping tool 20 ', 20 folders less than or while pressing from both sides unstable workpiece, just can touch inducing device 24, operating system is sent " NG " signal, controls complete machine and shuts down, and like this, can guarantee machine security operation.
Particularly, have the structure of raising clamping tool 20 of induction installation 24 as shown in Figure 4,5, comprise base 21, gripping arm 22, connector 23 and induction installation 24, this induction installation 24 consists of touch pole 241 and inductive switch 242.
This base 21 is platy structure, and for being fixedly mounted on cross bar 14, thereby cross bar 14 is when two dimensional surface moves, and drives this to raise clamping tool 20 synchronizing movings.The head end side of this base 21 is provided with a perforate 211, for installation connecting element 23.
The head end side of this gripping arm 22 is jaws 2211 of a circular arc, so that the workpiece of gripping circle (as motor cover).Certainly, the shape of this jaws 2211 is not limited to circular arc, and according to the shape of different workpieces, the moulding of jaws 2211 can change.In the present embodiment, this gripping arm 22 comprise integral type on lift portion 221, articulated section 222 and pressing down section 223, this articulated section 222 can be flexibly connected with connector 23.The concrete structure of articulated section 222 is to be wholely set the first projection 2221 in gripping arm 22 bottoms, and offers axis hole 2222 on the first projection 2221.The head end of this connector 23 of correspondence is provided with a shrinkage pool 231, and in being arranged on for the first projection 2221, and this first projection 2221 is connected with axle 232 in shrinkage pool 231, make gripping arm 22 relatively connector 23 swing up and down.
And the other corresponding pressing down section 223 of rear side of this shrinkage pool 231 is concaved with dodges slope 233.This gradient of dodging slope 233 can be determined according to design requirement, take axle 232 as fulcrum, with articulated section 222 activities, above lifts portion 221 and rises, and pressing down section 223 declines.When dodging, slope 233 gradients are larger, and the amplitude of lifting portion 221 on gripping arm 22 is higher, and pressing down section 223 declines and is limited in and dodges slope 233, and like this, 2.5 dimensions of realizing manipulator move.
The tail end of this connector 23 is provided with the second projection 234, and this second projection 234 coordinates installation with the perforate 211 of base 21.And the length of perforate 211 must be greater than the length of the second projection 234, between the rear end face of the second projection 234 and the hole sidewall of perforate 211, butt has spring 235.
By touch pole 241, whether contact induction switch 242 judges whether gripping arm 22 has gripping workpiece to described induction installation 24.This touch pole 241 is moved in connector 23, its head end is installed in the second projection 234 by a plate 243, the removable back-up block 244 that is arranged in its rear end, the terminal part of touch pole 241 is over against inductive switch 242, and connector 23 backward movement moves touch inducing switch 242 after can driving this touch pole 241.
Operation principle of the present utility model is as follows: as shown in Figure 1, when drive unit 13 drives two cross bars 14 mutually close, make after gripping arm 22 gripping workpiece, produce active force backward.As shown in Figure 6,7, when clip to certain dynamics in Y direction, gripping arm 22 will be take axle 232 as fulcrum, above lift portion 221 and will tilt upward along Z-direction, until slope 233 is dodged in pressing down section 223 contacts of rear end.Like this, the workpiece in jaws 2211 can upwards lift certain altitude along Z-direction, reaches after clamping product and upwards extract product in mould.Simultaneously, the force transmission backward that gripping arm 22 produces is to connector 23, touch and make connector 23 mobile Compress Spring 235 backward, and then touch pole 241 is moved backward and contact induction switch 242 by brace, the workpiece that represented jaws 2211 definite grippings, therefore the signal that inductive switch 242 can send " OK " is to operating system, and operating system continues driving device action after differentiating.Drive unit 13 orders about 12 actions of X-axis translating base 11 and Y-axis translating base like this, coordinate two of left and right raise clamping tool 20 ', 20 workpiece is sent to next station from a upper station.When workpiece is delivered to after next station, this 2.5 dimension manipulator automatically resets, repeatedly conveying work pieces back and forth.
When gripping arm 22 does not have gripping to arrive workpiece for various reasons; motionless triggering inductive switch 242, system does not receive the triggering signal of inductive switch 242 within a certain period of time, judges that machinery makes a mistake or fault; thereby send " NG " signal, force complete machine to be shut down.
In sum, design focal point of the present utility model is, mainly to adopt 2.5 dimension manipulators to raise product, when the counterdie of two groups of diels is positioned at differing heights, raise clamping tool 20 ', 20 clamping work pieces, in Y direction, clip to after certain dynamics, can automatically along Z-direction, raise, to reach, clamp after product can be from the effect of upwards extracting product in mould, makes after product break away from moulds again to next work station feeding, has solved after product stretches the technical problem from being difficult in mould depart from.This raise clamping tool 20 ', 20 thrusts that provide by clamping work pieces in the whole process moving along Z-direction and moving, the power providing without any cylinder or motor, simple in structure, cost of manufacture is low, machinery control procedure is only identical with 2 dimension manipulators, control procedure is simple and reliable, practical.
The above, it is only preferred embodiment of the present utility model, not technical scope of the present utility model is imposed any restrictions, therefore any trickle modification, equivalent variations and modification that every foundation technical spirit of the present utility model is done above embodiment, all still belong in the scope of technical solutions of the utility model.
Claims (6)
1. 2.5 dimension manipulators, is characterized in that: comprise
One two-dimensional translation support, it comprise X-axis translating base, Y-axis translating base and be located at this X and Y-axis translating base on two cross bars;
At least two groups are raised clamping tool, be installed on respectively two cross bars and each other over against, this raise clamping tool comprise be fixed on the base of cross bar, for the gripping arm of gripping workpiece, be connected on the connector between base and gripping arm; This gripping arm comprise integral type on lift portion, articulated section and pressing down section, the movable connector that is connected in this articulated section, the corresponding pressing down section of this connector is provided with dodges slope, movable with articulated section, above the portion of lifting rises, pressing down section declines and is limited in and dodges slope.
2. 2.5 dimension manipulators according to claim 1, is characterized in that: the articulated section of described gripping arm comprise be located at gripping arm bottom the first projection, be opened in the axis hole of the first projection; The head end of the connector of correspondence is provided with a shrinkage pool, and this first projection is connected with axle in shrinkage pool, and this gripping arm swings centered by axle.
3. 2.5 dimension manipulators according to claim 1 and 2, it is characterized in that: the head end of described base is provided with perforate, the tail end of described connector is provided with the second projection, this second projection coordinates installation with this perforate, and, the length of perforate is greater than the length of the second projection, and between the rear end face of the second projection and the hole sidewall of perforate, butt has spring.
4. 2.5 dimension manipulators according to claim 3, it is characterized in that: described in raise on clamping tool, to be provided with to differentiate and clamp the whether smoothly induction installation of gripping workpiece of arm, this induction installation comprises a touch pole and can be touched bar touching and the inductive switch of action.
5. 2.5 dimension manipulators according to claim 4, is characterized in that: the head end of described touch pole is fixed in the second projection by a plate, the removable back-up block that is arranged in rear end of this touch pole, and the terminal part of touch pole is over against inductive switch.
6. 2.5 dimension manipulators according to claim 1, is characterized in that: the head end side of lifting portion on described gripping arm is the jaws of a circular arc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420173502.XU CN203792338U (en) | 2014-04-11 | 2014-04-11 | 2.5-dimensional manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420173502.XU CN203792338U (en) | 2014-04-11 | 2014-04-11 | 2.5-dimensional manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203792338U true CN203792338U (en) | 2014-08-27 |
Family
ID=51374603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420173502.XU Expired - Fee Related CN203792338U (en) | 2014-04-11 | 2014-04-11 | 2.5-dimensional manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203792338U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106077336A (en) * | 2016-07-22 | 2016-11-09 | 惠州市仨联自动化设备有限公司 | There is driven rod and the multistage tools material handlings robot thereof of handgrip |
| CN106077337A (en) * | 2016-07-22 | 2016-11-09 | 惠州市仨联自动化设备有限公司 | There is driven rod and the multistage tools material handlings robot thereof of docking facilities |
| CN106826887A (en) * | 2017-03-28 | 2017-06-13 | 常熟市威成自动化科技有限公司 | A kind of two dimension manipulator clamping jaws with lifting function |
-
2014
- 2014-04-11 CN CN201420173502.XU patent/CN203792338U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106077336A (en) * | 2016-07-22 | 2016-11-09 | 惠州市仨联自动化设备有限公司 | There is driven rod and the multistage tools material handlings robot thereof of handgrip |
| CN106077337A (en) * | 2016-07-22 | 2016-11-09 | 惠州市仨联自动化设备有限公司 | There is driven rod and the multistage tools material handlings robot thereof of docking facilities |
| CN106077336B (en) * | 2016-07-22 | 2018-02-27 | 惠州市仨联自动化设备有限公司 | Driven rod and its multistage tools material transfer robot with handgrip |
| CN106826887A (en) * | 2017-03-28 | 2017-06-13 | 常熟市威成自动化科技有限公司 | A kind of two dimension manipulator clamping jaws with lifting function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103949538B (en) | Full-automatic stamping die machine integrated system | |
| CN203792338U (en) | 2.5-dimensional manipulator | |
| CN104418082A (en) | Material taking device | |
| CN108213198B (en) | Composite stamping die | |
| CN109013860A (en) | It is a kind of for processing the automatic press system of plate nut | |
| CN103722076A (en) | Automatic production process for automobile seat frame sideboards | |
| CN204382293U (en) | Loading and unloading manipulator device | |
| CN103909396A (en) | Buckle bending device | |
| CN203778577U (en) | Magnetic positioning and locking device for forming holes on long-stripy member | |
| CN202752450U (en) | Die punching device | |
| CN203426560U (en) | Automatic welding device for capacitor core | |
| CN210498042U (en) | Automatic manipulator for automatically transferring products | |
| CN105150451B (en) | The automatic implant system of shear blade being molded for scissors | |
| CN208758472U (en) | Connect baking tray more and takes out pattern tool | |
| CN208960824U (en) | A kind of hoisting mechanism of three axis punching press feeding mechanical hand | |
| CN206500494U (en) | A kind of stamping parts of automobile production movement alternating multiple site punching system | |
| CN207310095U (en) | A kind of modularization blanking die | |
| CN207887762U (en) | Sheet feeding device and stamping equipment | |
| CN105761981A (en) | Automatic keycap inserting machine | |
| CN215090172U (en) | Rotary type bending die | |
| CN205272029U (en) | Device is carried to electric moving | |
| CN105562531A (en) | Integrated mold for shaping and punching | |
| CN104526096B (en) | Clamp special for machining stroke of cow-head type numerical control electrical sparkle machine tool | |
| CN203304373U (en) | Inversion cutting mould | |
| CN221133811U (en) | Connecting rod lifting chuck and multi-station transfer die comprising same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140827 Termination date: 20210411 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |