CN209774704U

CN209774704U - Buffer device of carrying manipulator

Info

Publication number: CN209774704U
Application number: CN201920281956.1U
Authority: CN
Inventors: 王俊苏
Original assignee: Suzhou Western-Style Pastry Metal Working Precision Optical Machinery Co Ltd
Current assignee: Suzhou Western-Style Pastry Metal Working Precision Optical Machinery Co Ltd
Priority date: 2019-03-06
Filing date: 2019-03-06
Publication date: 2019-12-13
Anticipated expiration: 2029-03-06

Abstract

The utility model relates to a machining equipment technical field, concretely relates to buffer of transport manipulator. The utility model has the advantages of simple structure, reasonable, with low costs, through installing buffer gear between arm and tongs, add man-hour to the work piece that the tongs snatched, the produced impact force of processing receives compressive deformation through the spring assembly, and the stability of connection is guaranteed to the universal joint, alleviates the impact force of arm for the processing impact force that receives of arm falls to minimumly, prolongs the life of manipulator and parts, reduction production facility cost.

Description

Buffer device of carrying manipulator

Technical Field

The utility model relates to a machining equipment technical field, concretely relates to buffer of transport manipulator.

background

With the development of society, the living standard of people is continuously improved, and various new products come after, and the life of people is advanced. With the development of economy, China gradually transits from the times of low labor cost to the times of high cost, due to the increase of labor cost, the use cost of enterprises is greatly increased, in the face of intense competition, the enterprises have to consider to reduce the labor cost, so that the industrial robots replace workers to be inevitable, the carrying manipulator is one of the applications of the industrial robots, the mechanical arm and the gripper in the existing machining manipulator lack a buffer device, and when a machining device machines (cuts, punches and the like) workpieces gripped by the gripper, the impact force generated during contact easily causes the damage of the mechanical arm body.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a can alleviate the impact force of arm, prolong the life of manipulator and parts, reduce production facility cost's transport manipulator's buffer.

In order to solve the technical problem, the utility model provides a technical scheme that its technical problem adopted is:

A buffer device of a carrying manipulator comprises a multi-shaft mechanical arm, a hand grip and a buffer mechanism, wherein the multi-shaft mechanical arm is connected with the hand grip through the buffer mechanism;

buffer gear includes disc, lower disc and a plurality of spring assembly, go up the disc with connect through the universal joint between the disc down, a plurality of spring assembly evenly set up go up between disc and the lower disc.

Preferably, the universal joint comprises a first rod and a second rod, the first rod is vertically arranged on the upper disc, the second rod is vertically arranged on the lower disc, a spherical pair is arranged on the second rod, and a ball cage matched with the spherical pair is arranged on the first rod.

Preferably, spring assembly includes connecting rod and spring part, the connecting rod is worn to establish on the disc under last disc prediction, the connecting rod both ends are provided with spacing part, make the connecting rod can not break away from last disc and disc down, spring part sets up on the connecting rod.

preferably, the spring member includes at least one first spring having a low stiffness and a second spring having a high stiffness, the first spring having a length greater than that of the second spring, and the second spring being fitted over the first spring.

Preferably, the buffer mechanism further comprises two connecting plates, the two connecting plates are respectively connected with the upper disc and the lower disc, and a protection tube is arranged between the two connecting plates.

Preferably, the multi-axis mechanical arm can be any one of a three-axis mechanical arm, a four-axis mechanical arm, a five-axis mechanical arm, a six-axis mechanical arm and a seven-axis mechanical arm.

Preferably, the tongs include support, cylinder, push rod and two clamping jaws, the cylinder sets up on the support, two clamping jaw middle parts are articulated through the pivot, the pivot with leg joint, push rod one end is articulated with cylinder piston rod, the other end with the clamping jaw is articulated.

preferably, a support frame is arranged at the free end of the clamping jaw, the support frame is hinged to the clamping jaw, and an anti-skid pad is arranged on the support frame.

The utility model has the advantages that:

The utility model has the advantages of simple structure, reasonable, with low costs, through installing buffer gear between arm and tongs, add man-hour to the work piece that the tongs snatched, the produced impact force of processing receives compressive deformation through the spring assembly, and the stability of connection is guaranteed to the universal joint, alleviates the impact force of arm for the processing impact force that receives of arm falls to minimumly, prolongs the life of manipulator and parts, reduction production facility cost.

Drawings

Fig. 1 is a schematic structural view of a buffer device of a handling manipulator of the present invention.

Fig. 2 is a sectional view of the buffer mechanism of the present invention.

Fig. 3 is a schematic view of the gripper of the present invention.

The reference numbers in the figures illustrate: 1. a multi-axis robotic arm; 2. a buffer mechanism; 31. an upper disc; 22. a lower disc; 23. a spring set; 24. a first lever; 25. a second lever; 26. a connecting rod; 27. a connecting plate; 28. protecting the tube; 3. a support; 31. a cylinder; 32. a clamping jaw; 33. a push rod; 34. a support frame; 35. a non-slip mat;

Detailed Description

The present invention is further described with reference to the following drawings and specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention.

Referring to fig. 1-3, the buffer device of the handling manipulator comprises a multi-axis manipulator 1, a gripper and a buffer mechanism 2, wherein the multi-axis manipulator 1 is connected with the gripper through the buffer mechanism 2;

The buffer mechanism 2 comprises an upper disc 31, a lower disc 22 and a plurality of spring groups 23, the upper disc 31 is connected with the lower disc 22 through a universal joint, and the spring groups 23 are uniformly arranged between the upper disc 31 and the lower disc 22

The utility model has the advantages of simple structure, reasonable, with low costs, through installing buffer gear 2 between arm and tongs, add man-hour to the work piece that the tongs snatched, the produced impact force of processing receives compressive deformation through spring assembly 23, and the stability of connection is guaranteed to the universal joint, alleviates the impact force of arm for the processing impact force that receives of arm falls to minimumly, prolongs the life of manipulator and parts, reduction production facility cost.

The universal joint comprises a first rod 24 and a second rod 25, wherein the first rod 24 is vertically arranged on the upper disc 31, the second rod 25 is vertically arranged on the lower disc 22, a spherical pair is arranged on the second rod 25, and a ball cage matched with the spherical pair is arranged on the first rod 24.

The spring assembly 23 comprises a connecting rod 26 and a spring component, the connecting rod 26 is arranged on the lower disk 22 expected by the upper disk 31 in a penetrating way, limiting components are arranged at two ends of the connecting rod 26, so that the connecting rod 26 cannot be separated from the upper disk 31 and the lower disk 22, and the spring component is arranged on the connecting rod 26.

The spring component comprises at least one first spring with low stiffness and a second spring with high stiffness, the length of the first spring is greater than that of the second spring, and the second spring is sleeved on the first spring.

The number of the springs in the spring group 23 can be designed to be even times, so that the assembly of the spring group 23 is facilitated; the spring component package is formed by assembling the first spring with low rigidity and the second spring with high rigidity, so that the Chuanchu does not generate transverse deformation after long-term use, the bending risk of the springs is reduced, and meanwhile, the service life of the spring group 23 is greatly prolonged.

The buffer mechanism 2 further comprises two connecting plates 27, the two connecting plates 27 are respectively connected with the upper disc 31 and the lower disc 22, and a protection pipe 28 is arranged between the two connecting plates 27.

The multi-axis mechanical arm 1 can be any one of a three-axis mechanical arm, a four-axis mechanical arm, a five-axis mechanical arm, a six-axis mechanical arm and a seven-axis mechanical arm.

The tongs include support 3, cylinder, push rod 33 and two clamping jaws 32, the cylinder sets up on the support 3, two clamping jaws 32 middle parts are articulated through the pivot, the pivot with support 3 is connected, push rod 33 one end is articulated with the cylinder piston rod, the other end with clamping jaw 32 is articulated.

The free end of the clamping jaw 32 is provided with a support frame 34, the support frame 34 is hinged with the clamping jaw 32, and the support frame 34 is provided with a non-slip pad 35.

The push rod 33 on the support 3 is pushed through the cylinder to drive the two clamping jaws 32 hinged to each other to move relatively, so that the same gripper can clamp workpieces in various shapes, the application range of the mechanical gripper is expanded, and the universality of the mechanical gripper is improved. Meanwhile, the clamping space is changed by pushing the push rod 33 on the bracket 3 through the cylinder to realize the gripping and the opening of the mechanical gripper, the size of the gripper is greatly reduced, meanwhile, the mechanical gripper can grip workpieces with different sizes, the universality of the mechanical gripper is further improved,

The free end of the clamping jaw 32 is provided with the supporting frame 34 which can be used for further clamping workpieces of different specifications, the adaptation range is wide, frequent replacement of mechanical grippers or debugging of clamping space is not needed, and the use cost is reduced.

The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutes or changes made by the technical personnel in the technical field on the basis of the utility model are all within the protection scope of the utility model. The protection scope of the present invention is subject to the claims.

Claims

1. The buffer device of the carrying manipulator is characterized by comprising a multi-shaft mechanical arm, a gripper and a buffer mechanism, wherein the multi-shaft mechanical arm is connected with the gripper through the buffer mechanism;

2. The buffer of a handling robot as claimed in claim 1, wherein the gimbal includes a first bar and a second bar, the first bar being vertically disposed on the upper disk, the second bar being vertically disposed on the lower disk, the second bar being provided with a spherical pair, the first bar being provided with a ball cage matching the spherical pair.

3. The buffer device of a transfer robot of claim 1, wherein the spring assembly comprises a connecting rod inserted through the upper disc and projected to the lower disc, and a spring member provided at both ends of the connecting rod so that the connecting rod cannot be separated from the upper and lower discs, the spring member being provided on the connecting rod.

4. The buffer device of a transfer robot of claim 3, wherein the spring member comprises at least one first spring having a low stiffness and a second spring having a high stiffness, the first spring having a length greater than that of the second spring, the second spring being fitted over the first spring.

5. the robot hand buffer device of claim 1, wherein the buffer mechanism further comprises two connecting plates, the two connecting plates are respectively connected to the upper disk and the lower disk, and a protective tube is disposed between the two connecting plates.

6. the buffer of a handling robot as claimed in claim 1, wherein the multi-axis robot may be any one of a three-axis robot, a four-axis robot, a five-axis robot, a six-axis robot, and a seven-axis robot.

7. The buffer device of the carrying manipulator as claimed in claim 1, wherein the hand grip comprises a support, an air cylinder, a push rod and two clamping jaws, the air cylinder is arranged on the support, the middle parts of the two clamping jaws are hinged through a rotating shaft, the rotating shaft is connected with the support, one end of the push rod is hinged with a piston rod of the air cylinder, and the other end of the push rod is hinged with the clamping jaws.

8. The handling robot buffering mechanism as claimed in claim 7, wherein the free ends of the jaws are provided with supports, the supports are hinged to the jaws, and the supports are provided with anti-slip pads.