CN210452771U - Clamping structure of manipulator and manipulator - Google Patents
Clamping structure of manipulator and manipulator Download PDFInfo
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- CN210452771U CN210452771U CN201920799543.2U CN201920799543U CN210452771U CN 210452771 U CN210452771 U CN 210452771U CN 201920799543 U CN201920799543 U CN 201920799543U CN 210452771 U CN210452771 U CN 210452771U
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- 238000010168 coupling process Methods 0.000 description 2
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Abstract
The utility model provides a pair of structure and manipulator are got to clamp of manipulator, the clamp of manipulator gets the structure and includes: the clamping main body is suitable for being connected with a mechanical arm of the mechanical arm; the first clamping part is arranged on the clamping main body and is suitable for clamping a product; and the second clamping part is arranged on the clamping main body and is suitable for clamping an accessory product in the product forming process, and the second clamping part and the position on the clamping main body, which is connected with the mechanical arm, are arranged at intervals. Because the utility model provides a structure is got to clamp of manipulator, the second is got the portion of pressing from both sides and is got the position interval setting of being connected the arm in the main part for further this spaced distance has gone out more on the basis of the maximum distance between originally subsidiary result and the product, has increased the whereabouts interval of subsidiary result and product, has reduced the processing auxiliary material and has fallen the possibility of fish tail product on the product, has improved the yield of product.
Description
Technical Field
The utility model relates to a technical field is got to the product clamp, concretely relates to structure and manipulator are got to clamp of manipulator.
Background
At present, the required products obtained by methods such as injection molding, blow molding, extrusion, die casting or forging forming, smelting, stamping and the like in industrial production are all used in a mold, and a manipulator is required for carrying out automatic operation when the products are taken out from the mold. In the injection molding industry, an injection mold consists of a movable mold and a fixed mold, wherein the movable mold and the fixed mold are closed to form a pouring system and a cavity during injection molding, and the movable mold and the fixed mold are separated during mold opening so as to take out a product. The pouring system refers to a runner part of a thermalized liquid material before entering a cavity from a nozzle, and comprises a main runner, a cold material cavity, a sub-runner, a pouring gate and the like. According to whether the runner and the sprue are heated or not, the injection molding process is divided into cold runner injection molding and hot runner injection molding, and after the cold runner injection molding process is finished, the heated liquid material between the runner and the sprue is cooled to form a water gap.
When the mold is opened, the mold part where the product is located is a cavity, and the mold part where the water gap is located is an auxiliary cavity. The manipulator generally comprises a rack, a cross beam, a main arm and an auxiliary arm, wherein the cross beam moves through a guide rail on the rack, and the main arm and the auxiliary arm on the cross beam can stretch up and down and move on the cross beam through the guide rail. The lower end of the main arm is provided with a main clamp for clamping a product and is connected through a turnover cylinder on the main arm, and the lower end of the auxiliary arm is provided with a water gap clamp for clamping a water gap.
When the manipulator clamps a product and a water gap, the cross beam moves to the position above the mold, the main arm extends into the cavity, the product in the mold is clamped through the main clamp, the auxiliary arm extends into the auxiliary cavity, and the water gap in the mold is clamped through the water gap clamp; the main arm and the auxiliary arm take out a product and a water gap respectively, the main clamp is driven by the overturning cylinder to rotate until the product faces downwards, the main arm and the auxiliary arm slide to a product placing area along the guide rail under the driving of the cross beam, the main clamp and the water gap clamp are loosened, and the product and the water gap are put down. And finishing the action of taking the part from the interior of the mold.
When the manipulator finishes taking the parts, when the manipulator is operated to the state of loosening the product and the water gap, because the crossbeams of the manipulators with different specifications are considered by overall stability and cost, the working stroke of the main arm and the auxiliary arm of the manipulator on the crossbeams cannot be designed too long, so that the main arm and the auxiliary arm of the manipulator cannot be pulled open remotely, the water gap easily drops on the product to scratch the appearance surface of the product, the product rejection rate is high, and the production efficiency is seriously influenced.
SUMMERY OF THE UTILITY MODEL
Therefore, the to-be-solved technical problem of the utility model lies in overcoming prior art, because the interval that the arm put down centre gripping product and accessory product on the manipulator is little, leads to the accessory product to fall to the defect of fish tail product on the product to the clamp of a manipulator gets structure and manipulator is proposed.
The utility model provides a structure is got to clamp of manipulator, include:
the clamping main body is suitable for being connected with a mechanical arm of the mechanical arm;
the first clamping part is arranged on the clamping main body and is suitable for clamping a product;
the second clamping part is arranged on the clamping main body and is suitable for clamping an attached product in the product forming process, and the second clamping part and the position on the clamping main body, which is connected with the mechanical arm, are arranged at intervals.
Forming the product through a die; the mold is provided with a cavity for molding the product, and the clamping main body is rotatably connected with the mechanical arm and has a first state suitable for extending into the cavity and a second state suitable for placing the product.
The clamping main body is hinged with the mechanical arm.
The second gripping part is located at one end of the gripping main body.
The hinge point of the clamping main body and the mechanical arm is positioned at the centroid of the clamping main body.
The first gripping section includes:
the sucking discs are arranged on the clamping main body and extend from the clamping main body to the direction far away from the mechanical arm.
The second clamping part is a pneumatic clamping jaw.
The additional product is a nozzle.
The utility model provides a still another manipulator, include:
a body;
the mechanical arm is arranged on the body in a reciprocating sliding manner;
the clamping structure of the manipulator.
The arm includes:
the main arm is connected with the body in a sliding way at one end, and is connected with the clamping main body at the other end;
and one end of the auxiliary arm is slidably connected with the body, and the other end of the auxiliary arm is provided with a clamp suitable for clamping the subsidiary product.
The main arm and the auxiliary arm are respectively and slidably mounted on the cross beam.
The main arm, the sub arm, and the second gripper are coplanar.
The utility model discloses technical scheme has following advantage:
1. the utility model provides a pair of structure is got to clamp of manipulator, include: the clamping main body is suitable for being connected with a mechanical arm of the mechanical arm; the first clamping part is arranged on the clamping main body and is suitable for clamping a product; and the second clamping part is arranged on the clamping main body and is suitable for clamping an accessory product in the product forming process, and the second clamping part and the position on the clamping main body, which is connected with the mechanical arm, are arranged at intervals. The product placing device comprises a manipulator, a first clamping part and a second clamping part, wherein the clamping structure of the manipulator is usually matched with a mechanical arm on the manipulator for use, when the mechanical arm on the manipulator is a single arm, a product is clamped by the first clamping part of the clamping structure on the mechanical arm, and when the clamping structure moves to the maximum stroke of the mechanical arm towards the position, to be placed, of the product, the product is put down; and then the subsidiary product is clamped by the second clamping part and moves towards the direction far away from the product, and when the mechanical arm moves to the maximum stroke of the mechanical arm in the direction far away from the product, the subsidiary product is put down. The clamping sequence of the product and the subsidiary product can be replaced; when the mechanical arms on the mechanical arms are double arms, one mechanical arm is provided with the clamping structure and clamps the product through the first clamping part on the clamping structure, and the other mechanical arm is suitable for clamping the subsidiary product. When the gripping main body moves to the maximum stroke of the connected mechanical arm towards the position to be placed of the product, the product is put down, then the mechanical arm connected with the gripping structure moves to the other mechanical arm, grips the subsidiary product through the second gripping part, and moves in the direction away from the product, and when the mechanical arm connected with the gripping structure moves to the maximum stroke of the mechanical arm in the direction away from the product, the subsidiary product is put down. No matter be foretell single-arm condition, still the both arms condition, because the utility model provides a structure is got to the clamp of manipulator, the second is got the portion and is got the position interval setting of being connected the arm in the main part with the clamp for further having gone out this spaced distance on the basis of the maximum distance between originally subsidiary result and the product, increased the whereabouts interval of subsidiary result and product, reduced the processing auxiliary material and fallen the possibility of fish tail product on the product, improved the yield of product.
2. The utility model provides a clamping structure of a manipulator, the product is formed by a mould; the mold is provided with a cavity for molding the product, and the clamping main body is rotatably connected with the mechanical arm and has a first state suitable for extending into the cavity and a second state suitable for placing the product. When the mechanical arm needs to be stretched into the cavity to clamp the mold, the clamping main body is in a first state, so that the clamping main body on the mechanical arm is parallel to a surface to be clamped of a product, the product is conveniently clamped by the first clamping part on the clamping main body, and the mechanical arm with the clamping main body can conveniently enter and exit the mold with a smaller cavity; when a product is put down by the first clamping part on the clamping main body, the mechanical arm is in the second state, and the clamping main body on the mechanical arm is parallel to the horizontal plane, so that the contact area between the product and a falling surface is larger when the product falls, the impact force on the product is reduced, and the product is prevented from being damaged. Therefore, the utility model discloses a to press from both sides main part and arm rotatable coupling, make the arm switch between first state and second state as required, the product is got to first clamp on both being convenient for arm business turn over mould and the main part, has reduced the impact force that the product receives again, prevents that the product from damaging.
3. The utility model provides a pair of structure is got to clamp of manipulator, the second is got the portion of being located the one end of getting the main part is got to the clamp. On one hand, the interval between the second clamping part and the position of the clamping main body, which is connected with the mechanical arm, can be increased, so that the falling distance of the subsidiary product and the product is further increased, and the possibility that the processing auxiliary material falls onto the product to scratch the product is reduced; on the other hand, it may be convenient to pick up the by-product.
4. The utility model provides a pair of structure is got to clamp of manipulator, press from both sides get the main part with the pin joint of arm is located press from both sides the centroid of getting the main part. The clamp is got the main part with the pin joint of arm is located press from both sides the centroid of getting the main part, press from both sides the main part and change into the second state by first state soon after getting the main part, lie in and press from both sides the first portion's of getting in the main part atress even, reduced the possibility that takes off, in addition, press from both sides the first portion of getting on getting the main part and press from both sides and get the product back whereabouts in-process, press from both sides and get main part place arm both sides.
5. The utility model provides a pair of structure is got to clamp of manipulator, first clamp is got the portion and is included: the sucking discs are arranged on the clamping main body and extend from the clamping main body to the direction far away from the mechanical arm. The product is grabbed by the sucker, only one side surface of the product can be grabbed, and the grabbing difficulty is reduced; set up a plurality of sucking discs, snatch more stably. The sucking disc is got the main part by pressing from both sides and is extended to the direction of keeping away from the arm, realizes getting the in-process of putting the product and can not have the interference.
6. The utility model provides a pair of mechanical arm, mechanical arm includes: the main arm is connected with the body in a sliding way at one end, and is connected with the clamping main body at the other end; and one end of the auxiliary arm is slidably connected with the body, and the other end of the auxiliary arm is provided with a clamp suitable for clamping the subsidiary product.
When the gripper main body moves to the maximum stroke of the main arm toward the position where the product is to be placed, the product is put down, then the sub arm moves to the other mechanical arm, and grips the incidental product by the second gripper, and moves in a direction away from the product, and when the main arm moves to the maximum stroke of the main arm in a direction away from the product, the incidental product is put down. Because the utility model provides a structure is got to clamp of manipulator, the second is got the portion of getting and is got the position interval setting of connecting the main arm in the main part with the clamp for further this spaced distance has gone out more on the basis of the maximum distance between originally subsidiary result and the product, has increased the whereabouts interval of subsidiary result and product, has reduced the processing auxiliary material and has fallen to the possibility of fish tail product on the product, has improved the yield of product.
When the product is put down by the first clamping part which clamps the product, the mechanical arm approaches to the other mechanical arm, clamps the subsidiary product on the other mechanical arm, moves to a position close to the other mechanical arm, and puts down the subsidiary product.
7. The utility model provides a pair of manipulator, the main arm the fly jib with the second clamp is got a coplane. The main arm is connected with the clamping main body, the second clamping part is arranged on the clamping main body, and the second clamping part is coplanar with the main arm and the auxiliary arm. The main arm and the auxiliary arm are slidably arranged on the cross beam, and the middle upper part of the water gap is collinear with the auxiliary arm. When the main arm drives the second clamping part to move to the position near the auxiliary arm, the second clamping part is convenient to clamp the middle upper part of the water gap clamped by the auxiliary arm.
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 embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic perspective view of a manipulator provided in a first embodiment of the present invention in a use state;
FIG. 2 is a perspective view of the robot of FIG. 1 in another use state;
fig. 3 is a schematic perspective view of a clamping structure of a manipulator according to a first embodiment of the present invention in a product clamping state;
FIG. 4 is a perspective view of the product and the accompanying product when interfering;
fig. 5 is a perspective view of the robot hand shown in fig. 1, in which the gripping body is in a second state;
FIG. 6 is a perspective view of the robot of FIG. 5 with the gripping structure separated from the product;
fig. 7 is a perspective view illustrating a state in which a main arm approaches an auxiliary arm in the manipulator shown in fig. 6;
fig. 8 is a schematic perspective view of the manipulator shown in fig. 5 in a state that the gripping structure grips the nozzle;
description of reference numerals:
1-body; 2, a mechanical arm; 3-molding; 4-product; 5-an additional product; 11-a cross beam; 12-a frame; 21-a main arm; 22-secondary arm; 31-a cavity; 32-auxiliary chamber; 211-gripping body; 212-a first gripper; 213-second gripper.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 8, the present embodiment provides a gripping structure of a manipulator, including:
a gripping body 211 adapted to be connected to the robot arm 2 of the robot arm;
a first clamping part 212 provided on the clamping main body 211 and adapted to clamp the product 4;
and a second gripping section 213 provided on the gripping main body 211 and adapted to grip the subsidiary product 5 used in the process of molding the product 4, the second gripping section 213 being provided at a position spaced apart from the position of the gripping main body 211 to which the robot arm 2 is attached.
The gripping structure of the manipulator is usually used in cooperation with the manipulator 2 of the manipulator, and when the manipulator 2 of the manipulator is a single arm, the product 4 is gripped by the first gripping part 212 of the gripping structure of the manipulator 2, and when the gripping structure moves to the maximum stroke of the manipulator 2 toward the position to be placed of the product 4, the product 4 is put down; the additional product 5 is gripped by the second gripping section 213, moved in a direction away from the product 4, and the additional product 5 is dropped when the robot arm 2 moves in the direction away from the product 4 to the maximum stroke of the robot arm 2. The clamping order of the product 4 and the subsidiary product 5 can be replaced; when the arms 2 of the robot are double arms, one arm 2 is provided with the gripping structure and grips the product 4 by the first gripping part 212 of the gripping structure, and the other arm 2 is adapted to grip the additional product 5. When the gripping main body 211 moves to the maximum stroke of the connected robot arm 2 toward the position to be placed of the product 4, the product 4 is put down, then the robot arm 2 connected with the gripping structure moves to the other robot arm 2, and grips the incidental product 5 by the second gripping section 213, and moves in a direction away from the product 4, and when the robot arm 2 connected with the gripping structure moves to the maximum stroke of the robot arm 2 in a direction away from the product 4, the incidental product 5 is put down. No matter be foretell single arm condition, still the both arms condition, because the utility model provides a structure is got to the clamp of manipulator, the second is got portion 213 and is got the position interval setting of being connected arm 2 on the main part 211 with the clamp for further having gone beyond this spaced distance on the basis of the maximum distance between originally subsidiary result 5 and the product 4, increased subsidiary result 5 and product 4's whereabouts interval, reduced the processing auxiliary material and fallen to product 4 on fish tail product 4's possibility, improved product 4's yield.
In the present embodiment, the mold 3 used is a three-plate mold gate mold 3.
The product 4 is molded through the mold 3; the mold 3 has a cavity for molding the product 4, and the gripping body 211 is rotatably coupled to the robot arm 2 and has a first state adapted to be extended into the cavity and a second state adapted to be placed with the product 4.
When the mechanical arm 2 needs to be extended into the cavity to clamp the mold 3, the clamping main body 211 is in the first state, so that the clamping main body 211 on the mechanical arm 2 is parallel to a surface to be clamped of the product 4, the product 4 can be clamped conveniently by the first clamping part 212 on the clamping main body 211, and the mechanical arm 2 with the clamping main body 211 can conveniently enter and exit the mold 3 with a smaller cavity; when the first gripping part 212 of the gripping main body 211 is required to put down the product 4, the robot arm 2 is in the second state, and the gripping main body 211 of the robot arm 2 is parallel to the horizontal plane, so that the contact area between the product 4 and the falling surface is larger when the product 4 falls, the impact force applied to the product 4 is reduced, and the product 4 is prevented from being damaged. Therefore, the utility model discloses a to press from both sides main part 211 and arm 2 rotatable coupling, make arm 2 switch between first state and second state as required, the first clamp of the portion 212 clamp of getting in and out mould 3 and main part of both being convenient for is got product 4, has reduced the impact force that product 4 receives again, prevents that product 4 from damaging. In the present embodiment, the gripping body 211 is hinged to the robot arm 2.
As an alternative embodiment, the second state suitable for placing the product 4 may not be provided. At this time, the gripping body 211 may be fixedly attached to the robot arm 2.
The second gripping section 213 in this embodiment is located at one end of the gripping main body 211.
On the one hand, the distance between the second gripping part 213 and the position of the gripping main body 211 where the robot arm 2 is connected can be increased, so that the falling distance between the subsidiary product 5 and the product 4 is further increased, and the possibility that the processing auxiliary material falls on the product 4 to scratch the product 4 is reduced; on the other hand, it may be convenient to pick up by-product 5.
The hinge point of the gripping body 211 with the robot arm 2 is located at the centroid of the gripping body 211.
The hinge point of the clamping main body 211 and the mechanical arm 2 is located at the centroid of the clamping main body 211, after the clamping main body 211 is changed from the first state to the second state, the stress of each first clamping part 212 on the clamping main body 211 is uniform, the possibility of loosening is reduced, in addition, in the falling process after the first clamping part 212 on the clamping main body 211 clamps the product 4, the stress on the two sides of the mechanical arm 2 where the clamping main body 211 is located is balanced, and the movement is more stable.
As an alternative embodiment, the hinge point of the gripping body 211 with the robot arm 2 may be located at one end of the gripping body 211.
The first gripping section 212 includes:
and a plurality of suction cups provided on the gripping main body 211 and extending from the gripping main body 211 in a direction away from the robot arm 2.
The product 4 is grabbed by the sucker, only one side surface of the product 4 can be grabbed, and grabbing difficulty is reduced; set up a plurality of sucking discs, snatch more stably. The suction cup extends from the clamping main body 211 to the direction far away from the mechanical arm 2, so that interference is avoided in the process of taking and placing the product 4.
As an alternative embodiment, the first gripper 212 may be a plurality of pneumatic grippers, electric grippers, or the like.
The second gripping part 213 is a pneumatic gripper. The additional product 5 is a nozzle.
This embodiment still provides a manipulator, includes body 1, arm 2, and the structure is got to the clamp of above-mentioned manipulator. The robot arm 2 is reciprocally slidably mounted on the body 1.
The robot arm 2 includes:
a main arm 21 having one end slidably connected to the body 1 and the other end connected to the gripping main body 211;
the secondary arm 22 is slidably connected to the body 1 at one end and is provided with a gripper adapted to grip the additional product 5 at the other end.
When the gripper body 211 moves to the maximum stroke of the main arm 21 toward the position where the product 4 is to be placed, the product 4 is put down, then the sub-arm 22 moves toward the other robot arm 2, and grips the incidental product 5 by the second gripper 213 and moves in a direction away from the product 4, and when the main arm 21 moves to the maximum stroke of the main arm 21 in a direction away from the product 4, the incidental product 5 is put down. Because the utility model provides a structure is got to clamp of manipulator, the second is got portion 213 and is got the position interval setting of connecting main arm 21 on the main part 211 with pressing from both sides for this spaced distance has further been gone out on the basis of the maximum distance between originally subsidiary result 5 and the product 4, has increased the whereabouts interval of subsidiary result 5 and product 4, has reduced the processing auxiliary material and has fallen to the possibility of fish tail product 4 on the product 4, has improved the yield of product 4.
When the first gripper 212 having gripped the product 4 drops the product 4, the robot arm 2 approaches the other robot arm 2, grips the incidental product 5 on the other robot arm 2, moves to a position close to the other robot arm 2, and drops the incidental product 5, and compared with the case where the two robot arms 2 respectively drop the product 4 and incidental product 5, the drop distance between the product 4 and incidental product 5 is increased by the distance between the second gripper 213 and the position on the gripper body 211 to which the robot arm 2 is connected, so that the possibility of scratching the product 4 when the incidental product 5 drops onto the product 4 is reduced, and the yield of the product 4 is improved.
The body 1 comprises a frame 12 and a beam 11 mounted on the frame 12, and a main arm 21 and an auxiliary arm 22 are slidably mounted on the beam 11 respectively.
The main arm 21, the sub arm 22, and the second gripper 213 are coplanar.
The main arm 21 is connected to the grasping main body 211, the second grasping part 213 is provided on the grasping main body 211, and the second grasping part 213 is coplanar with the main arm 21 and the sub-arm 22. The primary 21 and secondary 22 arms are slidably mounted on the cross beam 11 and the upper middle of the nozzle is in line with the secondary arm 22. When the main arm 21 drives the second clamping part 213 to move to the vicinity of the sub arm 22, the second clamping part 213 clamps the middle upper part of the nozzle clamped by the sub arm 22.
As an alternative embodiment, the main arm 21 and the sub-arm 22 may be formed to be different from the second gripper 213.
The manipulator is adopted to clamp the product 4 formed by the die 3, and the method comprises the following steps:
s1: controlling the main arm 21 to clamp the product 4 in the cavity of the mold 3, and controlling the auxiliary arm 22 to clamp the subsidiary product 5 in the auxiliary cavity 32 of the mold 3;
s2: controlling the main arm 21 holding the product 4 to leave the cavity and controlling the auxiliary arm 22 holding the additional product 5 to leave the auxiliary cavity 32;
s3: controlling the main arm 21 to place the product 4 such that the first gripper 212 mounted on the main arm 21 is separated from the product 4;
s4: controlling the main arm 21 to move toward the sub-arm 22 and causing the second gripper 213 attached to the main arm 21 to grip the incidental product 5 on the sub-arm 22;
s5: the main arm 21 is controlled to continue moving away from the position where the product 4 is placed, until it reaches the maximum travel of the main arm 21 on the body 1.
When the gripper body 211 moves to the maximum stroke of the main arm 21 toward the position where the product 4 is to be placed, the product 4 is put down, then the sub-arm 22 moves toward the other robot arm 2, and grips the incidental product 5 by the second gripper 213 and moves in a direction away from the product 4, and when the main arm 21 moves to the maximum stroke of the main arm 21 in a direction away from the product 4, the incidental product 5 is put down. Because the utility model provides a structure is got to clamp of manipulator, the second is got portion 213 and is got the position interval setting of connecting main arm 21 on the main part 211 with pressing from both sides for this spaced distance has further been gone out on the basis of the maximum distance between originally subsidiary result 5 and the product 4, has increased the whereabouts interval of subsidiary result 5 and product 4, has reduced the processing auxiliary material and has fallen to the possibility of fish tail product 4 on the product 4, has improved the yield of product 4.
Between step S2 and step S3, the method further includes:
the secondary arm 22 moves away from the primary arm 21 until the distance between the two reaches the maximum travel of the secondary arm 22 on the body 1.
When the first clamp part 212 of the main clamp body 211 on the main arm 21 clamps the product 4, and the main arm 21 has reached the extreme position far away from the auxiliary arm 22 on the cross beam 11, the auxiliary arm 22 is controlled to move in the direction far away from the main arm 21 to the maximum stroke of the auxiliary arm 22 on the main body 1; when the first clamp section 212 of the clamp main body 211 on the main arm 21 clamps the product 4, the main arm 21 does not reach the extreme position on the cross member 11 away from the sub arm 22, and the main arm 21 and the sub arm 22 are controlled to move away from each other to the respective extreme positions on the cross member 11. Thus, the distance between the position of the product 4 laid down by the first gripper 212 of the gripper main body 211 on the main arm 21 and the position of the incidental product 5 gripped by the second gripper 213 on the main arm 21 is maximized, the falling distance between the product 4 and the incidental product 5 is increased, the possibility that the processing auxiliary material falls on the product 4 to scratch the product 4 is reduced, and the yield of the product 4 is improved. As an alternative embodiment, the secondary arm 22 and the primary arm 21 can be moved away from each other to extreme positions.
Before step S1, the method further includes:
s0: the movement of the main arm 21 and the sub-arm 22 is controlled so that the main arm 21 is extended to be placed in the cavity of the mold 3 for molding the product 4 and the sub-arm 22 is extended to be placed in the sub-cavity 32 of the mold 3 for molding the additional product 5.
Before step S0, the method further includes controlling the gripping main body 211 to rotate relative to the robot arm 2, so that the gripping main body 211 is in a first state of being extended into the cavity;
before step S3, the method further includes controlling the gripping body 211 to rotate relative to the robot arm 2, so that the gripping body 211 is in a second state suitable for placing the product 4.
The step S4 of grasping the incidental product 5 on the sub-arm 22 by the second grasping unit 213 attached to the main arm 21 further includes grasping the upper middle portion of the incidental product 5 on the sub-arm 22 by the second grasping unit 213 attached to the main arm 21.
The second clamping part 213 clamps the middle upper position of the nozzle where the clamping is more stable.
As an alternative embodiment, the second gripping part 213 grips the middle of the nozzle, etc.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.
Claims (12)
1. The utility model provides a structure is got to clamp of manipulator which characterized in that includes:
a gripping body (211) suitable for being connected to a robotized arm (2) of a manipulator;
a first gripping section (212) provided on the gripping body (211) and adapted to grip a product (4);
a second gripping section (213) provided on the gripping body (211) and adapted to grip an incidental product (5) during molding of the product (4), the second gripping section (213) being provided at a position spaced apart from a position on the gripping body (211) to which the robot arm (2) is connected.
2. Gripping structure of a manipulator according to claim 1, characterised in that the product (4) is shaped by means of a mould (3); the mould (3) has a cavity (31) for forming the product (4), and the gripping body (211) is rotatably connected to the robot arm (2) and has a first state suitable for being placed in the cavity (31) and a second state suitable for placing the product (4).
3. The gripping structure of a manipulator according to claim 2, characterized in that the gripping body (211) is hinged to the robot arm (2).
4. The gripping structure of the manipulator according to claim 3, wherein the second gripping section (213) is located at one end of the gripping main body (211).
5. The gripping structure of a manipulator according to claim 3, characterized in that the point of articulation of the gripping body (211) with the robot arm (2) is located at the centroid of the gripping body (211).
6. The gripping structure of a robot hand according to claim 1, wherein the first gripping section (212) comprises:
the sucking discs are arranged on the clamping main body (211) and extend from the clamping main body (211) to the direction far away from the mechanical arm (2).
7. The gripping structure of a robot hand according to claim 1, wherein the second gripping part (213) is a pneumatic jaw.
8. Gripping structure of a manipulator according to claim 1, characterized in that the additional product (5) is a nozzle.
9. A manipulator, characterized by comprising:
a body (1);
a mechanical arm (2) which is mounted on the body (1) in a reciprocating sliding manner;
the gripping structure of the robot hand of any one of claims 1 to 8.
10. The manipulator according to claim 9, characterized in that the robot arm (2) comprises:
a main arm (21) having one end slidably connected to the body (1) and the other end connected to the gripping main body (211);
and the auxiliary arm (22) is slidably connected with the body (1) at one end, and a clamp suitable for clamping the subsidiary product (5) is arranged at the other end.
11. A manipulator according to claim 10, wherein the body (1) comprises a frame (12) and a cross-member (11) mounted on the frame (12), the primary arm (21) and the secondary arm (22) being slidably mounted on the cross-member (11), respectively.
12. Manipulator according to claim 10, characterized in that said main arm (21), said secondary arm (22) and said second pick-up (213) are coplanar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920799543.2U CN210452771U (en) | 2019-05-29 | 2019-05-29 | Clamping structure of manipulator and manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920799543.2U CN210452771U (en) | 2019-05-29 | 2019-05-29 | Clamping structure of manipulator and manipulator |
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| CN210452771U true CN210452771U (en) | 2020-05-05 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103248A (en) * | 2019-05-29 | 2019-08-09 | 格力电器（郑州）有限公司 | Clamping structure of manipulator, manipulator and clamping method of product |
| CN112277267A (en) * | 2020-10-12 | 2021-01-29 | 苏州第一塑胶有限公司 | Sprue taking-out device for injection molding machine |
-
2019
- 2019-05-29 CN CN201920799543.2U patent/CN210452771U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103248A (en) * | 2019-05-29 | 2019-08-09 | 格力电器（郑州）有限公司 | Clamping structure of manipulator, manipulator and clamping method of product |
| CN110103248B (en) * | 2019-05-29 | 2024-06-14 | 格力电器（郑州）有限公司 | Clamping structure of manipulator, manipulator and clamping method of product |
| CN112277267A (en) * | 2020-10-12 | 2021-01-29 | 苏州第一塑胶有限公司 | Sprue taking-out device for injection molding machine |
| CN112277267B (en) * | 2020-10-12 | 2021-06-08 | 苏州第一塑胶有限公司 | Sprue taking-out device for injection molding machine |
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