CN210633664U

CN210633664U - Clamping type sliding rail manipulator

Info

Publication number: CN210633664U
Application number: CN201921399700.7U
Authority: CN
Inventors: 刘德建; 芦伟; 孙建桂
Original assignee: Shandong University of Science and Technology
Current assignee: Shandong University of Science and Technology
Priority date: 2019-08-27
Filing date: 2019-08-27
Publication date: 2020-05-29
Anticipated expiration: 2029-08-27

Abstract

The utility model discloses a press from both sides formula slide rail manipulator of getting relates to manipulator technical field. The clamping type sliding rail manipulator comprises a base, an air pump, an air jet type split door device, an operation table, a clamping type manipulator, a sliding rail, a baffle, a sliding way and a sliding type supporting frame. The jet-propelled pair door opener can open and close the door automatically under the effect of the controller, the clamping type mechanical arm is convenient to clamp and take the cleaned object, the annular magnetic force opens the door and closes the door under the effect of the magnetic force, and the friction resistance is reduced. The clamping type mechanical arm and the sliding rail are matched to freely move in the horizontal direction, the sliding type supporting frame can move between the two rails, acting force of the sliding table controller on the sliding rail is balanced to a certain degree, and compared with a manual clamping mode, the clamping type mechanical arm effectively improves clamping efficiency and greatly saves manpower and material resources.

Description

Clamping type sliding rail manipulator

Technical Field

The utility model relates to a manipulator technical field specifically is a press from both sides formula slide rail manipulator of getting.

Background

At present, along with the continuous progress of scientific level and the gradual improvement of automation level, the cost of labor rises gradually, in order to reduce the cost of labor in the production process and improve production efficiency, produce qualified product of quality, need to operate a certain station accurately and clear up the article, general way is to dispatch specific operator at a certain station and get the operation of putting the article and rinsing, but after long-time work, the operator is tired easily, the health burden is overweight, cause the decline of production efficiency and the precision of processing article unqualified, be unfavorable for the mass production to the article, this has just produced a large amount of demands to automatic clamp device of getting.

SUMMERY OF THE UTILITY MODEL

In view of the above circumstances, the utility model provides a press from both sides formula slide rail manipulator of getting to solve the problem that appears among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a clamping type sliding rail manipulator comprises a base, an air pump, an air jet type split door device, an operation table, a clamping type manipulator, a sliding rail, a baffle plate, a sliding way and a sliding type support frame, wherein the air jet type split door device comprises a controller, a cylindrical container, an annular magnetic split door, a support column, a flat-top sealing cover and a pneumatic device, and the door is opened and closed under the action of magnetic force; the clamping type manipulator comprises a sliding table controller, a rotary table, a cylinder, a waist joint, a large arm, a cylinder, a small arm, a fixing plate, a vision sensor, a tail end execution clamping jaw and a small arm telescopic cylinder, the whole manipulator can rotate for 360 degrees through the rotary table, the large arm rotates around the waist joint under the action of the cylinder, the small arm rotates around the large arm, and the tail end execution clamping jaw is responsible for grabbing an object; the operation table is used for temporarily storing the objects grabbed by the manipulator; the sliding rail is used as a running rail of the manipulator; the sliding type support frame is positioned between the sliding rail and the base and used for balancing acting force of the sliding table controller on the sliding rail; the baffle is located the slide rail both ends, prevents the manipulator roll-off track.

Preferably, the base is located at the bottom as a support structure.

Preferably, the air pump is used as a power source of the clamping type manipulator and is fixed on the base.

Preferably, the jet-propelled split door device adopts annular magnetic force to split the door, opens to both sides from the middle, and the controller is adorned on the support column, is fixed in on the base through the support column.

Preferably, the clamping type mechanical arm is located on the sliding rail, a rotary table is arranged between the sliding table controller and the waist joint, a cylinder is arranged between the waist joint and the large arm, a cylinder is arranged between the large arm and the small arm, a cylinder is arranged between the small arm and the tail end execution clamping jaw, and the rotation of the waist joint, the large arm and the small arm and the opening and closing of the clamping jaw are realized under the action of the cylinder and the air pump.

Preferably, the clamping type manipulator is provided with a sliding table controller, and the jet-propelled split door opening device is fixedly provided with a controller.

Compared with the prior art, the beneficial effects of the utility model are that: through the cooperation of cylinder, carousel, slide rail and air pump, make the manipulator accomplish the action that slides, rotatory and press from both sides the article, have higher flexibility, improved the efficiency of getting and get, the jet-propelled door device that opens is equipped with and has adopted annular magnetic force to open the door, has reduced the resistance, utilizes pneumatic means to clear up the article, has reduced noise pollution, gets to put the article with the manual work and compares, has all obtained certain improvement in the aspect of production efficiency and quality.

Drawings

FIG. 1 is a view of the structure of the present invention;

FIG. 2 is a view showing the construction of a gripping robot;

fig. 3 is a structural view of a jet type half-open door device;

fig. 4 is a structural view of a small arm telescopic cylinder.

In the figure: the device comprises a base 1, an air pump 2, an air-jet type split door device 3, an operation table 4, a clamping type manipulator 5, a sliding rail 6, a baffle 7, a slideway 8, a sliding type supporting frame 9, a controller 31, a cylindrical container 32, a circular magnetic split door 33, a supporting column 34, a flat-top sealing cover 35, a pneumatic device 36, a sliding table controller 51, a rotary table 52, an air cylinder 53, a waist joint 54, a large arm 55, an air cylinder 56, a small arm 57, a fixed plate 58, a visual sensor 59, a clamping jaw at the tail end of a 510 and a telescopic air cylinder 571.

Detailed Description

The technical solutions in the embodiments of the present invention will be described in detail and clearly with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. 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.

Please refer to fig. 1-4, which respectively show the structure diagram of the manipulator, the structure diagram of the clamping manipulator, the structure diagram of the jet-propelled side-by-side door opening device, and the structure diagram of the small arm telescopic cylinder.

A clamping type slide rail manipulator comprises: the device comprises a base 1, a base 2, an air pump 3, an air jet type split door device 4, an operation table 5, a clamping type mechanical arm 5, a sliding rail 6, a baffle 7, a slideway 8 and a sliding type supporting frame 9.

The jet-propelled door-opening device comprises a 31 controller, a 32 cylindrical container, a 33 annular magnetic door, a 34 supporting column, a 35 flat-top sealing cover and a 36 pneumatic device, wherein the 31 controller is fixed on the 34 supporting column, the 34 supporting column is fixed on a base 1, the upper part of the 34 supporting column is connected with the 32 cylindrical container, the upper part of the 32 cylindrical container is sealed by the 35 flat-top sealing cover, the 36 pneumatic device is positioned at the bottom of the 32 cylindrical container and is communicated with the 32 cylindrical container, and the 33 annular magnetic door-opening device completes door-opening and door-closing actions through the 31 controller under the action of magnetic force; the 5-clamping type manipulator comprises a 51-sliding-table controller, a 52-rotating table, a 53-cylinder, a 54-waist joint, a 55-large arm, a 56-cylinder, a 57-small arm, a 58-fixing plate, a 59-vision sensor, a 510-tail-end execution clamping jaw and a 571-small-arm telescopic cylinder, wherein the 51-sliding-table controller is connected with a 6-sliding rail and is connected with the 54-waist joint through the 52-rotating table, the 54-waist joint is connected with the 55-large arm under the action of a 511 rotating shaft, the 55-large arm and the 57-small arm are connected through a 512 rotating shaft, the 571-small-arm telescopic cylinder is arranged on the 57-small arm, the opening and closing of the 510-tail-end execution clamping jaw are controlled, the 56-cylinder and the 53-cylinder are arranged among the 54-waist joint, the 55-large.

The working principle of the clamping type sliding rail manipulator is as follows:

in an initial state, an object is located at an initial position, firstly, the 2-air pump is started, the 36 pneumatic device is communicated with the upper air pipe and is connected with the 2-air pump, the 5-clamping type mechanical arm moves on the 6 slide rail under the action of the 51-sliding-table controller, when the 3-air-jet type split door device is close, the 51-sliding-table controller transmits the reached position information to the 31 controller, the 33-ring magnetic split door is opened under the action of the 31 controller, the 510 tail end execution clamping jaw of the 5-clamping type mechanical arm is matched with the 54 waist joint, the 55 big arm and the 57 small arm under the action of the 571 small-arm telescopic cylinder, the cleaned object of the 36 pneumatic device is taken out, and then the cleaned object is sent back to the 4 operation tables along the 6 slide rail through the 51-sliding-table controller to complete a.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A clamping type slide rail manipulator is characterized by comprising a base, an air pump, an air jet type split door device, an operation platform, a clamping type manipulator, a slide rail, a baffle plate, a slide rail and a sliding type support frame, wherein the air jet type split door device comprises a controller, a cylindrical container, an annular magnetic split door, a support column, a flat-top cover and a pneumatic device, and the annular magnetic split door is opened and closed under the action of magnetic force; the clamping type manipulator comprises a sliding table controller, a rotary table, an air cylinder, a waist joint, a large arm, an air cylinder, a small arm, a fixing plate, a vision sensor, a tail end execution clamping jaw and a small arm telescopic air cylinder, the whole manipulator can rotate for 360 degrees through the rotary table, the large arm joint rotates around the waist joint, the small arm joint rotates around the elbow joint under the action of the air cylinder, and the tail end execution clamping jaw is responsible for grabbing an object; the operating platform is used for temporarily storing the objects grabbed by the manipulator; the sliding rail is used as a running rail of the manipulator; the sliding type support frame is positioned between the slide way and the base and used for balancing acting force of the sliding table controller on the slide way; the baffles are positioned at the two ends of the sliding rail to prevent the manipulator from sliding out of the rail; the base is used as a supporting structure and is positioned at the bottom; the air pump is used as a power source of the clamping type manipulator and is fixed on the base.

2. The gripping slide rail robot of claim 1, wherein: the jet-propelled split door device adopts annular magnetic force to split the door, opens to both sides from the middle, and the controller is adorned on the support column, is fixed in on the base through the support column.

3. The gripping slide rail robot of claim 1, wherein: the clamping type mechanical arm is positioned on the sliding rail, a rotary table is arranged between the sliding table controller and the waist joint, an air cylinder is arranged between the waist joint and the large arm, an air cylinder is arranged between the large arm and the small arm, a small arm telescopic air cylinder is arranged between the small arm and the tail end execution clamping jaw, and the rotation of the waist joint, the large arm and the small arm and the opening and closing of the clamping jaw are realized under the action of the air cylinder and the air pump.

4. The gripping slide rail robot of claim 1, wherein: the clamping type manipulator is provided with a sliding table controller, and the jet-propelled split door opening device is fixed with a controller.