CN214323406U - Pneumatic type carrying manipulator - Google Patents

Abstract

The utility model provides a pneumatic type transport manipulator, its adaptation multistation transport and under the prerequisite that does not change the transport stroke, reduced the equipment size, be favorable to the configuration optimization of automation equipment, the cost is reduced. It is divided by frame, horizontal migration subassembly, vertical migration subassembly, terminal hand claw subassembly four bibliographic categories and forms, the frame main part is built by aluminium alloy ex-trusions and is constituteed, specifically including both sides stand and crossbeam, be provided with horizontal guide rail on the crossbeam, the horizontal migration subassembly includes horizontal slide, horizontal rodless cylinder, horizontal slide pass through the slider with horizontal guide rail connects, rodless cylinder along horizontal guide rail level is arranged, rodless cylinder's output rigid coupling is connected horizontal slide, rodless cylinder's both ends rigid coupling respectively in frame, horizontal slide's front end both sides are provided with piles into the L type connecting plate of arranging.

Description

Pneumatic type carrying manipulator

Technical Field

The utility model relates to an automatic technical field specifically is a pneumatic type transport manipulator.

Background

The material carrying and transferring is a common operation scene in industrial production, particularly on some automatic pipelines, materials or products need to be carried from one station to other stations, and a large amount of manpower is consumed by long-time repetitive labor. With the rapid development of automation technology, more and more manipulators are introduced into the automated production process to replace manual material handling. At present, a plurality of articulated manipulators and rectangular coordinate manipulators are used in the field of production automation, wherein the articulated manipulators are flexible in action but relatively high in price, and the posture of a product does not need to be changed in a common carrying and transferring occasion, so that the rectangular coordinate manipulators are more used for realizing the operation. The right-angle sitting type mechanical arm generally has two driving modes of pneumatic driving and motor driving, and the pneumatic type carrying mechanical arm is cheap relative to an electric mechanical arm, simple in structure and easy to control, and has a plurality of use cases in the automatic equipment at present. However, the stroke that most of pneumatic type mechanical handling manipulators that use at present can adapt to is fixed, can only carry the material to another position from a position, if have a plurality of stations in the middle just can not realize the material handling, can only adopt electrodynamic type mechanical handling hand, and lead to the cost increase. And the cylinder of the pneumatic type mechanical handling manipulator that uses at present all is fixed on the base, and the mounted position is also unique, and the during operation, generally the cylinder of cylinder is motionless, and the piston rod drive removes the frame and removes, just so makes the manipulator also occupy great space when not working, does not do benefit to the configuration optimization of automation equipment in addition yet.

Disclosure of Invention

To the above problem, the utility model provides a pneumatic type transport manipulator, its adaptation multistation transport and under the prerequisite that does not change the transport stroke, reduced the equipment size, be favorable to the structural optimization of automation equipment, the cost is reduced.

The utility model provides a pneumatic type transport machinery hand which characterized in that: it is divided by frame, horizontal migration subassembly, vertical migration subassembly, terminal hand claw subassembly four bibliographic categories and forms, the frame main part is built by aluminium alloy ex-trusions and is constituteed, specifically including both sides stand and crossbeam, be provided with horizontal guide rail on the crossbeam, the horizontal migration subassembly includes horizontal slide, horizontal rodless cylinder, horizontal slide pass through the slider with horizontal guide rail connects, rodless cylinder along horizontal guide rail level is arranged, rodless cylinder's output rigid coupling is connected horizontal slide, rodless cylinder's both ends rigid coupling respectively in the frame, horizontal slide's front end both sides are provided with the L type connecting plate of piling up the arrangement, two set firmly preceding protruding installation pole between the region in opposite directions of L type connecting plate, vertical migration subassembly is including connecting fixed plate, vertical actuating cylinder, cylinder rack, pinion, gear wheel, The rack mechanism, the connection fixed plate adorn admittedly in anterior one side position of preceding protruding installation pole, it drives actuating cylinder, vertical track groove to adorn vertically to drive admittedly on the connection fixed plate, the vertical output rigid coupling that drives actuating cylinder has the cylinder rack, the rack output end meshing of cylinder rack is connected with the pinion, the coaxial rigid coupling of pinion and gear wheel is connected, gear wheel meshing connects rack mechanism's sharp rack, rack mechanism pass through the guide rail install in vertical track groove, terminal hand claw subassembly includes spring buffer gear, vacuum chuck, rack mechanism's bottom has set firmly spring buffer gear, be equipped with vacuum chuck under the spring buffer gear admittedly.

It is further characterized in that: a plurality of horizontal position locating blocks are arranged on the length direction position of the cross beam corresponding to the horizontal guide rail according to the position of a set station, a locating groove is arranged on each horizontal position locating block, a locating cylinder is fixedly arranged on the horizontal sliding seat, the piston head of the locating cylinder is arranged towards the locating groove, and after the horizontal moving assembly moves horizontally to the corresponding station position, the piston head of the locating cylinder extends out to be clamped in the locating groove to complete horizontal locking;

a magnetic ring detection switch is arranged on the corresponding horizontal placing station position on the rodless cylinder, when the rodless cylinder moves to the magnetic ring detection switch position on the corresponding station, the positioning cylinder is triggered to act, the positioning cylinder extends out to be clamped in the horizontal positioning block, and the horizontal movement assembly is locked;

the mounting shafts of the large gear and the small gear are positioned and mounted at corresponding positions of the connecting and fixing plate through bearings, so that the normal operation of the whole structure is ensured;

after the utility model is adopted, the stroke multiplication mechanism is composed of the vertical driving cylinder, the cylindrical rack, the pinion and the large gear and rack mechanism, and the vertical driving cylinder only needs a small stroke to realize the vertical movement of a large stroke; the terminal gripper subassembly is installed at the output end of vertical removal subassembly, and install spring buffer mechanism between the vertical subassembly, terminal gripper subassembly adopts the vacuum chuck mode, can carry the plane class material and carry, also can change into other types of gripper mode according to actual need, it has reduced the stroke of vertical cylinder greatly, can reduce the size of equipment, the use occasion of pneumatic type transport manipulator has been expanded, the horizontal migration subassembly transports the vertical removal subassembly to corresponding station according to the station needs, it adapts to the multistation transport and under the prerequisite that does not change the transport stroke, the equipment size has been reduced, be favorable to the configuration optimization of automation equipment, and the cost is reduced.

Drawings

Fig. 1 is a schematic structural view of a perspective view of the present invention;

fig. 2 is a schematic partial sectional structure view of a top view of the present invention;

FIG. 3 is a schematic view of section A-A of FIG. 2;

fig. 4 is a schematic side view of the present invention;

fig. 5 is a schematic front view structure diagram of the present invention;

the names corresponding to the sequence numbers in the figure are as follows:

the device comprises a rack 1, a horizontal moving component 2, a vertical moving component 3, a tail end paw component 4, an upright post 5, a cross beam 6, a horizontal guide rail 7, a horizontal sliding seat 8, a horizontal rodless cylinder 9, a sliding block 10, an L-shaped connecting plate 11, a front convex mounting rod 12, a connecting fixing plate 13, a vertical driving cylinder 14, a cylindrical rack 15, a pinion 16, a gearwheel 17, a rack mechanism 18, a vertical guide rail groove 19, a linear rack 20, a spring buffer mechanism 21, a vacuum chuck 22, a horizontal position positioning block 23, a positioning groove 24, a positioning cylinder 25 and a magnetic ring detection switch 26.

Detailed Description

A pneumatic handling robot, see fig. 1-5: the device comprises a rack 1, a horizontal moving assembly 2, a vertical moving assembly 3 and a tail end claw assembly 4, wherein the main body of the rack 1 is constructed by aluminum alloy sectional materials, the horizontal moving assembly comprises two side upright posts 5 and a cross beam 6, a horizontal guide rail 7 is arranged on the cross beam 6, the horizontal moving assembly 2 comprises a horizontal sliding seat 8 and a horizontal rodless cylinder 9, the horizontal sliding seat 8 is connected with the horizontal guide rail 7 through a sliding block 10, the rodless cylinder 9 is horizontally arranged along the horizontal guide rail 7, the output end of the rodless cylinder 9 is fixedly connected with the horizontal sliding seat 8, two ends of the rodless cylinder 8 are respectively fixedly connected with the rack 1, L-shaped connecting plates 11 which are stacked in an arrangement mode are arranged on two sides of the front end of the horizontal sliding seat 8, a front convex mounting rod 12 is fixedly arranged between opposite areas of the two L-shaped connecting plates 11, the vertical moving assembly 3 comprises a connecting fixing plate 13, a vertical driving cylinder 14, a cylindrical rack 15, a pinion 16, The connecting and fixing plate 13 is fixedly arranged at one side of the front part of the front convex mounting rod 12, the connecting and fixing plate 13 is fixedly provided with a vertical driving air cylinder 14 and a vertical track groove 19, the vertical driving air cylinder 14 is vertically driven, the output end of the cylinder rack 15 is fixedly connected with a cylindrical rack 15, the rack output end of the cylindrical rack 15 is meshed and connected with a pinion 16, the pinion 16 is fixedly connected with the large gear 17 in a coaxial mode, the large gear 17 is meshed and connected with a linear rack 20 of the rack mechanism 18, the rack mechanism 18 is arranged in the vertical track groove 19 through a guide rail, the tail end paw component 4 comprises a spring buffer mechanism 21 and a vacuum sucker 22, the bottom of the rack mechanism 18 is fixedly provided with the spring buffer mechanism 21, and the vacuum sucker 22 is fixedly arranged under the spring buffer mechanism 21.

A plurality of horizontal position positioning blocks 23 are arranged on the length direction position of the cross beam 6 corresponding to the horizontal guide rail 7 according to the position of a set station, a positioning groove 24 is arranged on each horizontal position positioning block 23, a positioning cylinder 25 is fixedly arranged on the horizontal sliding seat 8, the piston head of the positioning cylinder 25 is arranged towards the positioning groove 24, and after the horizontal moving assembly 2 moves horizontally to the corresponding station position, the piston head of the positioning cylinder 25 extends out to be clamped in the positioning groove 24 to complete horizontal locking;

a magnetic ring detection switch 26 is arranged at the corresponding horizontal position of the rodless cylinder 9, when the rodless cylinder 9 moves to the position of the magnetic ring detection switch 26 at the corresponding position, the positioning cylinder 25 is triggered to act, the positioning cylinder 25 extends out to be clamped in the horizontal positioning block 23, and the horizontal movement component 2 is locked;

the mounting shafts of the large gear 17 and the small gear 16 are positioned and mounted at corresponding positions of the connecting and fixing plate 13 through bearings, so that the normal operation of the whole structure is ensured.

The working principle is as follows: when the manipulator horizontal moving assembly works, a rodless cylinder on the manipulator horizontal moving assembly drives a horizontal sliding seat to move to a material waiting position above a material, a vertical cylinder extends out a distance L to drive a cylindrical rack which drives a pinion, and a pinion and a gear wheel are coaxially arranged to drive a gear rack mechanism so that a tail end gripper assembly moves downwards for a distance nL to absorb the material (n is the reduction ratio between the pinion and the gear wheel and can be designed according to actual needs), the vertical cylinder retracts to lift the material, the horizontal assembly horizontally moves under the drive of the horizontal rodless cylinder, a magnetic ring detection switch is arranged on the corresponding horizontal placement station position on the rodless cylinder, when the rodless cylinder moves to the magnetic ring detection switch position on the corresponding station, a positioning cylinder is triggered to act, the positioning cylinder extends out to be clamped in a horizontal positioning block to position the horizontal moving assembly, and then the vertical cylinder extends out, the material is placed above the corresponding station, then the sucker on the gripper assembly is loosened to place the material in place, the vertical cylinder retracts, the horizontal positioning cylinder retracts, and the horizontal rodless cylinder drives the sliding seat to return to the material taking station, so that the operation is repeated in sequence. This pneumatic type transport manipulator has solved pneumatic manipulator and can not adapt to the problem of carrying out material handling to a plurality of stations, and the horizontal direction adopts no pole cylinder drive, reduces horizontal dimension by a wide margin, adopts stroke multiplication mechanism design in the vertical direction simultaneously, changes the stroke that vertical direction multiplies according to actual need, has reduced the stroke of vertical cylinder greatly, can reduce the size of equipment, extension pneumatic type transport manipulator's use occasion.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (4)

1. The utility model provides a pneumatic type transport machinery hand which characterized in that: it is divided by frame, horizontal migration subassembly, vertical migration subassembly, terminal hand claw subassembly four bibliographic categories and forms, the frame main part is built by aluminium alloy ex-trusions and is constituteed, specifically including both sides stand and crossbeam, be provided with horizontal guide rail on the crossbeam, the horizontal migration subassembly includes horizontal slide, horizontal rodless cylinder, horizontal slide pass through the slider with horizontal guide rail connects, rodless cylinder along horizontal guide rail level is arranged, rodless cylinder's output rigid coupling is connected horizontal slide, rodless cylinder's both ends rigid coupling respectively in the frame, horizontal slide's front end both sides are provided with the L type connecting plate of piling up the arrangement, two set firmly preceding protruding installation pole between the region in opposite directions of L type connecting plate, vertical migration subassembly is including connecting fixed plate, vertical actuating cylinder, cylinder rack, pinion, gear wheel, The rack mechanism, the connection fixed plate adorn admittedly in anterior one side position of preceding protruding installation pole, it drives actuating cylinder, vertical track groove to adorn vertically to drive admittedly on the connection fixed plate, the vertical output rigid coupling that drives actuating cylinder has the cylinder rack, the rack output end meshing of cylinder rack is connected with the pinion, the coaxial rigid coupling of pinion and gear wheel is connected, gear wheel meshing connects rack mechanism's sharp rack, rack mechanism pass through the guide rail install in vertical track groove, terminal hand claw subassembly includes spring buffer gear, vacuum chuck, rack mechanism's bottom has set firmly spring buffer gear, be equipped with vacuum chuck under the spring buffer gear admittedly.

2. A pneumatic handling robot as recited in claim 1, further comprising: the horizontal guide rail is characterized in that a plurality of horizontal position locating blocks are arranged on the length direction of the cross beam corresponding to the horizontal guide rail according to the position of a set station, each horizontal position locating block is provided with a locating groove, a locating cylinder is fixedly arranged on the horizontal sliding seat, and a piston head of the locating cylinder is arranged towards the locating grooves.

3. A pneumatic handling robot as recited in claim 2, further comprising: and a magnetic ring detection switch is arranged on the corresponding horizontal placement station position on the rodless cylinder.

4. A pneumatic handling robot as recited in claim 3, further comprising: the mounting shafts of the large gear and the small gear are positioned and mounted at corresponding positions of the connecting and fixing plate through bearings.

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