CN218785579U - Workpiece grabbing manipulator - Google Patents

Workpiece grabbing manipulator Download PDF

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Publication number
CN218785579U
CN218785579U CN202221851900.3U CN202221851900U CN218785579U CN 218785579 U CN218785579 U CN 218785579U CN 202221851900 U CN202221851900 U CN 202221851900U CN 218785579 U CN218785579 U CN 218785579U
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China
Prior art keywords
base
grabbing
rotating rod
component
driving
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Active
Application number
CN202221851900.3U
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Chinese (zh)
Inventor
张香尘
陈龙耀
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Zhejiang Longen Automation Equipment Co ltd
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Zhejiang Longen Automation Equipment Co ltd
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50Manufacturing or production processes characterised by the final manufactured product

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Abstract

The utility model provides a work piece snatchs manipulator belongs to mechanical equipment technical field. It has solved the problem that current manipulator structure is complicated, send inefficiency. The workpiece grabbing manipulator comprises a base, wherein a grabbing component is arranged on the base, a lifting component used for grabbing 180-degree rotation of the component and lifting the grabbing component to a high degree is arranged between the grabbing component and the base, the lower end of the lifting component is connected to the base, a working driver used for driving the lifting component to work is arranged on the base, and the upper end of the lifting component is rotatably connected to the grabbing component. The utility model has the advantages of reasonable structure and high conveying efficiency.

Description

Workpiece grabbing manipulator
Technical Field
The utility model belongs to the technical field of mechanical equipment, a work piece snatchs manipulator is related to.
Background
Industrial robots are robotic systems used in manufacturing operations, and typical applications of robots include soldering, painting, assembly, pick and move processes for printed circuit boards, packaging, labeling, splinting, product inspection and testing, all of which are accomplished with high durability, high speed and precision, and which also assist in material handling.
Industrial robot is carried by the wide application in the material, and it gets the material through getting the subassembly to press from both sides, recycles a plurality of actuating mechanism and carries out horizontal and upper and lower removal, and it has the structure complicacy, problem that conveying efficiency is low.
SUMMERY OF THE UTILITY MODEL
The utility model aims at the above-mentioned problem, a workpiece grabbing manipulator that is rational in infrastructure, and conveying efficiency is high is provided.
In order to achieve the above purpose, the utility model adopts the following technical proposal:
the utility model provides a work piece snatchs manipulator, includes the base, the base on be provided with and snatch the subassembly, it is provided with the lifting unit who is used for snatching 180 rotations of subassembly and lifting simultaneously and snatchs the subassembly height to snatch between subassembly and the base, lifting unit's lower extreme is connected and is provided with the work driver who is used for driving lifting unit work on the base and on the base, lifting unit's upper end is rotated and is connected in snatching the subassembly.
In a foretell work piece snatchs manipulator, lifting unit include first dwang and second dwang, the lower extreme of first dwang has the pivot, the pivot erect on the base and wear out from the lateral part of base, the work driver drive connect on a side end of pivot, the upper and lower both ends of second dwang rotate respectively to be connected on snatching subassembly and base.
In the workpiece grabbing manipulator, when the grabbing component is in an initial state, the distance between the connecting position of the lower end of the first rotating rod and the base and the grabbing component is smaller than the distance between the connecting position of the lower end of the second rotating rod and the base and the grabbing component.
In the above workpiece grabbing manipulator, when the grabbing component is in an initial state, the upper end of the first rotating rod is connected to the upper side of the grabbing component, and the connecting position of the upper end of the second rotating rod and the grabbing component is located on the lower side of the upper end of the first rotating rod.
In a workpiece grabbing manipulator as above, when the grabbing component rotates, the first rotating rod and the second rotating rod are distributed in an X-shaped staggered manner.
In foretell work piece snatchs manipulator, snatch the subassembly including being used for first dwang and second dwang to rotate the assembly bench of being connected, the assembly bench be provided with and snatch the base, the base of snatching in be provided with two clamping jaws that can transversely translate and be close to or keep away from, the base of snatching on be provided with the drive assembly who is used for driving two clamping jaws and removes.
In foretell work piece snatchs manipulator, drive assembly including set up the actuating cylinder that drives on snatching the base, it is connected with and drives the drive frame to drive to rotate on actuating cylinder's the push rod, it promotes the piece to drive to be provided with two on the drive frame keeps away from a side end of push rod, two the outside of clamping jaw is seted up on the surface and is supplied to correspond the draw-in groove that promotes a card and go into, set up the spout that supplies to drive the frame and insert and slide on snatching the base.
In foretell work piece snatchs manipulator, two the one end of clamping jaw is located the outside of snatching the base, and the clamping jaw is located and has seted up curved holding tank on snatching the outside medial extremity outside the base, the draw-in groove set up in the outside of every clamping jaw, and the degree of depth of draw-in groove from keeping away from one side of holding tank to being close to holding tank one side subassembly shallowing.
In the workpiece grabbing manipulator, a plurality of groups of reset components for resetting after the clamping jaws are clamped are arranged between the two clamping jaws.
In foretell manipulator is snatched to work piece, every group reset assembly including set up in the connecting ring cover of one of them clamping jaw medial surface and set up on another clamping jaw medial surface with connecting ring cover matched with connecting sleeve, the adapter sleeve empty can insert to the adapter sleeve in, the adapter sleeve on be equipped with reset spring too, reset spring's both ends butt respectively on the medial surface of two clamping jaws.
Compared with the prior art, the utility model has the advantages of: snatch the subassembly and can carry out 180 rotations under lifting unit's drive and will snatch the work piece on the subassembly and transport to the opposite side from one side to can promote the height of transporting of work piece, the manipulator applies to the transportation of work piece between two different assembly lines, need rotate earlier for traditional conveying mechanism, then reciprocates, has rational in infrastructure, advantage that conveying efficiency is high.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a schematic structural view of the grabbing assembly in the initial state of the present invention.
Fig. 2 is a top view structural diagram of the grabbing component of the present invention.
Fig. 3 is a schematic diagram of the internal structure of the grabbing component of the present invention.
In the figure, 1, a base; 2. a grasping assembly; 3. a lifting assembly; 4. a working driver; 5. a first rotating lever; 6. a second rotating rod; 7. a rotating shaft; 9. grabbing a base; 10. a clamping jaw; 11. a drive assembly; 12. a driving cylinder; 13. a driving frame; 14. a pushing block; 15. a card slot; 16. a chute; 17. accommodating a tank; 18. a reset assembly; 19. a connecting ring sleeve; 20. a connecting sleeve; 21. a return spring.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
As shown in fig. 1 to 3, a workpiece grabbing manipulator comprises a base 1, a grabbing component 2 is arranged on the base 1, a lifting component 3 used for 2180 ° rotation of the grabbing component and simultaneous lifting of the height of the grabbing component 2 is arranged between the grabbing component 2 and the base 1, the lower end of the lifting component 3 is connected to the base 1, a working driver 4 used for driving the lifting component 3 to work is arranged on the base 1, and the upper end of the lifting component 3 is rotatably connected to the grabbing component 2.
In this embodiment, the manipulator includes base 1, be provided with lifting unit 3 on the base 1 and be used for driving the subassembly 2 that snatchs of 3 work of lifting unit, it can carry out 180 rotations and transport to the opposite side from one side to snatch the work piece on the subassembly 2 under lifting unit's 3 drive to snatch the subassembly 2, and can promote the height of transporting of work piece, the manipulator applies to the transportation of work piece between two different assembly lines, need rotate earlier for traditional conveying mechanism, then reciprocate, it is rational in infrastructure to have, advantage that transport efficiency is high.
In this embodiment, the lifting assembly 3 includes a first rotating rod 5 and a second rotating rod 6, the lower end of the first rotating rod 5 has a rotating shaft 7, the rotating shaft 7 is erected on the base 1 and penetrates out of the side portion of the base 1, the working driver 4 is drivingly connected to one end portion of the rotating shaft 7, and the upper end and the lower end of the second rotating rod 6 are respectively rotatably connected to the grabbing assembly 2 and the base 1.
The working driver 4 is a motor, the working driver 4 can be connected with the rotating shaft 7 through a coupler or a speed reducer to drive the first rotating rod 5 to rotate, and the grabbing component 2 is driven to deflect when the first rotating rod 5 rotates.
Specifically, when the grasping assembly 2 is in the initial state, the distance between the connecting position of the lower end of the first rotating rod 5 and the base 1 and the grasping assembly 2 is smaller than the distance between the connecting position of the lower end of the second rotating rod 6 and the base 1 and the grasping assembly 2.
Specifically, when the grasping assembly 2 is in the initial state, the upper end of the first rotating rod 5 is connected to the upper side of the grasping assembly 2, and the connecting position of the upper end of the second rotating rod 6 and the grasping assembly 2 is located on the lower side of the upper end of the first rotating rod 5.
When the grabbing component 2 rotates, the first rotating rod 5 and the second rotating rod 6 are distributed in an X-shaped staggered manner.
The grabbing component 2 comprises an assembly table for rotationally connecting the first rotating rod 5 and the second rotating rod 6, a grabbing base 9 is arranged on the assembly table, two clamping jaws 10 capable of horizontally translating and approaching to or keeping away from each other are arranged in the grabbing base 9, and a driving component 11 for driving the two clamping jaws 10 to move is arranged on the grabbing base 9.
Drive assembly 11 is including setting up the actuating cylinder 12 that drives on grabbing base 9, and it is connected with the carriage 13 to rotate on the push rod of actuating cylinder 12, and the carriage 13 is provided with two on keeping away from a side end of push rod and promotes piece 14, and the outside of two clamping jaws 10 is seted up on the surface and is supplied to correspond draw-in groove 15 that promotes 14 cards income, snatchs and sets up on the base 9 and supply the spout 16 that the carriage 13 inserted and slided.
One end of the two clamping jaws 10 is located on the outer side of the grabbing base 9, the clamping jaws 10 are located on the inner side end portion outside the grabbing base 9 and provided with arc-shaped accommodating grooves 17, the clamping grooves 15 are formed in the outer side of each clamping jaw 10, and the depth of each clamping groove 15 is reduced from one side far away from the accommodating grooves 17 to the side close to the accommodating grooves 17.
A plurality of groups of reset components 18 for resetting the clamping jaws 10 after clamping are arranged between the two clamping jaws 10.
Each reset assembly 18 comprises a connecting ring sleeve 19 arranged on the inner side surface of one of the clamping jaws 10 and a connecting sleeve 20 arranged on the inner side surface of the other clamping jaw 10 and matched with the connecting ring sleeve 19, the connecting sleeve 20 can be inserted into the connecting ring sleeve 19, a reset spring 21 is sleeved on the connecting ring sleeve 19, and two ends of the reset spring 21 are respectively abutted against the inner side surfaces of the two clamping jaws 10.
The utility model discloses a theory of operation does: the manipulator includes base 1, is provided with lifting unit 3 on the base 1 and is used for driving the subassembly 2 that snatchs of 3 work of lifting unit, snatchs subassembly 2 and can carry out 180 rotations under lifting unit 3's drive and will snatch the work piece on the subassembly 2 and transport to the opposite side from one side to can promote the height of transporting of work piece, the manipulator applies to the transportation of work piece between two different assembly lines.
Specifically, drive cylinder 12 drive and push away piece 14 and remove, because the degree of depth of draw-in groove 15 becomes shallow to the subassembly that is close to holding tank 17 one side from the one side of keeping away from holding tank 17, when pushing away piece 14 and marching in draw-in groove 15, two clamping jaws 10 can be close to gradually and press from both sides the work piece, and when needs release work piece, push away piece 14 and can reverse movement, and two clamping jaws 10 reset through the reset spring 21 that sets up on the connection ring cover 19.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Although the terms base 1, gripper assembly 2, lifting assembly 3, working actuator 4, first rotating rod 5, second rotating rod 6, rotating shaft 7, gripper base 9, gripper jaw 10, driving assembly 11, driving cylinder 12, driving frame 13, pushing block 14, clamping groove 15, sliding groove 16, receiving groove 17, return assembly 18, connecting ring 19, connecting sleeve 20, return spring 21, etc. are used more extensively herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention and they are to be interpreted as having any additional limitation in keeping with the spirit of the present invention.

Claims (10)

1. The utility model provides a work piece snatchs manipulator, its characterized in that includes base (1), base (1) on be provided with and snatch subassembly (2), it is used for snatching subassembly (2) 180 rotations and lifting simultaneously and snatchs lifting unit (3) of subassembly (2) height to snatch to be provided with between subassembly (2) and base (1), the lower extreme of lifting unit (3) is connected on base (1) and is provided with work driver (4) that are used for driving lifting unit (3) work on base (1), the upper end of lifting unit (3) is rotated and is connected in snatching subassembly (2).
2. The workpiece grabbing manipulator according to claim 1, wherein the lifting assembly (3) comprises a first rotating rod (5) and a second rotating rod (6), a rotating shaft (7) is arranged at the lower end of the first rotating rod (5), the rotating shaft (7) is erected on the base (1) and penetrates out of the side portion of the base (1), the working driver (4) is in driving connection with the end portion of one side of the rotating shaft (7), and the upper end and the lower end of the second rotating rod (6) are respectively in rotating connection with the grabbing assembly (2) and the base (1).
3. The workpiece grabbing manipulator according to claim 2, wherein when the grabbing component (2) is in the initial state, the distance between the connecting position of the lower end of the first rotating rod (5) and the base (1) and the grabbing component (2) is smaller than the distance between the connecting position of the lower end of the second rotating rod (6) and the base (1) and the grabbing component (2).
4. The workpiece grabbing manipulator according to claim 2, wherein when the grabbing component (2) is in the initial state, the upper end of the first rotating rod (5) is connected to the upper side of the grabbing component (2), and the connecting position of the upper end of the second rotating rod (6) and the grabbing component (2) is located at the lower side of the upper end of the first rotating rod (5).
5. A workpiece-gripping robot as claimed in claim 2, characterised in that the first turning rod (5) and the second turning rod (6) are arranged in an X-shaped staggered configuration when the gripping member (2) is turned.
6. The workpiece grabbing manipulator according to claim 2, wherein the grabbing component (2) comprises an assembly table for rotatably connecting the first rotating rod (5) and the second rotating rod (6), a grabbing base (9) is arranged on the assembly table, two clamping jaws (10) capable of transversely translating to approach or leave are arranged in the grabbing base (9), and a driving component (11) for driving the two clamping jaws (10) to move is arranged on the grabbing base (9).
7. The workpiece grabbing manipulator as claimed in claim 6, wherein the driving assembly (11) comprises a driving cylinder (12) arranged on the grabbing base (9), a driving frame (13) is rotatably connected to a push rod of the driving cylinder (12), two pushing blocks (14) are arranged at the end portion, away from the push rod, of the driving frame (13), two clamping grooves (15) for the corresponding pushing blocks (14) to be clamped are formed in the outer side surface of the clamping jaw (10), and a sliding groove (16) for the driving frame (13) to be inserted and slide is formed in the grabbing base (9).
8. The workpiece grabbing manipulator according to claim 7, wherein one end of each of the two clamping jaws (10) is located on the outer side of the grabbing base (9), an arc-shaped accommodating groove (17) is formed in the inner side end portion of each clamping jaw (10) located outside the grabbing base (9), the clamping groove (15) is formed in the outer side of each clamping jaw (10), and the depth of each clamping groove (15) becomes shallow from a side far away from the accommodating groove (17) to a side close to the accommodating groove (17).
9. A workpiece-gripping robot as claimed in claim 6, characterized in that between two of said gripping jaws (10) there are arranged several sets of resetting means (18) for resetting the gripping jaws (10) after they have been clamped.
10. A robot as claimed in claim 9, characterized in that each of the sets of return members (18) comprises a coupling collar (19) provided on the inner side of one of the jaws (10) and a coupling sleeve (20) provided on the inner side of the other jaw (10) and cooperating with the coupling collar (19), said coupling sleeve being insertable into the coupling collar (19), said coupling collar (19) being provided with a return spring (21), the ends of said return spring (21) abutting against the inner sides of the two jaws (10), respectively.
CN202221851900.3U 2022-07-18 2022-07-18 Workpiece grabbing manipulator Active CN218785579U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202221851900.3U CN218785579U (en) 2022-07-18 2022-07-18 Workpiece grabbing manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202221851900.3U CN218785579U (en) 2022-07-18 2022-07-18 Workpiece grabbing manipulator

Publications (1)

Publication Number Publication Date
CN218785579U true CN218785579U (en) 2023-04-04

Family

ID=86505838

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202221851900.3U Active CN218785579U (en) 2022-07-18 2022-07-18 Workpiece grabbing manipulator

Country Status (1)

Country Link
CN (1) CN218785579U (en)

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Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant
PE01 Entry into force of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of utility model: A Kind of Workpiece Grasping Robot

Effective date of registration: 20230927

Granted publication date: 20230404

Pledgee: Zhejiang Tailong commercial bank Taizhou branch of Limited by Share Ltd.

Pledgor: Zhejiang longen automation equipment Co.,Ltd.

Registration number: Y2023980059179