CN202097734U

CN202097734U - Automatic loosening/clamping manipulator

Info

Publication number: CN202097734U
Application number: CN 201120149293
Authority: CN
Inventors: 龚仲华
Original assignee: Changzhou Vocational Institute of Mechatronic Technology
Current assignee: Changzhou Vocational Institute of Mechatronic Technology
Priority date: 2011-05-12
Filing date: 2011-05-12
Publication date: 2012-01-04
Anticipated expiration: 2021-05-12

Abstract

The utility model relates to an automatic loosening/clamping manipulator which comprises two claws and an arm, wherein the claws are rotationally connected with the left end of the arm, the automatic loosening/clamping manipulator also comprises a sliding block, a locking block, a roller wheel, a connecting block, a first spring and a mandril; a notch is arranged in the middle of the locking block, and a limit bayonet is arranged at the lower end of the locking block in the vertical direction; the sliding block capable of sliding left and right is sleeved on the locking block; the roller wheel is rotationally connected with the inside of a groove of the sliding block on the claws; the connecting block runs through the arm to be fixedly connected to the lower side of the sliding block; the first spring and the mandril are sealed in a blind hole of the arm by the claws, and the other end of the mandril reaches against the claws. The structural design of the manipulator is very simple, the automatic loosening/clamping manipulator can be conveniently machined by conventional equipment, the machining and manufacturing cost is low, the action of the manipulator is very reliable, and the manipulator is very easy to adjust and maintain.

Description

Automatic pine/clamping manipulator

Technical field

The utility model relates to a kind of manipulator, relates in particular to a kind of automatic pine/clamping manipulator of the multipurpose that need not power and control that is widely used in Digit Control Machine Tool, robot, automatic assembly line.

Background technology

Manipulator is the object automatic handling device that is widely used in Digit Control Machine Tool, robot, automatic assembly line, and action is quick reliably, control is the general character requirements of all trades and professions to manipulator easily simply.Manipulator generally includes arm motion (conveying) and the motion of paw motion (pine/folder) two parts, and the former can realize through normal structures such as pneumatic, hydraulic pressure, servo-drive, belts; The latter's structure is relevant with the object that needs loading and unloading, but the clamping all must grasping objects be arranged the time and unclamp action when laying object.

At present; The paw of overwhelming majority manipulators unclamps/clamps all is that pneumatic, hydraulic pressure of employing or electromagnet etc. are controlled; Such paw is not only controlled complicacy, pine/folder scope and chucking power adjustment difficulty, production cost is high, in case and power part break down, its object just might fall; In addition, the action of device such as pneumatic, hydraulic pressure or electromagnet all needs the regular hour, so its responsiveness is relatively slow.

The utility model content

The technical problem that the utility model will solve is: a kind of power and control, automatic pine/clamping manipulator of multipurpose of need not is provided; It utilized manipulator in front and back, the variable in distance that is produced when moving up and down and sequence of movement difference, realized automatically paw to the clamping of object with unclamp action.The paw clamping of this manipulator with unclamp power parts such as not needing pneumatic, hydraulic pressure, electromagnet, need not electrical control; The pine of paw/folder variable range; Chucking power is adjustable; Clamping with unclamp action and have no time-delay, its " clampings " and " unclamping " action is very simple, fast, reliably.

The utility model solves the technical scheme that its technical problem adopted: a kind of automatic pine/clamping manipulator; Comprise that two paws, arm, paw rotate the left end that is connected in arm, described automatic pine/clamping manipulator also comprises slide block, clamping block, roller, coupling block, first spring and push rod; There is a notch at the middle part of clamping block, and the lower end is provided with the spacing bayonet socket of vertical direction; Slide block that can horizontally slip of suit on clamping block; Roller rotates and is connected in the inside grooves that places slide block on the paw; The coupling block that runs through arm is fixedly linked in the below of slide block; Paw is enclosed in first spring and push rod in the blind hole of arm, and the other end of push rod withstands on the paw.

The said automatic pine/clamping manipulator of the utility model also comprises the upper cover plate and second spring, and upper cover plate is fixedly connected and at arm second spring is enclosed in clamping block inside.Said automatic pine/clamping manipulator also comprises and bumps pearl, lower cover and briquetting; Bump the lower end that pearl is fixedly linked in coupling block; The lower cover that is sleeved on the clamping block bottom is fixedly linked in the bottom of arm; Briquetting is fixedly linked in the upper surface of arm.

When taking out object, manipulator capable of using is in the horizontal direction near the reaction force of object process medium-height trestle to manipulator, through mechanical interlock mechanism, and paw clamping object automatically when guaranteeing robot movement to the object riding position; After this, the taking-up object as long as manipulator moves upward, paw will remain at clamp position, to take out object.When placing object; Manipulator capable of using at above-below direction near the reaction force of object process medium-height trestle to manipulator; Through mechanical interlock mechanism, guarantee robot movement after the object riding position, as long as manipulator leaves object in the horizontal direction; Paw just can unclamp object automatically and keep releasing orientation, accomplishes the action of laying of object.

The structural design of all parts that technique scheme is related is all very simple, and its processing can utilize conventional equipment to accomplish easily, and the processing and manufacturing cost is low, and the action of manipulator is very reliable, adjustment and maintenance is installed very easily.

After adopting technique scheme, the paw of manipulator clamps and unclamps power part and controls such as, hydraulic pressure pneumatic with no longer needing, electromagnet, accomplished unpowered, do not have a time-delay pine/folder automatically; The paw of manipulator clamps and unclamps very simple, quick and reliable.

The beneficial effect of the utility model is, solved the defective that exists in the background technology, and the paw pine/folder scope of manipulator, chucking power adjustment need not change any mechanism, and its adjustment is very convenient; Therefore in addition, in a single day object is held, and can hold it in the clamping lock-out state all the time through mechanical interlock mechanism, also can not cause falling of object and damages because of outage or pneumatic, hydraulic fault.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the utility model is further specified.

Fig. 1-1 is that the automatic pine of the multipurpose/clamping manipulator structure that need not power and control is always schemed to Fig. 1-2;

Fig. 2-1 is that manipulator paw clamps and the operating principle and the procedure chart that lock automatically to Fig. 2-3;

Operating principle and procedure chart that Fig. 3-1 unclamps automatically and keeps for manipulator paw to Fig. 3-3;

Among the figure: 1. object, 2. jaw, 3. paw, 4. arm, 5. clamping block, 6. slide block, 7. first spring, 8. push rod, 9. roller, 10. briquetting, 11. upper cover plates, 12. second springs, 13. coupling blocks, 14. bump pearl, 15. lower covers, 16. supports.

The specific embodiment

Combine accompanying drawing and preferred embodiment that the utility model is done further detailed explanation now.These accompanying drawings are the sketch map of simplification, the basic structure of the utility model only is described in a schematic way, so it only show the formation relevant with the utility model.

The general structure that need not the automatic pine/clamping manipulator of multipurpose of power and control sees that Fig. 1-1 is to shown in Fig. 1-2.

Manipulator in the utility model mainly comprised jaw 2, paw 3, arm 4, clamping block 5, slide block 6, unclamp first spring 7, push rod 8, roller 9, briquetting 10, upper cover plate 11, locking second spring 12, coupling block 13, bump parts such as pearl 14, lower cover 15; The reaction force that 16 pairs of manipulators of support produced when it loaded and unloaded through object; Through mechanical interlock mechanism, realized the automatic pine/folder of 3 pairs of objects 1 of paw and clamped locking and unclamp keeping action.

The arm 4 of manipulator can be connected with the transport that moves up and down with any level of can doing simultaneously, through the distance that moves horizontally of adjustment manipulator, can change the pine/folder scope of paw at any time; Through the horizontal movement power of adjustment manipulator, can directly change the chucking power of object; Change pine/folder requirement that jaw (2) then can adapt to different materials, difform object.

Paw 3 pines of manipulator/folder action realizes through the revolution around fulcrum O, changes its angle of revolution, just can adjust pine/folder scope.The clamping power of paw, can promote paw through roller 9 and inwardly turn round the clamping object when slide block 6 moves right from the motion of slide block 6.Paw unclamp power from unclamping first spring 7, when slide block 6 is free, unclamps first spring 7 and can promote paws 3 through push rod 8 and outwards turn round, unclamp object.

The reaction force of power that move to right of slide block 6 from support 16; When manipulator during near object, it can move to right under the promotion of bumping pearl 14, coupling block 13, realizes clamping action.The power that moves to left of slide block 6 is from unclamping first spring 7; When manipulator leaves object, unclamp first spring 7, push rod 8 will promote paw 3 to inner rotary, realize unclamping action; To drive slide block and move to left and be fixed in roller 9 on the paw.

Clamping block 5 is to realize clamping locking and unclamp the vital part of maintenance.During the clamping locking, it is promoted to move down by locking second spring 12, and notch wherein will misplace with slide block 6 this moment, thereby stop the motion that moves to left of slide block 6, and object 1 will be locked in clamped condition.When manipulator moves downward; Clamping block 5 moves under the promotion of support 16 reaction forces, and notch is wherein alignd with slide block 6 translation location, and this moment is as long as the manipulator level is left object; Slide block 6 will move to left and unclamp object; Simultaneously, its translation will be forbidden moving downward of clamping block 5, and object 1 will be maintained at releasing orientation.

Upper cover plate 11 be used to lock second spring 12 fixing with clamping block 5 on move spacing; It is spacing that lower cover 15 is used for moving down of clamping block 5; Briquetting 10 is used for the side-to-side movement guiding of slide block 6 and locatees up and down.

The paw of manipulator automatically clamps with lock out action principle and process like Fig. 2-1 to shown in Fig. 2-3.

When manipulator horizontal direction during near object, support 16 promotes slide blocks 6 with coupling block 13 and moves to right through bumping pearl 14; Slide block 6 drives paw through roller 9 and inwardly turns round the clamping object.When manipulator moved upward the taking-up object, clamping block 5 was promoted to move down by locking second spring 12, and arrives the spacing position of lower cover 15, notch wherein and slide block 6 dislocation, thus the motion that moves to left of prevention slide block 6 is locked in clamped condition with paw 3.

The paw of manipulator unclamp automatically with keep operating principle and process like Fig. 3-1 to shown in Fig. 3-3.

When clamping has the manipulator of object to move downward the installation site, support 16 will promote to move on the clamping block 5, and arrive the spacing position of upper cover plate 11, and notch is wherein alignd with the translation location of slide block 6, allow slide block 6 to get into notch.Leave incipient stage of object when the manipulator horizontal direction, clamping block 5 is remained on upper by support 16, and slide block 6 and the coupling block 13 that is attached thereto, bumps pearl 14 and can under the promotion of unclamping first spring 7, push rod 8 and paw 3, roller 9, reset left; Paw outwards turns round, and object is unclamped automatically.Moving to left of slide block 6 will get into the notch of clamping block 5, and forbid the motion that it makes progress, so paw 3 can remain at releasing orientation.

The principle of the utility model is: utilize above-mentioned mechanical interlock mechanism; When taking out object; The reaction force that manipulator capable of using is produced at the object process medium-height trestle of being on close level; Paw clamping object automatically when guaranteeing that robot movement is to the object riding position, and remain at the clamping lock-out state; When placing object; Manipulator capable of using is downwards near the reaction force of object process medium-height trestle to manipulator; Guarantee that robot movement after the object riding position, can unclamp object automatically when the manipulator level is left object, and remain at and unclamp hold mode.

Adopt the manipulator of technique scheme, the clamping of its paw with unclamp power part controls such as not needing pneumatic, hydraulic pressure, electromagnet, the nothing time-delay that just can realize object is pine/folder automatically; And can move horizontally distance and locomotivity through adjustment, just can change the pine/folder scope and the chucking power of paw flexibly; And it clamps and can automatically lock with releasing orientation and keep, so also can prevent to cut off the power supply or pneumatic, hydraulic system fault causes falling and damage of object.

The just specific embodiment of describing in the above specification of the utility model; The various fleshes and bloods that illustrate not the utility model constitute restriction; Under the those of ordinary skill of technical field after having read specification can to before the described specific embodiment make an amendment or be out of shape, and do not deviate from the essence and the scope of utility model.

Claims

1. automatic pine/clamping manipulator; Comprise that two paws (3), arm (4), paw (3) rotate the left end that is connected in arm (4), it is characterized in that: described automatic pine/clamping manipulator also comprises slide block (6), clamping block (5), roller (9), coupling block (13), first spring (7) and push rod (8); There is a notch at the middle part of clamping block (5), and the lower end is provided with the spacing bayonet socket of vertical direction; Go up a slide block that can horizontally slip of suit (6) at clamping block (5); Roller (9) rotates and is connected in the inside grooves that places slide block (6) on the paw (3); The coupling block (13) that runs through arm (4) is fixedly linked in the below of slide block (6); Paw (3) is enclosed in first spring (7) and push rod (8) in the blind hole of arm (4), and the other end of push rod (8) withstands on the paw (3).

2. automatic pine/clamping manipulator according to claim 1; It is characterized in that: said automatic pine/clamping manipulator; Also comprise upper cover plate (11) and second spring (12), upper cover plate (11) is fixedly connected and at arm (4) second spring (12) is enclosed in clamping block (5) inside.

3. automatic pine/clamping manipulator according to claim 1 and 2 is characterized in that: said automatic pine/clamping manipulator also comprises and bumps pearl (14), lower cover (15) and briquetting (10); Bump the lower end that pearl (14) is fixedly linked in coupling block (13); The lower cover (15) that is sleeved on clamping block (5) bottom is fixedly linked in the bottom of arm (4); Briquetting (10) is fixedly linked in the upper surface of arm (4).