A compact manipulator suitable for automatic cavity numbering of multi-cavity mold products

Abstract

The invention discloses a compact manipulator equipment suitable for automatic cavity numbering of multi-cavity mold products, comprising a base plate, eight claw holes are formed on the base plate, two groups of linkage rod structures are provided on the back side of the base plate, the linkage rod structure comprises an outer linkage rod and an inner linkage rod, one side of the outer linkage rod is provided with an outer linkage rack, one side of the inner linkage rod is provided with an inner linkage rack, a gear is provided between the outer linkage rack and the inner linkage rack, a claw group is provided in each claw hole, the claw group comprises two claw brackets, two claw brackets in the same claw hole are respectively connected to one side of the outer linkage rod and the inner linkage rod, a proximity sensor is provided on the claw bracket, and a plurality of proximity sensors are arranged in series. The invention has a reasonable structure, the gears are used to make the inner linkage rod and the outer linkage rod move synchronously in opposite directions, so that the claw bracket can clamp and release the parts, and the proximity sensors enable the eight claw groups to clamp the parts before the parts can be stored.

Description

Technical Field

[0001] The invention relates to the field of automation technology, and in particular to a compact manipulator device suitable for automatically numbering multi-cavity mold products. Background Art

[0002] In the field of mechanical automation technology, robotic arms and manipulators are commonly used equipment. Depending on the shape and placement of different parts, robotic arms and manipulators have different grasping methods and movement methods.

[0003] At present, conventional manipulator equipment mainly uses fingertip cylinders, flexible air claws or suction cups, which have certain limitations for picking up products. The product involved in this case is a mold in automotive parts. For the product involved in this case, the flexible air claws and the cylinders cannot pick up the parts due to the limitations of product coordination, and the suction cup has no fulcrum on the surface of the product and cannot adsorb the product, so it is impossible to achieve automatic picking and placing of the product. In response to the above problems, a compact manipulator equipment for this product is designed below. Summary of the invention

[0004] The purpose of the present invention is to provide a compact manipulator equipment suitable for automatically numbering multi-cavity mold products, which has the advantages of stably clamping the product by keeping the gripper away and being able to clamp multiple products synchronously.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions:

[0006] A compact manipulator equipment suitable for automatically sorting holes of multi-hole mold products comprises a base plate, eight claw holes are opened on the base plate, and the eight claw holes are arranged in two rows. Two groups of linkage rod structures are arranged on the back of the base plate, and the linkage rod structures are slidably connected to the back of the base plate. The two groups of linkage rod structures are respectively located on the back of the two rows of claw holes. The linkage rod structure comprises an outer linkage rod and an inner linkage rod, and the outer linkage rod and the inner linkage rod are respectively located on both sides of the claw holes. An outer linkage rack is arranged on one side of the outer linkage rod, and the outer linkage rack is perpendicular to the outer linkage rod. An inner linkage rack is arranged on one side of the inner linkage rod, and the inner linkage rack is perpendicular to the inner linkage rod. The outer linkage rack and the inner linkage rack are both slidably connected to the back side of the base plate, a gear is provided between the outer linkage rack and the inner linkage rack, the gear is rotatably connected to the base plate, the outer linkage rack and the inner linkage rack are both meshed with the gear, two cylinders are fixedly provided on the back side of the base plate, the output shafts of the two cylinders are respectively connected to one side of the two outer linkage rods, a claw group is provided in each of the claw holes, the claw group includes two claw brackets, the two claw brackets in the same claw hole are respectively connected to one side of the outer linkage rod and the inner linkage rod, a proximity sensor is provided on the claw bracket, and several of the proximity sensors are arranged in series, and the claw bracket senses the grasping of the object through the proximity sensor.

[0007] Preferably, a silicone pad is fixed on the claw bracket, and the sensing distance of the proximity sensor is flush with the surface of the silicone pad.

[0008] Preferably, movable grooves are symmetrically provided on both sides of the claw hole, the width of the movable grooves is the same as the width of the claw bracket, the claw bracket is located in the movable grooves and is slidably connected to the movable grooves, and the movable grooves are used to limit the moving path of the claw bracket.

[0009] Preferably, two brackets are provided on the back side of the base plate, and a robot connecting plate is fixed on the upper end surfaces of the two brackets. The robot connecting plate is used to connect an external robot arm. The robot connecting plate is located in the middle of the back side of the base plate to keep the base plate balanced.

[0010] Preferably, the cylinder is a magnetically inductive cylinder, the cylinder is located between two brackets, and the cylinder is used to drive the outer linkage rod to move.

[0011] Preferably, one end of the gear is provided with a bearing, the bearing is embedded in the back of the base plate, the gear is rotatably connected to the base plate via the bearing, and the gear is used to drive the outer linkage rack and the inner linkage rack to perform interactive motion so that the outer linkage rod and the inner linkage rod are closer to or farther away from each other.

[0012] Preferably, six bearing seats are fixedly provided on the back side of the base plate, and the six bearing seats are respectively located on both sides of the base plate, and the three bearing seats on each side are in the same straight line, and a guide rod is inserted in the bearing seat, and one guide rod is passed through the three bearing seats located on the same side and is rotatably connected to the bearing seat, and guide holes are opened on the inner linkage rod and the outer linkage rod, and the inner linkage rod and the outer linkage rod are sleeved on the guide rod through the guide holes and are slidably connected to the guide rod.

[0013] Preferably, a ball guide sleeve is embedded in the guide hole, the outer edge of the ball guide sleeve is fixedly connected to the inner wall of the guide hole, and the inner edge of the ball guide sleeve is sleeved on the guide rod and slidably connected to the guide rod.

[0014] Preferably, two positioning guide pillars are symmetrically provided on the front side of the base plate, and the positioning guide pillars are used to locate the position between the base plate and the external device.

[0015] The beneficial effects of the present invention are as follows: the base plate is connected to the external robotic arm through the robotic arm connecting plate, the robotic arm controls the base plate to approach the product to be picked up and placed, and then the cylinder pushes the outer linkage rod to move, so that the outer linkage rod and the inner linkage rod are close to each other, and the product is clamped through the principle of the clamp. The proximity sensor senses the clamping status of the product by the claw groups in the eight claw holes. When the claw groups in the eight claw holes have all clamped the product, the robotic arm controls the base plate to move to the sub-hole storage bin to store the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the back side of the base plate of the embodiment;

[0017] Figure 2 for Figure 1 Enlarged view of area A in the middle;

[0018] Figure 3 It is a structural schematic diagram of the front side of the base plate of the embodiment;

[0019] Figure 4 for Figure 2 Enlarged view of area B in the middle;

[0020] Figure 5 This is a front structural diagram of the base plate after the product is clamped in the embodiment;

[0021] Figure 6 It is a structural schematic diagram of a product storage bin in an embodiment;

[0022] Figure 7 It is a schematic structural diagram of the discharge storage area panel of the embodiment.

[0023] Figure numerals: 1. base plate; 2. claw hole; 3. external linkage rod; 4. internal linkage rod; 5. external linkage rack; 6. internal linkage rack; 7. gear; 8. cylinder; 9. claw bracket; 10. proximity sensor; 11. silicone cushion; 12. moving groove; 13. bracket; 14. robot arm connecting plate; 15. bearing seat; 16. guide rod; 17. ball guide sleeve; 18. positioning guide column; 19. product storage bin; 20. discharge storage area panel; 21. panel bracket; 22. bin channel; 23. pipeline; 24. positioning hole; 25. product. DETAILED DESCRIPTION

[0024] The following is only a preferred embodiment of the present invention, and the protection scope is not limited to this embodiment. All technical solutions under the concept of the present invention should belong to the protection scope of the present invention. The same parts are represented by the same figure marks. It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the words "bottom" and "top", "inside" and "outside" refer to the directions toward or away from the geometric center of a specific component, respectively.

[0025] like Figures 1 to 7 As shown, a compact manipulator equipment suitable for automatic hole numbering of multi-hole mold products includes a base plate 1. Two brackets 13 are provided on the back of the base plate 1, and a robot arm connecting plate 14 is fixed to the upper end surface of the two brackets 13. The two brackets 13 are in a "]" shape, so that there is a certain gap between the horizontal part of the bracket 13 and the base plate 1, which is convenient for other structures to slide. The robot arm connecting plate 14 is located in the middle position of the two brackets 13, and is also directly above the middle position of the back of the base plate 1. The robot arm connecting plate 14 is used to connect an external robot arm, so that the robot arm is connected to the middle position of the base plate 1, so that the base plate 1 can maintain balance.

[0026] The base plate 1 is provided with eight claw holes 2, which are arranged in two rows, each row having four claw holes 2, and the four claw holes 2 are in the same straight line. Two sets of linkage rod structures are provided on the back of the base plate 1, and the two sets of linkage rod structures are respectively located on the back of the two rows of claw holes 2. The linkage rod structure includes an outer linkage rod 3 and an inner linkage rod 4, which are respectively located on both sides of the claw hole 2, and the outer linkage rod 3 and the inner linkage rod 4 are both slidably connected to the base plate 1.

[0027] An outer linkage rack 5 is provided on one side of the outer linkage rod 3, and an inner linkage rack 6 is provided on one side of the inner linkage rod 4. The outer linkage rack 5 is perpendicular to the outer linkage rod 3 in the horizontal direction, and the inner linkage rack 6 is perpendicular to the inner linkage rod 4 in the horizontal direction. The outer linkage rack 5 and the inner linkage rack 6 are balanced. A gear 7 is provided between the outer linkage rack 5 and the inner linkage rack 6, and both the outer linkage rack 5 and the inner linkage rack 6 are meshed with the gear 7. A bearing is sleeved on one end of the gear 7, and the bearing is embedded in the back of the base plate 1. The gear 7 is rotatably connected to the base plate 1 through the bearing. When either the outer linkage rack 5 or the inner linkage rack 6 moves, it will drive the gear 7 to rotate, so that the gear 7 drives the other rack to move, and the two racks move synchronously, and the directions of movement are opposite. The outer linkage rod 3 and the inner linkage rod 4 achieve synchronous movement in opposite directions through the two racks and the gear 7.

[0028] Two cylinders 8 are fixedly arranged on the back of the base plate 1. The cylinders 8 are magnetic cylinders 8 and are controlled by air pressure. The cylinders 8 are located between the two brackets 13. The output shafts of the two cylinders 8 are respectively connected to one side of the two outer linkage rods 3. The cylinders 8 can drive the outer linkage rods 3 to move so that the outer linkage rods 3 are close to or away from the inner linkage rod 4. When the cylinders 8 drive the outer linkage rods 3 to approach the inner linkage rods 4, the inner linkage rods 4 will move to the side close to the outer linkage rods 3 under the action of the gears 7 and the racks; when the cylinders 8 drive the outer linkage rods 3 to move away from the inner linkage rods 4, the inner linkage rods 4 will move to the side away from the outer linkage rods 3 under the action of the gears 7 and the racks.

[0029] Six bearing seats 15 are fixedly arranged on the back of the base plate 1. The six bearing seats 15 are respectively located on both sides of the base plate 1, and the three bearing seats 15 on each side are in the same straight line. A guide rod 16 is inserted into the bearing seat 15. One guide rod 16 is inserted into the three bearing seats 15 located on the same side and is rotatably connected to the bearing seat 15. Guide holes are provided on the inner linkage rod 4 and the outer linkage rod 3. Ball guide sleeves 17 are embedded in the guide holes. The ball guide sleeves 17 are sleeved on the guide rod 16 and are slidably connected to the guide rod 16. The guide rod 16 is used to first move the moving path of the outer linkage rod 3 and the inner linkage rod 4. The two guide rods 16 are respectively located at the two ends of the linkage rod structure, so that there will be no deviation when the outer linkage rod 3 and the inner linkage rod 4 are close to or away from each other.

[0030] Each claw hole 2 is provided with a claw group, and each claw group includes two claw brackets 9. The two claw brackets 9 in the same claw hole 2 are respectively connected to one side of the outer linkage rod 3 and the inner linkage rod 4, and the claw bracket 9 and the linkage rod structure remain perpendicular in the vertical direction. The approach or distance between the outer linkage rod 3 and the inner linkage rod 4 will drive the claw bracket 9 to approach or move away. A group of linkage rod structures can synchronously drive the movement of four groups of claw groups. When the two claw brackets 9 in the same group of claw groups are close to each other, the product 25 can be clamped.

[0031] In order to prevent scratches on the product 25, a silicone pad 11 is provided on the primary side of the claw bracket 9. In order to ensure that the claw bracket 9 can clamp the product 25, a proximity sensor 10 is provided on the claw bracket 9. The sensing distance of the proximity sensor 10 can be set according to the thickness of the silicone pad 11 so that the sensing distance of the proximity sensor 10 is level with the surface of the silicone pad 11.

[0032] A plurality of proximity sensors 10 are arranged in series. When one proximity sensor 10 fails to sense the clamping of the product 25, the clamping is considered a failure and the equipment needs to be repaired before it can be used again to ensure that the product 25 can be clamped quantitatively each time.

[0033] The claw hole 2 is symmetrically provided with moving grooves 12 on both sides. The width of the moving grooves 12 is the same as the width of the claw bracket 9. The claw bracket 9 is located in the moving grooves 12 and is slidingly connected to the moving grooves 12. The moving grooves 12 are used to limit the moving path of the claw bracket 9.

[0034] Working principle: After the product 25 is clamped, the product 25 needs to be placed in the sub-hole storage bin, which includes the product 25 storage bin 19 and the discharge storage area panel 20. The product 25 storage bin 19 is fixed with a panel bracket 21, and the discharge storage area panel 20 is set on the panel bracket 21. Eight bin channels 22 are opened on the discharge storage area panel 20, and the lower end of each bin channel 22 is connected to a pipe 23, and each pipe 23 is connected to a different bin in the product 25 storage bin 19. After the claw group clamps the product 25, the mechanical arm drives it to move to the upper end of the discharge storage area panel 20.

[0035] In order to make the base plate 1 completely correspond to the unloading storage area panel 20, two positioning guide pillars 18 are symmetrically arranged on the front of the base plate 1, and two positioning holes 24 are arranged on the unloading storage area panel 20. After the two guide pillars are respectively inserted into the two positioning holes 24, each claw hole 2 will correspond to one of the bin channels 22. At this time, the claw group releases the product 25, and the product 25 will fall into different bins through the pipe 23, so as to realize the taking and placing of the product 25.

[0036] The specific embodiments described above further illustrate the technical problems, technical solutions and beneficial effects solved by the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A compact manipulator device suitable for automatically numbering multi-cavity mold products, comprising a base plate (1), It is characterized in that The base plate (1) is provided with eight claw holes (2), the eight claw holes (2) are arranged in two rows, the back side of the base plate (1) is provided with two groups of linkage rod structures, the linkage rod structures are slidably connected to the back side of the base plate (1), the two groups of linkage rod structures are respectively located on the back side of the two rows of claw holes (2), the linkage rod structure comprises an outer linkage rod (3) and an inner linkage rod (4), the outer linkage rod (3) and the inner linkage rod (4) are respectively located on both sides of the claw holes (2), one side of the outer linkage rod (3) is provided with an outer linkage rack (5), the outer linkage rack (5) is perpendicular to the outer linkage rod (3), one side of the inner linkage rod (4) is provided with an inner linkage rack (6), the inner linkage rack (6) is perpendicular to the inner linkage rod (4), the outer linkage rack (5) and the inner linkage rack (6) are both slidably connected to the back side of the base plate (1). A gear (7) is provided between the outer linkage rack (5) and the inner linkage rack (6), the gear (7) is rotatably connected to the base plate (1), the outer linkage rack (5) and the inner linkage rack (6) are both meshed with the gear (7), two cylinders (8) are fixedly provided on the back of the base plate (1), the output shafts of the two cylinders (8) are respectively connected to one side of the two outer linkage rods (3), each claw hole (2) is provided with a claw group, the claw group includes two claw brackets (9), the two claw brackets (9) in the same claw hole (2) are respectively connected to one side of the outer linkage rod (3) and the inner linkage rod (4), the claw bracket (9) is provided with a proximity sensor (10), a plurality of the proximity sensors (10) are arranged in series, and the claw bracket (9) senses the grasping condition of the object through the proximity sensor (10); A silicone soft pad (11) is fixedly arranged on the claw bracket (9), and the sensing distance of the proximity sensor (10) is flush with the surface of the silicone soft pad (11); The claw hole (2) is symmetrically provided with moving grooves (12) on both sides, the width of the moving grooves (12) is the same as the width of the claw bracket (9), the claw bracket (9) is located in the moving grooves (12) and is slidably connected to the moving grooves (12), and the moving grooves (12) are used to limit the moving path of the claw bracket (9); The back of the base plate (1) is also provided with two brackets (13), and the upper end surfaces of the two brackets (13) are fixedly provided with a mechanical arm connecting plate (14), and the mechanical arm connecting plate (14) is used to connect an external mechanical arm. The mechanical arm connecting plate (14) is located in the middle of the back of the base plate (1) so as to keep the base plate (1) balanced; The cylinder (8) is a magnetically-inductive cylinder (8), the cylinder (8) is located between two brackets (13), and the cylinder (8) is used to drive the outer linkage rod (3) to move; One end of the gear (7) is sleeved with a bearing, and the bearing is embedded in the back of the base plate (1). The gear (7) is rotatably connected to the base plate (1) via the bearing. The gear (7) is used to drive the outer linkage rack (5) and the inner linkage rack (6) to perform interactive movement, so that the outer linkage rod (3) and the inner linkage rod (4) are moved closer to or farther away from each other. Six bearing seats (15) are fixedly arranged on the back of the base plate (1), and the six bearing seats (15) are respectively located on both sides of the base plate (1), and the three bearing seats (15) on each side are on the same straight line. A guide rod (16) is inserted into the bearing seat (15), and one guide rod (16) is inserted into the three bearing seats (15) located on the same side and is rotatably connected to the bearing seat (15). Guide holes are opened on the inner linkage rod (4) and the outer linkage rod (3), and the inner linkage rod (4) and the outer linkage rod (3) are sleeved on the guide rod (16) through the guide holes and are slidably connected to the guide rod (16); A ball guide sleeve (17) is embedded in the guide hole, the outer edge of the ball guide sleeve (17) is fixedly connected to the inner wall of the guide hole, and the inner edge of the ball guide sleeve (17) is sleeved on the guide rod (16) and is slidably connected to the guide rod (16); Two positioning guide columns (18) are symmetrically arranged on the front side of the base plate (1), and the positioning guide columns (18) are used to locate the position between the base plate (1) and the external equipment.

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