Clamping and transferring device

Abstract

The utility model discloses a clamping and transferring device which comprises a mechanical arm, a sleeve which is arranged at the picking end of the mechanical arm and is internally provided with a moving block, a clamping cylinder is installed on an installation plate in the mode of being coaxial with the sleeve, a plurality of containing grooves are formed in the circumferential side wall of the clamping cylinder, and a ball is movably connected into each containing groove. A positioning column capable of being embedded into the clamping cylinder is arranged in the center of a cover plate, an annular clamping groove matched with the annular clamping part is formed in the circumferential side wall of the positioning column, and a limiting block is fixedly arranged on the circumferential side wall of the positioning column and located below the annular clamping groove in a sleeving mode; and a limiting groove for embedding the limiting block is formed in the bottom of the mounting plate. According to the clamping and transferring device, the cover plate can be conveniently taken and placed, the conditions that the strength of personnel is difficult to control, and hands slip and are exhausted are avoided, the accuracy of picking the cover plate is improved, the conditions that the cover plate inclines and even falls off are reduced, and the reliability of clamping, lifting and picking is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of workpiece transfer equipment, in particular to a clamping transfer device. Background Art

[0002] During the processing of electronic products, it is necessary to place the product shell on a positioning table, press the shell with a pressure plate, and then mill the side wall of the product. During the assembly and installation of the cover plate and the shell, the traditional method is for personnel to lift or lower the cover plate. However, it is difficult for personnel to control the strength to be consistent during the process of taking and placing, resulting in empty cover or offset, which causes the shell to be offset during processing, affecting the processing quality.

[0003] After searching, the patent publication number CN209536126U discloses "a simple lifting clamp with adjustable size". The clamp includes two clamp arms that are hinged to each other. The clamp arms are in a "factory" shape. The handles of the two clamp arms are connected to the lifting iron ring through a tightening rope. The lifting iron ring is provided with a lifting rope. Connectors are welded on the clamping ends of the two clamp arms respectively. The inner sides of the two connectors are hingedly installed with clamping plates by bolts. An iron rod is provided on the clamp arm on the upper side of the clamp plate. The clamp plate and the iron rod are connected by a tension spring. The iron rods and the clamp plates on the two clamp arms are symmetrically arranged. The utility model is an auxiliary tool for carrying heavy objects such as curbstones and side stones over short distances. It can be used to replace the steps of manually tying ropes, reduce the time for moving platforms, reduce the safety hazards of workers' hands and feet being hit, and effectively improve construction efficiency.

[0004] However, due to the heavy weight and large size of the cover, it is easy for people to slip or exhaust themselves, causing the cover to fall, which poses a certain safety risk. During the use of the clamping device, it is difficult to ensure the accurate connection between the clamping device and the cover, causing the cover to tilt or even fall during the connection process, affecting subsequent processing. Utility Model Content

[0005] The purpose of the utility model is to provide a clamping and transferring device, which is convenient for taking and placing the cover plate, avoiding the situation that the personnel's strength is difficult to control and the hands slip and exhaustion, and improves the accuracy of picking up the cover plate, reduces the situation that the cover plate tilts or even falls, and improves the reliability of clamping and picking.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a clamping transfer device for transferring a cover plate, comprising: a manipulator, a sleeve with a moving block inside is arranged at the picking end of the manipulator, and a driving mechanism for driving the moving block is arranged between the sleeve and the manipulator, a mounting plate is arranged at one end of the sleeve away from the driving mechanism, and a clamping cylinder is mounted on the mounting plate in a coaxial manner with the sleeve, and a plurality of accommodating grooves are opened along the circumferential side wall of the clamping cylinder, the accommodating groove connects the inner wall and the outer wall of the clamping cylinder, and a ball is movably connected inside the accommodating groove;

[0007] A driving mechanism for driving the moving block to move is disposed at the other end of the sleeve. When the driving mechanism pushes the moving block to move along the outer wall of the clamping cylinder, the ball is exposed from the accommodating groove, and an annular clamping portion is formed on the inner wall of the clamping cylinder.

[0008] A positioning column capable of being embedded in a locking tube is arranged at the central position of a cover plate, and an annular groove cooperating with an annular locking portion is arranged on the circumferential side wall of the positioning column, a limiting block is fixedly sleeved on the circumferential side wall of the positioning column and a limiting groove for the limiting block to be embedded is provided at the bottom of the mounting plate.

[0009] The further improved scheme in the above technical scheme is as follows:

[0010] 1. In the above solution, the limit block is a circular limit block.

[0011] 2. In the above solution, the limiting groove is a circular groove.

[0012] 3. In the above solution, the depth of the limit groove is equal to the height of the limit block.

[0013] 4. In the above scheme, the robot comprises: a base, a rotating base arranged on the base and a first arm arranged on the rotating base, one end of a second arm is connected to the first arm, and the other end is connected to a rotating head, and the driving mechanism is arranged on the rotating head.

[0014] Due to the application of the above technical solution, the utility model has the following advantages compared with the prior art:

[0015] The clamping and transferring device of the utility model can push out the balls in the accommodating groove by moving the moving block downward along the outer wall of the clamping cylinder, and a plurality of balls exposed on the inner wall of the clamping cylinder form an annular clamping portion, which can be embedded in the corresponding annular groove to achieve a fixed connection with the cover plate, thereby facilitating the taking and placing of the cover plate, avoiding the situation that the strength of personnel is difficult to control, the hand slips, and the exhaustion of strength is avoided, the pressing effect of the cover plate is improved, and the labor intensity and safety risks of personnel are reduced; further, it is located below the annular clamping groove and at the position of the positioning column A limit block is fixedly sleeved on the circumferential side wall, and a limit groove for the limit block to be embedded in is provided at the bottom of the mounting plate. In the process of engagement of the engaging cylinder and the positioning column, the limit groove of the mounting plate corresponds to the limit block of the positioning column, which is beneficial to improve the coaxiality of the engaging cylinder and the positioning column, improves the accuracy of the engagement of the annular engaging part and the annular engaging groove, avoids the situation where the cover plate falls off due to unstable engagement caused by uneven gap between the annular engaging part and the annular engaging groove, reduces the situation where the cover plate tilts or even falls off, and improves the reliability of clamping and picking up. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Attached Figure 1 It is a structural schematic diagram of the clamping and transferring device of the utility model;

[0017] Attached Figure 2 The local structure diagram of the clamping and transferring device of the utility model is shown in FIG. Figure 1 ;

[0018] Attached Figure 3 The local structure diagram of the clamping and transferring device of the utility model is shown in FIG. Figure 2 ;

[0019] Attached Figure 4 It is a partial structural sectional view of the clamping and transferring device of the utility model.

[0020] In the above drawings: 100, manipulator; 1000, base; 2000, rotating seat; 3000, first arm; 4000, second arm; 5000, rotating head; 1, cover plate; 2, positioning column; 201, annular groove; 3, driving mechanism; 4, moving block; 401, conical inner wall; 5, sleeve; 6, locking cylinder; 601, ball; 602, annular inclined surface; 603, accommodating groove; 7, mounting plate; 701, limit groove; 8, limit block. Implementation

[0021] The present invention can be further understood through the specific embodiments given below, but they are not intended to limit the present invention.

[0022] Embodiment 1: A clamping transfer device for transferring a cover plate 1, comprising: a manipulator 100, a sleeve 5 with a moving block 4 inside is arranged at the picking end of the manipulator 100, and a driving mechanism 3 for driving the moving block 4 is arranged between the sleeve 5 and the manipulator 100, a mounting plate 7 is arranged at one end of the sleeve 5 away from the driving mechanism 3, and a clamping cylinder 6 is mounted on the mounting plate 7 in a coaxial manner with the sleeve 5, and a plurality of accommodating grooves 603 are opened along the circumferential side wall of the clamping cylinder 6, the accommodating groove 603 connects the inner wall and the outer wall of the clamping cylinder 6, and a ball 601 is movably connected inside the accommodating groove 603;

[0023] The sleeve is controlled to move by the rotating seat in cooperation with the first arm and the second arm, and the rotating head can drive the sleeve to rotate so that the clamping cylinder inside the sleeve can be aligned with the positioning column. The sleeve continues to move so that the positioning column is embedded in the clamping cylinder, and the limit block on the cover plate is correspondingly embedded in the limit groove at the bottom of the mounting plate;

[0024] The other end of the sleeve 6 is provided with a driving mechanism 3 for driving the moving block 4 to move. When the driving mechanism 3 pushes the moving block 4 to move along the outer wall of the clamping tube 6, the ball 601 is exposed from the accommodating groove 603, and an annular clamping portion is formed on the inner wall of the clamping tube 6.

[0025] The locking cylinder inside the sleeve can be aligned with the positioning column, so that the positioning column is embedded in the locking cylinder, and the limiting block on the cover plate is correspondingly embedded in the limiting groove at the bottom of the mounting plate. At this time, the driving mechanism drives the moving block away from the locking cylinder, and the ball can move in the receiving groove. When the positioning column is embedded in the locking cylinder, the upper end of the positioning column squeezes the ball, so that the ball is retracted into the receiving groove;

[0026] A positioning column 2 capable of being embedded in the clamping tube 6 is provided at the central position of a cover plate 1, and an annular clamping groove 201 cooperating with the annular clamping portion is provided on the circumferential side wall of the positioning column 2, a limiting block 8 is fixedly sleeved on the circumferential side wall of the positioning column 2 and located below the annular clamping groove 201, and a limiting groove 701 for the limiting block 8 to be embedded is provided at the bottom of the mounting plate 7;

[0027] When the locking cylinder is engaged with the positioning column, the driving mechanism drives the moving block to approach the locking cylinder, so that the conical inner wall of the moving block contacts the annular inclined surface of the locking cylinder, thereby causing the moving block to push the ball out of the accommodating groove, causing the ball to contact the annular locking groove, so that the locking cylinder and the positioning column are fixed, thereby clamping the cover plate and moving the cover plate. When moving to the specified position, the locking cylinder is separated from the positioning column, and the moving block moves away from the locking cylinder. Through the gravity of the cover plate, the annular locking groove can push the ball back into the accommodating groove, thereby separating the cover plate from the locking cylinder.

[0028] The above-mentioned limiting block 8 is a circular limiting block; the above-mentioned limiting groove 701 is a circular groove.

[0029] The depth of the limiting groove 701 is equal to the height of the limiting block 8 .

[0030] The above-mentioned robot 100 includes: a base 1000, a rotating base 2000 arranged on the base 1000 and a first arm 3000 arranged on the rotating base 2000, one end of a second arm 4000 is connected to the first arm 3000, and the other end is connected to a rotating head 5000, and the above-mentioned driving mechanism 3 is arranged on the rotating head 5000.

[0031] An annular inclined surface 602 is disposed at one end of the locking tube 6 close to the moving block 4 and along its circumference.

[0032] The moving block 4 has a conical inner wall 401 corresponding to the annular inclined surface 602, and the diameter of the conical inner wall 401 decreases from bottom to top.

[0033] The driving mechanism 3 is a cylinder, and the movable rod of the cylinder can extend into the interior of the sleeve 6 and be fixedly connected with the moving block 4 .

[0034] The opening diameter of the accommodating groove 603 is 0.94 times the diameter of the ball 601 .

[0035] Embodiment 2: A clamping transfer device for transferring a cover plate 1, comprising: a manipulator 100, a sleeve 5 with a moving block 4 inside is arranged at the picking end of the manipulator 100, and a driving mechanism 3 for driving the moving block 4 is arranged between the sleeve 5 and the manipulator 100, a mounting plate 7 is arranged at one end of the sleeve 5 away from the driving mechanism 3, and a clamping cylinder 6 is mounted on the mounting plate 7 in a coaxial manner with the sleeve 5, and a plurality of accommodating grooves 603 are opened along the circumferential side wall of the clamping cylinder 6, the accommodating groove 603 connects the inner wall and the outer wall of the clamping cylinder 6, and a ball 601 is movably connected inside the accommodating groove 603;

[0036] The other end of the sleeve 6 is provided with a driving mechanism 3 for driving the moving block 4 to move. When the driving mechanism 3 pushes the moving block 4 to move along the outer wall of the clamping tube 6, the ball 601 is exposed from the accommodating groove 603, and an annular clamping portion is formed on the inner wall of the clamping tube 6.

[0037] By moving the moving block downward along the outer wall of the clamping cylinder, the balls in the accommodating groove can be pushed out, and a plurality of balls exposed on the inner wall of the clamping cylinder form an annular clamping portion, which can be embedded in the corresponding annular groove, thereby achieving a fixed connection with the cover plate, thereby facilitating the taking and placing of the cover plate, avoiding the situation where the strength of the personnel is difficult to control, the hand slips, and the exhaustion of strength is avoided, the pressing effect of the cover plate is improved, and the labor intensity and safety risks of the personnel are reduced;

[0038] A positioning column 2 capable of being embedded in the clamping tube 6 is provided at the central position of a cover plate 1, and an annular clamping groove 201 cooperating with the annular clamping portion is provided on the circumferential side wall of the positioning column 2, a limiting block 8 is fixedly sleeved on the circumferential side wall of the positioning column 2 and located below the annular clamping groove 201, and a limiting groove 701 for the limiting block 8 to be embedded is provided at the bottom of the mounting plate 7;

[0039] The corresponding cooperation between the limit groove of the mounting plate and the limit block of the positioning column is beneficial to improving the coaxiality of the locking cylinder and the positioning column, improving the accuracy of the engagement between the annular locking portion and the annular locking groove, avoiding the situation where the cover plate falls off due to unstable engagement caused by uneven gap between the annular locking portion and the annular locking groove, and ensuring the reliability of the engagement.

[0040] The above-mentioned limit block 8 is a circular limit block.

[0041] The above-mentioned robot 100 includes: a base 1000, a rotating base 2000 arranged on the base 1000 and a first arm 3000 arranged on the rotating base 2000, one end of a second arm 4000 is connected to the first arm 3000, and the other end is connected to a rotating head 5000, and the above-mentioned driving mechanism 3 is arranged on the rotating head 5000.

[0042] An annular inclined surface 602 is disposed at one end of the locking tube 6 close to the moving block 4 and along its circumference.

[0043] The driving mechanism 3 is a telescopic rod, and the movable rod of the telescopic rod can extend into the interior of the sleeve 6 and be fixedly connected with the moving block 4 .

[0044] The accommodating grooves 603 are arranged at equal intervals.

[0045] The opening diameter of the accommodating groove 603 is 0.81 times the diameter of the ball 601 .

[0046] The working principle is:

[0047] When in use, the locking cylinder inside the sleeve can be aligned with the positioning column, so that the positioning column is embedded in the locking cylinder, and the limit block on the cover plate is correspondingly embedded in the limit groove at the bottom of the mounting plate. Then, the sleeve is controlled to move by cooperating with the first support arm and the second support arm through the rotating seat. The rotating head can drive the sleeve to rotate so that the locking cylinder inside the sleeve can be aligned with the positioning column. The sleeve continues to move so that the positioning column is embedded in the locking cylinder, and the limit block on the cover plate is correspondingly embedded in the limit groove at the bottom of the mounting plate. At this time, the driving mechanism drives the moving block away from the locking cylinder, and the ball can move in the accommodating groove. When the positioning column is embedded in the locking cylinder, the upper end of the positioning column will squeeze the ball so that the ball is retracted into the accommodating groove.

[0048] When the locking cylinder is engaged with the positioning column, the driving mechanism drives the moving block to approach the locking cylinder, so that the conical inner wall of the moving block contacts the annular inclined surface of the locking cylinder, thereby causing the moving block to push the ball out of the accommodating groove, causing the ball to contact the annular locking groove, so that the locking cylinder and the positioning column are fixed, thereby clamping the cover plate and moving the cover plate. When moving to the specified position, the locking cylinder is separated from the positioning column, and the moving block moves away from the locking cylinder. Through the gravity of the cover plate, the annular locking groove can push the ball back into the accommodating groove, thereby separating the cover plate from the locking cylinder.

[0049] When the clamping and transferring device is used, the moving block moves downward along the outer wall of the clamping cylinder, so that the balls in the accommodating groove can be pushed out, and a plurality of balls exposed on the inner wall of the clamping cylinder form an annular clamping portion, which can be embedded in the corresponding annular groove, thereby achieving a fixed connection with the cover plate, thereby facilitating the taking and placing of the cover plate, avoiding the situation where the strength of the personnel is difficult to control, the hand slips, and the exhaustion of strength is avoided, the pressing effect of the cover plate is improved, and the labor intensity and safety risks of the personnel are reduced;

[0050] Furthermore, the corresponding cooperation between the limit groove of the mounting plate and the limit block of the positioning column is beneficial to improving the coaxiality of the locking cylinder and the positioning column, improving the accuracy of the engagement between the annular locking portion and the annular locking groove, avoiding the situation where the cover plate falls off due to unstable engagement caused by uneven gap between the annular locking portion and the annular locking groove, and is beneficial to ensuring the reliability of the engagement.

[0051] The above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with the technology to understand the content of the utility model and implement it accordingly, and they cannot be used to limit the protection scope of the utility model. Any equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A clamping and transferring device for transferring a cover plate (1), comprising: A robot (100), characterized in that: a sleeve (5) having a moving block (4) therein is disposed at the picking end of the robot (100), and a driving mechanism (3) for driving the moving block (4) is disposed between the sleeve (5) and the robot (100), a mounting plate (7) is disposed at one end of the sleeve (5) away from the driving mechanism (3), and a clamping cylinder (6) is mounted on the mounting plate (7) in a coaxial manner with the sleeve (5), and a plurality of receiving grooves (603) are provided along the circumferential side wall of the clamping cylinder (6), the receiving groove (603) connects the inner wall and the outer wall of the clamping cylinder (6), and a ball (601) is movably connected inside the receiving groove (603); A driving mechanism (3) for driving the moving block (4) to move is disposed at the other end of the sleeve (5); when the driving mechanism (3) pushes the moving block (4) to move along the outer wall of the locking cylinder (6), the ball (601) is exposed from the accommodating groove (603), and an annular locking portion is formed on the inner wall of the locking cylinder (6); A positioning column (2) capable of being embedded in a locking cylinder (6) is provided at the central position of a cover plate (1), and an annular locking groove (201) cooperating with an annular locking portion is provided on the circumferential side wall of the positioning column (2), a limiting block (8) is fixedly sleeved below the annular locking groove (201) and on the circumferential side wall of the positioning column (2), and a limiting groove (701) for the limiting block (8) to be embedded is provided at the bottom of the mounting plate (7).

2. The clamping transfer device according to claim 1, characterized in that: The limit block (8) is a circular limit block.

3. The clamping transfer device according to claim 2, characterized in that: The limiting groove (701) is a circular groove.

4. The clamping transfer device according to claim 2, characterized in that: The depth of the limiting groove (701) is equal to the height of the limiting block (8).

5. The clamping transfer device according to claim 1, characterized in that: The robot (100) comprises: a base (1000), a rotating base (2000) arranged on the base (1000), and a first arm (3000) arranged on the rotating base (2000); one end of a second arm (4000) is connected to the first arm (3000), and the other end is connected to a rotating head (5000), and the driving mechanism (3) is arranged on the rotating head (5000).

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