Material grabbing manipulator

Abstract

The utility model discloses a grabbing manipulator, and relates to the technical field of manipulators. The top of the workbench is in sliding fit with a movable plate, a driving assembly matched with the movable plate is arranged at the top of the workbench, a hydraulic cylinder is arranged at the top of the movable plate, an installation base is arranged at the output end of the hydraulic cylinder, one side of the installation base is movably connected with an installation plate, and two clamping grooves are formed in one side of the installation base. Two clamping blocks matched with the two clamping grooves are arranged on one side of the mounting plate; one side of the inner wall of the clamping groove is elastically matched with an inserting rod matched with the clamping block, an adjusting assembly is arranged on the mounting base and matched with the two inserting rods, a plurality of electric push rods are arranged in the mounting plate, the output ends of the electric push rods are rotationally matched with a connecting plate, and a vacuum suction cup is arranged at the bottom of the connecting plate. According to the vacuum chuck, through the arranged adjusting assembly, a worker can adjust the adjusting assembly with one hand, so that the two inserting rods relieve fixation of the clamping block, and therefore one worker can detach and replace the vacuum chuck conveniently.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, and in particular relates to a material grabbing manipulator. Background Art

[0002] A material grabbing robot is an automatic operating device that can imitate certain movements of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure.

[0003] The Chinese patent with application number CN202120616653.8 discloses a material grabbing manipulator, including a workbench, two sides of the top of the workbench are respectively provided with fixed grooves, two fixed grooves are respectively fixedly provided with slide rails, the slide rails are matched and slidably provided with sliders, the tops of the two sliders are fixedly provided with the same fixed plate, the bottom of the fixed plate is provided with a driving assembly, the top of the fixed plate is fixedly provided with a hydraulic cylinder, and the output end of the hydraulic cylinder is fixedly provided with a connecting block. The utility model is a material grabbing manipulator, the pull block is pulled to remove one end of the plug rod from the slot, and then the card block is matched and placed in the slot, when the force on the pull block is released, under the elastic action of the tightening spring, the plug rod can be pushed to match and plug with the socket on the card block, so that the movable plate can be connected with the connecting block, when the movable plate and the vacuum suction cup need to be disassembled, only the card block needs to be pulled outward to separate the plug rod from the socket, and then the card block can be removed from the slot, and the operation is relatively convenient and quick. Although the above device can disassemble and replace the movable plate and the vacuum suction cup, during the disassembly process, a staff member pulls the two rods with both hands to release the fixation of the card block, and other staff members are required to disassemble and replace the movable plate and the vacuum suction cup, which wastes the staff's human resources. The disassembly and installation process is also more cumbersome and inconvenient for the staff to use.

[0004] In view of this, the present utility model is proposed. Utility Model Content

[0005] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a material grabbing manipulator.

[0006] In order to solve the above technical problems, the basic concept of the technical solution adopted by the utility model is:

[0007] A material grabbing manipulator comprises a workbench, a moving plate is slidably matched on the top of the workbench, a driving assembly matched with the moving plate is installed on the top of the workbench, a hydraulic cylinder is installed on the top of the moving plate, a mounting seat is installed on the output end of the hydraulic cylinder, a mounting plate is movably connected to one side of the mounting seat, two card slots are arranged on one side of the mounting seat, and two card blocks matched with the two card slots are installed on one side of the mounting plate;

[0008] One side of the inner wall of the card slot is elastically matched with an insertion rod that cooperates with the card block, and an adjustment component is installed on the mounting seat, the adjustment component cooperates with the two insertion rods, and multiple electric push rods are installed in the mounting plate. The output end of the electric push rod is rotatably matched with a connecting plate, and a vacuum suction cup is installed at the bottom of the connecting plate, and the connecting plate is rotatably matched with the adjacent connecting plate.

[0009] Optionally, in order to facilitate the adjustment of the position of the vacuum suction cup, the driving assembly includes two fixed plates installed on the top of the workbench, a screw rod rotatably engaged between the two fixed plates, and a motor installed on one side of one of the fixed plates, the motor cooperates with the screw rod, and the screw rod and the movable plate are threadedly engaged.

[0010] Optionally, in order to facilitate the installation of the mounting plate, a slot is provided on one side of the clamping block, a rounded corner is provided on one end of the insertion rod, and a spring is installed between the other end of the insertion rod and the mounting seat.

[0011] Optionally, the adjustment component includes a moving rod that slides into the mounting seat, the moving rod is U-shaped, both ends of the moving rod are provided with bevels, the top of the rod is provided with a bevel groove, the bevel angle and the bevel groove cooperate, and a handle is installed on the moving rod.

[0012] Optionally, in order to facilitate the stable movement of the movable plate, two slide rails are installed on the top of the workbench, and two sliders are installed on the bottom of the movable plate. The bottoms of the two sliders are provided with slide grooves, and the slide grooves cooperate with the slide rails.

[0013] Optionally, in order to facilitate the installation and use of the device, two legs are installed on the top of the workbench, mounting grooves are opened in the legs, and mounting holes are opened at the bottom of the mounting grooves.

[0014] After adopting the above technical solution, the utility model has the following beneficial effects compared with the prior art. Of course, any product implementing the utility model does not necessarily need to achieve all the advantages described below at the same time:

[0015] Through the provided adjustment component, the staff can adjust the adjustment component with one hand, so that the two insertion rods release the fixation of the clamping block, thereby making it convenient for one staff to disassemble and replace the mounting plate and the vacuum suction cup, reducing the waste of human resources; through the provided connecting plate, the connecting plate can be driven to rotate when the electric push rod is extended or retracted, and the rotation of the connecting plate drives the vacuum suction cup to rotate, so that the vacuum suction cup can pick up curved workpieces, thereby making it convenient for the device to pick up workpieces of different shapes, and more stable during picking up and transportation.

[0016] The specific implementation of the utility model is further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described below are only some embodiments. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0018] Figure 1 It is a schematic diagram of the workbench structure;

[0019] Figure 2 It is a schematic diagram of the structure of the moving plate;

[0020] Figure 3 is a schematic diagram of the mounting seat structure;

[0021] Figure 4 It is a schematic diagram of the mounting plate structure;

[0022] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0023] Workbench 1, moving plate 2, driving assembly 3, fixed plate 301, screw 302, motor 303, hydraulic cylinder 4, mounting seat 5, mounting plate 6, block 7, slot 8, adjustment assembly 9, moving rod 901, bevel 902, bevel slot 903, insertion rod 10, slot 11, electric push rod 12, connecting plate 13, vacuum suction cup 14, slide rail 15, slider 16, slide slot 17, leg 18, mounting slot 19, mounting hole 20, spring 21, limit block 22.

[0024] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0025] The utility model will now be further described in detail with reference to the accompanying drawings.

[0026] See also Figure 1-4 As shown, in this embodiment, a material grabbing manipulator is provided, including a workbench 1, a moving plate 2 is slidably matched on the top of the workbench 1, a driving assembly 3 matched with the moving plate 2 is installed on the top of the workbench 1, a hydraulic cylinder 4 is installed on the top of the moving plate 2, a mounting seat 5 is installed on the output end of the hydraulic cylinder 4, a mounting plate 6 is movably connected to one side of the mounting seat 5, two card slots 8 are provided on one side of the mounting seat 5, and two card blocks 7 matched with the two card slots 8 are installed on one side of the mounting plate 6;

[0027] One side of the inner wall of the card slot 8 is elastically matched with an insertion rod 10 that cooperates with the card block 7, and an adjustment component 9 is installed on the mounting seat 5. The adjustment component 9 cooperates with the two insertion rods 10. A plurality of electric push rods 12 are installed in the mounting plate 6. The output end of the electric push rod 12 is rotatably matched with a connecting plate 13. A vacuum suction cup 14 is installed at the bottom of the connecting plate 13, and the connecting plate 13 is rotatably matched with the adjacent connecting plate 13.

[0028] The device can be connected to a camera and an external system, and the system can control the device's drive assembly 3, hydraulic cylinder 4, electric push rod 12 and vacuum suction cup 14, so that the camera can identify the material position, and the system controls the device to automatically track the material for grabbing, making it convenient for the robot to grab and transport the material.

[0029] The application of one aspect of this embodiment is as follows: when in use, the driving component 3 can drive the moving plate 2 to move, and the movement of the moving plate 2 drives the hydraulic cylinder 4, the mounting seat 5 and the mounting plate 6 to move left and right, so that the hydraulic cylinder 4 drives the mounting seat 5 and the mounting plate 6 to move forward and backward, and the movement of the mounting plate 6 drives the vacuum suction cup 14 to move, and the position of the vacuum suction cup 14 is adjusted to facilitate the picking up and transportation of the workpiece. The simultaneous extension and contraction of multiple electric push rods 12 can drive the vacuum suction cup 14 to move up and down through the connecting plate 13. The extension and contraction of one electric push rod 12 can drive the connecting plate 13 to rotate at a small angle, and the rotation of the connecting plate 13 drives the vacuum suction cup 14 to rotate, so that the vacuum suction cup 14 can fit the surface of the workpiece. When the mounting plate 6 and the vacuum suction cup 14 need to be disassembled for maintenance or replacement after long-term use, the staff first mobilizes the adjustment component 9 with one hand and holds the mounting plate 6 with the other hand. The adjustment component 9 can mobilize the two insertion rods 10 to move, so that the insertion rods 10 release the fixation of the block 7, and then the staff removes the mounting plate 6 to replace the mounting plate 6 and the vacuum suction cup 14.

[0030] By means of the setting of the adjustment component 9, the staff can adjust the adjustment component 9 with one hand, so that the two insertion rods 10 release the fixation of the block 7, thereby facilitating one staff member to disassemble and replace the mounting plate 6 and the vacuum suction cup 14, thus reducing the waste of human resources; by means of the setting of the connecting plate 13, the connecting plate 13 can be driven to rotate when the electric push rod 12 is extended or retracted, and the rotation of the connecting plate 13 drives the vacuum suction cup 14 to rotate, so that the vacuum suction cup 14 can fit the surface of the workpiece, thereby facilitating the device to pick up workpieces of different shapes, and making it more stable during picking up and transportation.

[0031] like Figure 2 As shown, the driving assembly 3 of this embodiment includes two fixed plates 301 installed on the top of the workbench 1, a screw rod 302 rotatably matched between the two fixed plates 301, and a motor 303 installed on one side of one of the fixed plates 301. The motor 303 cooperates with the screw rod 302, and the screw rod 302 is threadedly matched with the moving plate 2. Through the screw rod 302, the motor 303 can drive the screw rod 302 to rotate, and the rotation of the screw rod 302 drives the moving plate 2 to move.

[0032] like Figure 3As shown, a slot 11 is provided on one side of the block 7 of this embodiment, a rounded corner is provided on one end of the plug rod 10, and a spring 21 is installed between the other end of the plug rod 10 and the mounting seat 5. The spring 21 can be provided to squeeze the rounded end of the plug rod 10 when the block 7 enters the slot 8, so that the plug rod 10 is retracted. After the block 7 completely enters the slot 8, the spring 21 drives the plug rod 10 to enter the slot 11, so as to fix the block 7 and the mounting plate 6.

[0033] like Figure 3 As shown, the adjustment assembly 9 of this embodiment includes a moving rod 901 that is slidably fitted in the mounting seat 5. The moving rod 901 is U-shaped, and both ends of the moving rod 901 are provided with bevels 902. The top of the insertion rod 10 is provided with an oblique groove 903, and the bevel 902 cooperates with the oblique groove 903. A handle is installed on the moving rod 901. By setting the moving rod 901, the moving rod 901 can be pressed to move, so that the bevel 902 cooperates with the oblique groove 903 to push the insertion rod 10 to move.

[0034] like Figure 1 As shown, the top of the workbench 1 of this embodiment is equipped with two slide rails 15, and the bottom of the movable plate 2 is equipped with two sliders 16. The bottoms of the two sliders 16 are provided with slide grooves 17, and the slide grooves 17 cooperate with the slide rails 15. The movable plate 2 can move stably along the slide rails 15 by setting the slide rails 15.

[0035] like Figure 1 As shown, the top of the workbench 1 of this embodiment is equipped with two legs 18, and a mounting slot 19 is provided in the legs 18. A mounting hole 20 is provided at the bottom of the mounting slot 19. Through the provided mounting holes 20, the device can be placed or hung for installation, so that the mounting plate 6 can be installed in reverse, which is convenient for the device to be installed in different positions for use.

[0036] The present invention is not limited to the above-mentioned implementation modes. Anyone should be aware of the structural changes made under the inspiration of the present invention. Any technical solution that is the same or similar to the present invention falls within the protection scope of the present invention. The technology, shape, and structure that are not described in detail in the present invention are all known technologies.

Claims

1. A material grabbing manipulator, characterized in that: include: A workbench (1), a movable plate (2) is slidably matched on the top of the workbench (1), a driving assembly (3) matched with the movable plate (2) is installed on the top of the workbench (1), a hydraulic cylinder (4) is installed on the top of the movable plate (2), a mounting seat (5) is installed on the output end of the hydraulic cylinder (4), one side of the mounting seat (5) is movably connected with a mounting plate (6), one side of the mounting seat (5) is provided with two card slots (8), and one side of the mounting plate (6) is provided with two card blocks (7) matched with the two card slots (8); An insert rod (10) that matches the card block (7) is elastically matched on one side of the inner wall of the card slot (8); an adjustment component (9) is installed on the mounting seat (5); the adjustment component (9) matches the two insert rods (10); a plurality of electric push rods (12) are installed in the mounting plate (6); the output end of the electric push rod (12) is rotatably matched with a connecting plate (13); a vacuum suction cup (14) is installed at the bottom of the connecting plate (13); and the connecting plate (13) is rotatably matched with the adjacent connecting plate (13).

2. A material grabbing manipulator according to claim 1, characterized in that: The driving assembly (3) comprises two fixed plates (301) mounted on the top of the workbench (1), a screw rod (302) rotatably engaged between the two fixed plates (301), and a motor (303) mounted on one side of one of the fixed plates (301); the motor (303) engages with the screw rod (302), and the screw rod (302) engages with the movable plate (2) by threaded engagement.

3. A material grabbing manipulator according to claim 1, characterized in that: A slot (11) is provided on one side of the block (7), a rounded corner is provided on one end of the insertion rod (10), and a spring (21) is installed between the other end of the insertion rod (10) and the mounting seat (5).

4. A material grabbing manipulator according to claim 1, characterized in that: The adjustment assembly (9) comprises a moving rod (901) which is slidably fitted in the mounting seat (5); the moving rod (901) is U-shaped; both ends of the moving rod (901) are provided with bevels (902); the top of the insertion rod (10) is provided with an oblique groove (903); the bevel (902) and the oblique groove (903) are matched; and a handle is installed on the moving rod (901).

5. The material grabbing manipulator according to claim 1, characterized in that: Two slide rails (15) are installed on the top of the workbench (1), and two sliders (16) are installed on the bottom of the moving plate (2). The bottoms of the two sliders (16) are both provided with slide grooves (17), and the slide grooves (17) are matched with the slide rails (15).

6. The material grabbing manipulator according to claim 1, characterized in that: Two supporting legs (18) are arranged on the top of the workbench (1), a mounting groove (19) is arranged in the supporting legs (18), and a mounting hole (20) is arranged at the bottom of the mounting groove (19).

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