Linear elevated manipulator conveying device for automatic conveying of coupler workpieces

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By setting up an auxiliary clamping device for arc-shaped clamping strips and supporting springs on the clamping plate of the robot, combining the replacement structure and limiting structure, the loss problem of the robot when clamping the workpiece is solved, and efficient protection of the workpiece and arcing are achieved. The convenient replacement of the shaped clamp strip reduces the cost of use.

CN222311985UActive Publication Date: 2025-01-07ZHEJIANG AOVITE HYDRAULIC MECHANICAL

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Patent Information

Application Number: CN202422959410.0
Authority / Receiving Office: CN · China
Patent Type: Utility models(China)
Current Assignee / Owner
Filing Date: 2024-12-03
Publication Date: 2025-01-07
Estimated Expiration: 2034-12-03

AI Technical Summary

Technical Problem

Existing robots are prone to losses when clamping workpieces, and the flexible protective sleeves need to be replaced after use, resulting in higher usage costs.

Method used

An auxiliary clamping device including a curved clamping strip and a support spring is designed to buffer the arc clamping strip on the workpiece by controlling the distance and proximity of the clamping plate, reducing rigid contact, and changing the structure and limit position The structure facilitates the replacement and stability of curved clamp strips.

Benefits of technology

Effectively prevent workpiece loss during clamping of robots, reduce the contact pressure between arc clamping strips and workpieces, reduce the difficulty of replacing arc clamping strips, improve their stability, and reduce the cost of use.

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Abstract

The utility model relates to the technical field of manipulators, in particular to a linear elevated manipulator conveying device for automatically conveying coupler workpieces, which comprises a mounting bracket, a manipulator mounted on the mounting bracket and a control device mounted on the mounting bracket and used for controlling the manipulator to move, the manipulator is provided with two clamping plates used for clamping workpieces, the clamping plates are in circuit connection with the control device, the clamping plates are provided with auxiliary clamping devices used for preventing the manipulator from damaging the workpieces, when the manipulator clamps the workpieces, the control device controls the clamping plates to be far away from each other, and then the manipulator is moved to enable the workpieces to be located between the auxiliary clamping devices. And then the clamping plates are controlled to be close to each other, so that the workpiece is clamped by the two auxiliary clamping devices, and the auxiliary clamping devices can provide certain buffering for the workpiece, so that the workpiece is prevented from being damaged by the arc-shaped clamping strips, and the purpose of preventing the workpiece from being damaged when the workpiece is clamped by the manipulator is achieved.

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Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and in particular to a linear overhead manipulator conveying device for automatically conveying coupling workpieces. Background Art

[0002] A linear overhead manipulator conveying device for automatic conveying of coupling workpieces is an automated device, mainly used to realize automatic conveying and handling of materials in production lines. It combines the functions of manipulators and conveying devices, grasping and handling through the manipulator arm, and using the conveying device for linear transmission of materials.

[0003] However, in the prior art, in order to make the robot grasp the workpiece more stably, a larger power is usually output to the robot so that the robot can firmly clamp the workpiece. However, this also causes damage to the workpiece when the robot clamps the workpiece. Although the prior art can reduce the damage to the workpiece by installing a flexible protective cover on the clamping plate of the robot, the flexible protective cover will wear out after a period of use and often needs to be replaced, resulting in high cost of use. Therefore, a linear overhead robot conveying device for automatic conveying of coupling workpieces is needed. Utility Model Content

[0004] In view of the deficiencies in the prior art, the purpose of this application is to provide a linear overhead robot conveying device for automatically conveying coupling workpieces, which is used to solve the technical problem in the prior art that the workpiece will be damaged when the robot clamps the workpiece.

[0005] The above-mentioned purpose of the present application is achieved through the following technical scheme: a linear overhead robot conveying device for automatically conveying coupling workpieces, including a mounting bracket, a robot mounted on the mounting bracket, and a control device mounted on the mounting bracket for controlling the movement of the robot, the robot is provided with two clamping plates for clamping the workpiece, and the clamping plate circuit is connected to the control device, and the clamping plate is provided with an auxiliary clamping device to prevent the robot from damaging the workpiece.

[0006] Furthermore, the auxiliary clamping device includes arc-shaped clamping strips respectively arranged on two clamping plates and a support spring installed on the clamping plates for pushing the two arc-shaped clamping strips to approach each other, and the two arc-shaped clamping strips are arranged opposite to each other.

[0007] By adopting the above technical solution, when the manipulator clamps the workpiece, the control device is first used to control the clamping plates to move away from each other, and then the manipulator is moved so that the workpiece is located between the two arc-shaped clamping strips, and then the clamping plates are controlled to move closer to each other, so that the workpiece is clamped by the two arc-shaped clamping strips. After the arc-shaped clamping strip clamps the workpiece, the supporting spring can provide a certain buffer to the arc-shaped clamping strip, so that the arc-shaped clamping strip is only tightly attached to the workpiece and clamps the workpiece through its own shape coordination. In this way, the rigid contact between the arc-shaped clamping strip and the workpiece can be reduced, thereby preventing the arc-shaped clamping strip from damaging the workpiece, thereby achieving the purpose of preventing the workpiece from being damaged when the manipulator clamps the workpiece.

[0008] Furthermore, a circular arc portion is provided at the lower end of the arc-shaped clamping strip.

[0009] By adopting the above technical solution, the arc portion at the lower end of the arc clamping strip can enable the robot to clamp a workpiece with an outer diameter close to the inner diameter of the two arc clamping strips without driving the two clamping plates away from each other. It is only necessary to control the robot to align the middle part of the two arc clamping strips with the axis of the workpiece, and then control the robot to descend, so that the workpiece can squeeze the two arc clamping strips and move between the two arc clamping strips to be clamped, making it more convenient for the robot to clamp the workpiece.

[0010] Furthermore, the clamping plate is provided with a replacement structure for facilitating replacement of the arc-shaped clamping strip.

[0011] Furthermore, the replacement structure includes a storage groove opened on the clamping plate and passing through the bottom surface of the clamping plate, a support plate slidably connected in the storage groove, and an extrusion rubber arranged on both sides of the storage groove to extrude the support plate. The auxiliary clamping device is installed on the support plate and connected to the clamping plate through the support plate.

[0012] By adopting the above technical solution, although the setting of the auxiliary clamping device achieves the purpose of preventing the workpiece from being damaged when the manipulator clamps the workpiece, when encountering a workpiece with an outer diameter smaller than the inner diameter of the two arc-shaped clamps, the arc-shaped clamps cannot provide effective clamping. At this time, it is necessary to replace the two arc-shaped clamps whose combined inner diameter is smaller than the workpiece. However, due to the setting of the support spring, it is too inconvenient to replace the arc-shaped clamps. The setting of the replacement structure solves this technical problem. When the arc-shaped clamps need to be replaced, it is only necessary to pull the support plate to disengage it from the storage groove, and then the new arc-shaped clamp with the support plate can be inserted into the storage groove. The squeezing rubber squeezes the new support plate to make it firmly stuck in the storage groove, making the arc-shaped clamps easy to replace.

[0013] Furthermore, a limiting structure for preventing the support plate from escaping from the storage groove is provided on one side of the bottom end of the clamping plate.

[0014] Furthermore, the limiting structure includes limiting openings opened on both sides of the bottom end of the clamping plate and penetrating the clamping plate, and a limiting rod passing through the clamping plate through the limiting openings and horizontally placed at the lower end of the storage slot.

[0015] By adopting the above technical solution, although the replacement structure makes it easy to replace the arc clamp strip, due to vibration during the use of the manipulator, this may cause the support plate to be vibrated and gradually move downward. The setting of the limiting structure solves this technical problem. Through the setting of the limiting structure, after the new arc clamp strip is installed, the limiting rod is pushed to pass through the clamping plate and placed horizontally at the lower end of the storage groove to prevent the support plate from moving downward, making the arc clamp strip more stable.

[0016] Furthermore, the support springs are provided in plurality and are arranged along the height direction of the clamping plate.

[0017] By adopting the above technical solution, multiple supporting springs can make the arc-shaped clamping bar clamp the workpiece more stably.

[0018] In summary, the present application includes at least one of the following beneficial technical effects:

[0019] By setting up the auxiliary clamping device, it is achieved that when the manipulator clamps the workpiece, the clamping plates are first controlled to move away from each other through the control device, and then the manipulator is moved so that the workpiece is located between the two arc-shaped clamping strips, and then the clamping plates are controlled to move closer to each other, so that the workpiece is clamped by the two arc-shaped clamping strips. After the arc-shaped clamping strip clamps the workpiece, the supporting spring can provide a certain buffer to the arc-shaped clamping strip, so that the arc-shaped clamping strip is only tightly attached to the workpiece and clamps the workpiece through its own shape coordination, thus reducing the rigid contact between the arc-shaped clamping strip and the workpiece, thereby preventing the arc-shaped clamping strip from damaging the workpiece, and preventing the manipulator from damaging the workpiece when clamping the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the embodiment;

[0021] Figure 2 yes Figure 1 Enlarged view of part A in the middle;

[0022] Figure 3 yes Figure 2 Enlarged view of part B in the middle.

[0023] Figure numerals: 1. mounting bracket; 10. control device; 11. manipulator; 12. clamping plate; 2. auxiliary clamping device; 20. arc clamping strip; 21. support spring; 22. arc portion; 3. replacement structure; 30. storage groove; 31. support plate; 32. extruded rubber; 4. limiting structure; 40. limiting opening; 41. limiting rod. DETAILED DESCRIPTION

[0024] The present application is further described in detail below in conjunction with the accompanying drawings.

[0025] Example, see Figure 1 , Figure 2 A linear overhead manipulator conveying device for automatic conveying of coupling workpieces mainly includes a mounting bracket 1, a manipulator 11 mounted on the mounting bracket 1, and a control device 10 integrated on the mounting bracket 1 and responsible for precise control of the manipulator 11. The clamping part of the manipulator 11 is two clamping plates 12, which not only bear the heavy task of clamping the workpiece, but also realize intelligent operation through complex circuit connection and control device 10. In addition, a set of auxiliary clamping devices 2 are innovatively added on the clamping plate 12 to prevent the manipulator 11 from causing damage to the workpiece during operation.

[0026] The auxiliary clamping device 2 is composed of arc-shaped clamping strips 20 respectively fixed on two clamping plates 12. The design of these arc-shaped clamping strips 20 perfectly fits the contour of the workpiece, ensuring the stability of clamping. In addition, a support spring 21 is installed on each clamping plate 12. The function of the support spring 21 is to push the two arc-shaped clamping strips 20 closer to each other to form an elastic clamping system. The two arc-shaped clamping strips 20 are arranged in a relative manner to ensure the uniformity and stability of clamping.

[0027] In actual operation, the process of the manipulator 11 clamping the workpiece is finely divided into several steps: first, through the precise instructions of the control device 10, the clamping plates 12 will slowly move away from each other to reserve enough space for the placement of the workpiece; then, the manipulator 11 will accurately move to the predetermined position so that the workpiece is exactly located between the two arc-shaped clamping strips 20; then, the control device 10 issues an instruction again, and the clamping plates 12 slowly move closer to each other until the workpiece is clamped by the two arc-shaped clamping strips 20.

[0028] It is worth mentioning that when the arc clamp 20 tightly clamps the workpiece, the elastic force of the support spring 21 provides a certain buffer space for the arc clamp 20, which enables the arc clamp 20 to be tightly attached to the surface of the workpiece without causing excessive pressure on it. At the same time, the shape design of the arc clamp 20 itself also cleverly matches the contour of the workpiece, further enhancing the stability of the clamping and the protection of the workpiece. This design not only reduces the rigid contact between the arc clamp 20 and the workpiece, but also effectively avoids the damage to the workpiece caused by over-tight clamping, thereby realizing the fine control and efficient protection of the manipulator 11 in the process of clamping the workpiece.

[0029] In this embodiment, a plurality of support springs 21 are provided and arranged along the height direction of the clamping plate 12 . The plurality of support springs 21 can make the arc-shaped clamping strip 20 clamp the workpiece more stably.

[0030] In this embodiment, an arc portion 22 is provided at the lower end of the arc clamp 20. The arc portion 22 at the lower end of the arc clamp 20 allows the manipulator 11 to clamp a workpiece whose outer diameter is close to the inner diameter of the two arc clamps 20 without driving the two clamping plates 12 away from each other. It is only necessary to control the manipulator 11 so that the middle part of the two arc clamps 20 is aligned with the axis of the workpiece, and then control the manipulator 11 to descend, so that the workpiece can squeeze the two arc clamps 20 and move to between the two arc clamps 20 to be clamped, making it more convenient for the manipulator 11 to clamp the workpiece.

[0031] Although the setting of the auxiliary clamping device 2 achieves the purpose of preventing the manipulator 11 from damaging the workpiece when clamping the workpiece, when encountering a workpiece whose outer diameter is smaller than the inner diameter of the two arc-shaped clamping strips 20, the arc-shaped clamping strip 20 cannot provide effective clamping. At this time, it is necessary to replace the two arc-shaped clamping strips 20 whose combined inner diameter is smaller than the workpiece. However, due to the setting of the support spring 21, it is too inconvenient to replace the arc-shaped clamping strip 20. In order to solve this technical problem, refer to Figure 3 In this embodiment, a replacement structure 3 is provided on the clamping plate 12 for facilitating replacement of the arc-shaped clamping strip 20. The replacement structure 3 includes a storage groove 30 opened on the clamping plate 12 and penetrating the bottom surface of the clamping plate 12, a support plate 31 slidably connected in the storage groove 30, and an extrusion rubber 32 arranged on both sides of the storage groove 30 for extruding the support plate 31. The auxiliary clamping device 2 is installed on the support plate 31 and connected to the clamping plate 12 through the support plate 31. When the arc-shaped clamping strip 20 needs to be replaced, it is only necessary to pull the support plate 31 to disengage it from the storage groove 30, and then a new arc-shaped clamping strip 20 with the support plate 31 can be inserted into the storage groove 30. The extrusion rubber 32 squeezes the new support plate 31 to make it firmly stuck in the storage groove 30, so that the arc-shaped clamping strip 20 is easy to replace.

[0032] Although the setting of the replacement structure 3 makes it easy to replace the arc-shaped clamping strip 20, due to vibrations that may occur during the use of the manipulator 11, this may cause the support plate 31 to be vibrated and gradually move downward. In order to solve this technical problem, this embodiment provides a limiting structure 4 on one side of the bottom end of the clamping plate 12 to prevent the support plate 31 from escaping from the storage groove 30. The limiting structure 4 includes limiting openings 40 that are opened on both sides of the bottom end of the clamping plate 12 and pass through the clamping plate 12, and a limiting rod 41 that passes through the clamping plate 12 through the limiting openings 40 and is horizontally placed at the lower end of the storage groove 30. Through the setting of the limiting structure 4, after the new arc-shaped clamping strip 20 is installed, the limiting rod 41 is pushed to pass through the clamping plate 12 and is horizontally placed at the lower end of the storage groove 30, thereby preventing the support plate 31 from moving downward, making the arc-shaped clamping strip 20 more stable.

[0033] Specific implementation process: When the manipulator 11 clamps the workpiece, the control device 10 is used to control the clamping plates 12 to move away from each other, and then the manipulator 11 is moved so that the workpiece is located between the two arc-shaped clamping strips 20, and then the clamping plates 12 are controlled to move closer to each other so that the workpiece is clamped by the two arc-shaped clamping strips 20. After the arc-shaped clamping strips 20 clamp the workpiece, the support springs 21 can provide a certain buffer to the arc-shaped clamping strips 20, so that the arc-shaped clamping strips 20 are only tightly attached to the workpiece and clamp the workpiece through their own shape coordination.

[0034] When encountering a workpiece whose outer diameter is close to the inner diameter of the two arc-shaped clamps 20, the robot 11 is controlled to align the middle part of the two arc-shaped clamps 20 with the axis of the workpiece, and then the robot 11 is controlled to descend, so that the workpiece can squeeze the two arc-shaped clamps 20 and move between the two arc-shaped clamps 20 to be clamped.

[0035] When the arc-shaped clamping strip 20 needs to be replaced, first pull the limit rod 41 toward the outside of the clamping plate 12 to make the limit rod 41 disengage from the clamping plate 12, and then pull the support plate 31 to make it disengage from the storage groove 30, and then insert the new arc-shaped clamping strip 20 with the support plate 31 into the storage groove 30, and squeeze the rubber 32 to squeeze the new support plate 31 so that it is firmly stuck in the storage groove 30, and then align the limit rod 41 with the limit opening 40 to insert it, so that it passes through the clamping plate 12 and is placed horizontally at the lower end of the inside of the storage groove 30 to prevent the support plate 31 from moving downward.

[0036] The embodiments of this specific implementation method are all preferred embodiments of the present application, and are not intended to limit the protection scope of the application. Therefore, all equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A linear overhead manipulator conveying device for automatic conveying of coupling workpieces, comprising a mounting bracket (1), a manipulator (11) mounted on the mounting bracket (1), and a control device (10) mounted on the mounting bracket (1) for controlling the movement of the manipulator (11), wherein the manipulator (11) is provided with two clamping plates (12) for clamping workpieces, and the clamping plates (12) are connected to the control device (10) by circuits, characterized in that: The clamping plate (12) is provided with an auxiliary clamping device (2) for preventing the manipulator (11) from damaging the workpiece.

2. According to claim 1, a linear overhead manipulator conveying device for automatic conveying of coupling workpieces is characterized in that: The auxiliary clamping device (2) comprises arc-shaped clamping strips (20) respectively arranged on two clamping plates (12) and a supporting spring (21) installed on the clamping plate (12) for pushing the two arc-shaped clamping strips (20) towards each other, and the two arc-shaped clamping strips (20) are arranged opposite to each other.

3. According to claim 2, a linear overhead manipulator conveying device for automatic conveying of coupling workpieces is characterized in that: The lower end of the arc-shaped clamping strip (20) is provided with an arc portion (22).

4. According to claim 2, a linear overhead manipulator conveying device for automatic conveying of coupling workpieces is characterized in that: The clamping plate (12) is provided with a replacement structure (3) for facilitating replacement of the arc-shaped clamping strip (20).

5. A linear overhead manipulator conveying device for automatic conveying of coupling workpieces according to claim 4, characterized in that: The replacement structure (3) comprises a receiving groove (30) provided on the clamping plate (12) and penetrating the bottom surface of the clamping plate (12), a support plate (31) slidably connected in the receiving groove (30), and extrusion rubber (32) provided on both sides of the receiving groove (30) for extruding the support plate (31), and the auxiliary clamping device (2) is mounted on the support plate (31) and connected to the clamping plate (12) via the support plate (31).

6. A linear overhead manipulator conveying device for automatic conveying of coupling workpieces according to claim 5, characterized in that: A limiting structure (4) for preventing the support plate (31) from escaping from the storage groove (30) is provided on one side of the bottom end of the clamping plate (12).

7. A linear overhead manipulator conveying device for automatic conveying of coupling workpieces according to claim 6, characterized in that: The limiting structure (4) comprises limiting openings (40) which are opened on both sides of the bottom end of the clamping plate (12) and pass through the clamping plate (12), and a limiting rod (41) which passes through the limiting opening (40) and passes through the clamping plate (12) and is horizontally placed at the lower end of the storage groove (30).

8. The linear overhead manipulator conveying device for automatic conveying of coupling workpieces according to claim 2, characterized in that: The supporting springs (21) are provided in plurality and are arranged along the height direction of the clamping plate (12).