Triangular prism clamping manipulator

Abstract

The utility model discloses a triple prism clamping manipulator which comprises a multi-axis mechanical arm and a tray, the multi-axis mechanical arm is provided with a rotating device, the rotating device is provided with a manipulator, and the multi-axis mechanical arm can drive the rotating device to horizontally rotate, axially rotate and vertically move. The rotating device can drive the manipulator to obliquely swing at a preset angle; the mechanical arm comprises a bidirectional clamping motor and a clamping jaw arranged at the driving end of the bidirectional clamping motor, the tray is provided with positioning grooves arranged in a matrix mode, each positioning groove is provided with a bearing face inclined by a preset angle and enables the preset face of the prism to face upwards, and receding grooves allowing the clamping jaw to partially stretch into are formed in the two sides of each bearing face. When the prism needs to be moved and turned over, the multi-axis mechanical arm is matched with the rotating device, the movement is simpler, the mechanical arm can swing left and right (inclined swing can be carried out while left and right swing is carried out), the carrying efficiency is higher, the structure is simple, and the movement is smooth.

Description

Technical Field

[0001] The utility model relates to the field of triangular prism processing equipment, in particular to a triangular prism material clamping manipulator. Background Art

[0002] Due to its irregular shape (and small size), the existing triangular prism involves flipping, transportation and processing in actual processing. However, in the actual flipping process of the existing triangular prism, it is difficult to achieve high efficiency in the automated transportation process due to the influence of the fixture and its shape.

[0003] For example, Chinese patent CN202210050235.6 adopts a gantry frame in combination with a prism flipping mechanism to realize the flipping of a triangular prism. It adopts a prism clamp to clamp and flip the triangular prism. However, although this profiling structure can stably clamp the triangular prism, it cannot clamp the triangular prism when the sharp end is not facing upward and the flat end is facing upward. The applicability is poor, which affects the clamping efficiency and applicability of use. Utility Model Content

[0004] The main purpose of the utility model is to propose a prism clamping manipulator, which aims to improve the existing manipulator structure and thus achieve stable clamping of prisms. The structure is simple and stable, and the flat surface or the sharp end can be facing upward, which effectively improves the applicability of use.

[0005] In order to achieve the above-mentioned purpose, the utility model proposes a prism clamping manipulator, comprising:

[0006] A multi-axis robot arm, wherein the multi-axis robot arm is provided with a rotating device, the rotating device is provided with a robot arm, the multi-axis robot arm can drive the rotating device to rotate horizontally, rotate axially and move vertically, and the rotating device can drive the robot arm to tilt and swing at a predetermined angle;

[0007] The manipulator is a bidirectional clamping motor and a clamping claw provided at the driving end of the bidirectional clamping motor;

[0008] The tray is provided with positioning grooves arranged in a matrix, the positioning grooves are provided with a supporting surface inclined at a predetermined angle and allowing the predetermined surface of the prism to face upward, and avoidance grooves for the clamping claws to extend into are provided on both sides of the supporting surface.

[0009] When the prism needs to be moved and flipped, it can be achieved through a multi-axis robotic arm in conjunction with a rotating device, and its movement is simpler, and the robotic arm only needs to swing left and right (tilt swinging can be performed simultaneously while swinging left and right), and its handling efficiency is also higher. Its structure is simple and its movement is smooth, which effectively improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1It is a three-dimensional schematic diagram of the utility model;

[0011] Figure 2 This is a schematic diagram of the cooperation between the utility model and the transport device;

[0012] Figure 3 A schematic diagram of a tray.

[0013] In the figure, 1 is a multi-axis robot arm, 10 is a base, 11 is a first robot arm, 12 is a second robot arm, 13 is a lifting and rotating rod,

[0014] 2 is a rotating device, 21 is a bending seat, 22 is a pivot hole, 23 is a rotating shaft, 24 is a base,

[0015] 3 is a manipulator, 31 is a bidirectional clamping motor, 32 is a clamping claw,

[0016] 4 is a tray, 41 is a positioning groove, 42 is a supporting surface, 5 is an avoidance groove, and 100 is a prism. DETAILED DESCRIPTION

[0017] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0018] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, top, bottom, inside, outside, vertical, horizontal, longitudinal, counterclockwise, clockwise, circumferential, radial, axial...), then the directional indication is only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0019] In addition, if there are descriptions involving "first" or "second" etc. in the embodiments of the utility model, the descriptions of "first" or "second" etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0020] like Figures 1 to 3As shown, a prism material clamping manipulator comprises:

[0021] A multi-axis robot arm 1, wherein the multi-axis robot arm 1 is provided with a rotating device 2, and the rotating device 2 is provided with a robot 3. The multi-axis robot arm 1 can drive the rotating device 2 to rotate horizontally, rotate axially, and move vertically, and the rotating device 2 can drive the robot 3 to tilt and swing at a predetermined angle;

[0022] The manipulator 3 is a bidirectional clamping motor 31 and a clamping claw 32 provided at the driving end of the bidirectional clamping motor 31;

[0023] The tray 4 is provided with positioning grooves 41 arranged in a matrix, and the positioning grooves 41 are provided with a supporting surface 42 inclined at a predetermined angle so that the predetermined surface of the prism faces upward, and both sides of the supporting surface 42 are provided with avoidance grooves 5 for the clamping claws 32 to partially extend into.

[0024] When the prism needs to be moved and flipped, it can be achieved through the multi-axis robot arm 1 in conjunction with the rotating device 2, and its movement is simpler, and its robot arm 3 only needs to swing left and right (tilt swing can be performed simultaneously while swinging left and right), and its handling efficiency is also higher. Its structure is simple and the movement is smooth, which effectively improves production efficiency.

[0025] Specifically, the multi-axis robot 1 includes a base 10, a first robot 11 pivotally mounted on the base 10, a second robot 12 pivotally mounted on the rear end of the first robot 11, and a lifting and rotating rod 13 disposed at the rear end of the second robot 12, and the rotating device 2 is disposed at the lower end of the lifting and rotating rod 13. Of course, a robot with more axes can also be used, but the corresponding cost will also increase accordingly. The structure of the three-axis robot is stable and can be applied to the clamping of a predetermined amplitude or range, which effectively improves the matrix-type flipping of the prism, and has a simple structure, which effectively saves production costs in the later assembly and transportation.

[0026] In the embodiment of the utility model, the lifting and rotating rod 13 is provided with a bending seat 21 , and the rotating device 2 is a swing motor on the rear wall of the bending seat 21 .

[0027] Specifically, the bidirectional clamping motor 31 is pivotally mounted on the bending seat 21 and connected to the swing motor.

[0028] In the embodiment of the utility model, the bending seat 21 is provided with a pivot hole 22, the pivot hole 22 is provided with a rotating shaft 23, the rotating shaft 23 is connected to the swing motor, the front end of the rotating shaft 23 is provided with a base 24 with an area larger than the bidirectional clamping motor 31, and the bidirectional clamping motor 31 is installed on the base 24. Thus, the stable rotation of the bidirectional clamping motor 31 is ensured, thereby realizing faster and more efficient transportation and flipping of the prism.

[0029] Furthermore, the wall surface of the two clamping jaws 32 that is away from each other is an inclined surface, and the inclined surface cooperates with the wall surface of the avoidance groove 5, thereby reducing the interference or contact between the clamping jaws 32 and the tray 4, thereby achieving accurate placement of the prism.

[0030] Specifically, the lower end of the clamping jaw 32 extends out of the lower end of the bending seat 21, thereby reducing the interference between the bending seat 21 and the clamping jaw 32, and avoiding the bending seat 21 from contacting the tray 4. Preferably, the lower end of the clamping jaw 32 extends out of the bending seat 21 by a greater length, thereby achieving the stable extension of the clamping jaw 32 into the avoidance groove 5.

[0031] In the embodiment of the utility model, the tray 4 is made of PPS+30%-40% glass fiber, thereby reducing the friction between the prism and the tray 4 and also avoiding scratches.

[0032] The above description is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the utility model concept, or directly / indirectly used in other related technical fields are included in the patent protection scope of the utility model.

Claims

1. A prism clamping manipulator, characterized in that: include, A multi-axis robot arm, wherein the multi-axis robot arm is provided with a rotating device, the rotating device is provided with a robot arm, the multi-axis robot arm can drive the rotating device to rotate horizontally, rotate axially and move vertically, and the rotating device can drive the robot arm to tilt and swing at a predetermined angle; The manipulator is a bidirectional clamping motor and a clamping claw provided at the driving end of the bidirectional clamping motor; The tray is provided with positioning grooves arranged in a matrix, the positioning grooves are provided with a supporting surface inclined at a predetermined angle and allowing the predetermined surface of the prism to face upward, and avoidance grooves for the clamping claws to extend into are provided on both sides of the supporting surface.

2. The prism clamping manipulator according to claim 1, characterized in that: The multi-axis robotic arm includes a base, a first robotic arm pivotally mounted on the base, a second robotic arm pivotally mounted on the rear end of the first robotic arm, and a lifting and rotating rod arranged at the rear end of the second robotic arm, and the rotating device is arranged at the lower end of the lifting and rotating rod.

3. The prism clamping manipulator according to claim 2, characterized in that: The lifting and rotating rod is provided with a bending seat, and the rotating device is a swing motor on the rear wall of the bending seat.

4. The prism clamping manipulator according to claim 3, characterized in that: The bidirectional clamping motor is pivotally mounted on the bending seat and connected to the swing motor.

5. The prism clamping manipulator according to claim 3, characterized in that: The bending seat is provided with a pivot hole, the pivot hole is provided with a rotating shaft, the rotating shaft is connected to the swing motor, the front end of the rotating shaft is provided with a base with an area larger than that of the bidirectional clamping motor, and the bidirectional clamping motor is installed on the base.

6. The prism clamping manipulator according to claim 1, characterized in that: The wall surfaces of the two clamping jaws that are separated from each other are inclined surfaces, and the inclined surfaces match the wall surfaces of the avoidance groove.

7. The prism clamping manipulator according to claim 1, characterized in that: The lower end of the clamping claw extends out of the lower end of the bending seat.

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