Cantilever grabbing manipulator

Abstract

The utility model discloses a cantilever grabbing manipulator which comprises a main fixing frame. The rear end of the supporting frame is connected with the front end of the main fixing frame. A cylinder body of the vertical air cylinder is installed in the supporting frame. A fixing plate fixedly connected with a bottom plate is arranged below the bottom plate of the supporting frame, and a piston rod of the vertical air cylinder penetrates through the fixing plate. The left side and the right side of the fixed plate are respectively hinged with a claw clamp; a push block is mounted at the tail end of a piston rod of the vertical cylinder; the left end and the right end of the push block are each provided with a linkage rod, and the two ends of each linkage rod are hinged to the push block and the claw clamp. The claw clamp comprises a front clamping plate and a rear clamping plate, and a rotating shaft is arranged at the tops of the clamping plates and penetrates through a body of the fixing plate. A plurality of rolling shafts are arranged on the lower middle portion of the clamping plate along the outline track of the clamping plate, each rolling shaft is provided with a rolling wheel, the diameter of each rolling wheel is larger than the transverse width of the clamping plate, the grabbing mechanical arm is suitable for being used for a cantilever with a circular section, no scar exists in grabbing, no trace is left on an arm body of the cantilever, and meanwhile the grabbing mechanical arm has the advantage of being stable in clamping.

Description

Technical Field

[0001] The utility model specifically relates to a cantilever grabbing manipulator. Background Art

[0002] Automated processing of automobile bogies is a trend. The automobile bogie is assembled from multiple parts, among which the cantilever is one of the main parts. When developing automatic processing equipment, a robot is needed to grab and move the cantilever to different workstations. The robot is equipped with a grabbing manipulator to grab the cantilever. The traditional grabbing manipulator structure is a solid steel finger-like structure. Referring to the grabbing manipulator structure shown in the published patent 2017107028285 (hereinafter referred to as the comparative document), since the cross-section of the cantilever arm body is circular or square, the grabbing manipulator in the comparative document is applicable to grabbing square cantilever, because there is a straight line inside its claw clamp, which fits the contour of the square cantilever more closely. However, when grabbing the circular cantilever, due to structural limitations, the contact area with the arm body is small, and it is easy to leave an indentation on the arm body of the cantilever when the claw clamp is closed (reference Figure 4 ), which will cause the cantilever to fail in the later stage; at the same time, the grasping will be unstable and easy to fall after grasping, which needs to be improved. Utility Model Content

[0003] The utility model aims to provide a cantilever grabbing manipulator to solve the above-mentioned shortcomings.

[0004] The technical solution adopted by the utility model is: a cantilever grabbing manipulator, comprising a main fixing frame, which is used to be connected to the execution end of the robot;

[0005] A support frame, the rear end of which is connected to the front end of the main fixing frame and is used to install a vertical cylinder;

[0006] A vertical cylinder, wherein the cylinder body of the vertical cylinder is installed inside the support frame, and the piston rod penetrates downwardly through the bottom plate of the support frame;

[0007] A fixing plate fixedly connected to the bottom plate is provided below the bottom plate of the support frame, and the piston rod of the vertical cylinder penetrates the fixing plate;

[0008] A claw clamp is hinged on the left and right sides of the fixing plate respectively;

[0009] A push block is installed at the end of the piston rod of the vertical cylinder;

[0010] A linkage rod is respectively arranged at the left and right ends of the push block, and the two ends of the linkage rod are respectively hinged to the side of the push block and the upper position of the inner part of the claw clamp;

[0011] The claw pliers include two front and rear clamps, the clamps are arc-shaped, a rotating shaft is provided on the top of the clamps, and the rotating shaft penetrates the body of the fixed plate;

[0012] A plurality of rollers are arranged along the contour track of the middle and lower part of the clamping plate, the rollers are connected between the two clamping plates, a roller is installed on each of the rollers, and the diameter of the roller is greater than the lateral width of the clamping plate.

[0013] Furthermore, a slide rail is extended forward in front of the main fixing frame, and the top of the support frame is clamped on the slide rail and moves back and forth along the length direction of the slide rail;

[0014] A horizontal cylinder is also arranged at the rear of the main fixing frame, and the piston rod of the horizontal cylinder penetrates the main fixing frame and is connected with the rear end of the supporting frame.

[0015] Beneficial Effects

[0016] The gripping robot is suitable for cantilever with circular cross section. It can grasp without scratches and leave no marks on the cantilever arm. It also has the advantage of stable clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 to Figure 2 It is a structural diagram of the utility model;

[0018] Figure 3 This is a clamping state diagram of the utility model;

[0019] Figure 4 A structural diagram of a gripping manipulator for a comparative document in the prior art;

[0020] in:

[0021] 1-main fixed frame, 2-horizontal cylinder, 3-claw clamp, 4-linkage rod, 5-push block, 6-fixed plate, 7-slide rail, 8-vertical cylinder, 9-support frame;

[0022] 3a- splint, 3b- roller, 3c- roller. DETAILED DESCRIPTION

[0023] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0024] See also Figure 1 to Figure 2 And refer to Figure 3 , a cantilever grasping manipulator, comprising a main fixing frame 1, used to be connected to the execution end of the robot, the main fixing frame 1 is a steel plate bent into an L shape, with a horizontal surface facing upward and a vertical surface facing forward;

[0025] A support frame 9, the rear end of which is connected to the vertical surface of the front end of the main fixing frame 1, and is used to install a vertical cylinder 8;

[0026] A vertical cylinder 8, wherein the cylinder body of the vertical cylinder 8 is installed inside the support frame 9, and the piston rod penetrates downwardly through the bottom plate of the support frame 9;

[0027] A fixing plate 6 fixedly connected to the bottom plate is provided below the bottom plate of the support frame 9, and the piston rod of the vertical cylinder 8 penetrates the fixing plate 6;

[0028] A claw clamp 3 is hinged on the left and right sides of the fixing plate 6. It is common sense that the claw clamps 3 on both sides are symmetrical with each other and the openings are facing inwards. A lug is provided on the left and right sides of the fixing plate 6 for hinged use.

[0029] A push block 5 is installed at the end of the piston rod of the vertical cylinder 8, which is used to push the rotation of the linkage rod 4 and to press the top of the cantilever;

[0030] A linkage rod 4 is provided at the left and right ends of the push block 5, and the two ends of the linkage rod 4 are respectively hinged to the side of the push block 5 and the upper position of the inner part of the claw clamp 3;

[0031] The claw forceps 3 include two front and rear clamps 3a, the clamps 3a are arc-shaped, a rotating shaft is provided on the top of the clamps 3a, the rotating shaft penetrates the lug of the fixed plate, and the two clamps 3a are clamped on the outside of the lug;

[0032] A plurality of rollers 3c are arranged along the contour track in the middle and lower part of the clamping plate 3a, and the rollers 3c are connected between the two clamping plates 3a. A roller 3b is installed on each of the rollers 3c, and the diameter of the roller 3b is larger than the lateral width of the clamping plate 3a, and is used to support the arm of the cantilever. The manipulator uses two groups of rollers arranged on both sides to lift the arm of the cantilever to avoid contact with the corners in the comparison document, and the grasping is done without scars, and no marks are left on the arm of the cantilever. At the same time, it also has the advantage of stable clamping.

[0033] In order to provide path compensation in the forward direction, a slide rail 7 is further extended forward in front of the main fixing frame 1, and the top of the support frame 9 is clamped on the slide rail 7 and moves back and forth along the length direction of the slide rail 7;

[0034] A horizontal cylinder 2 is also arranged behind the vertical plate of the main fixing frame 1. The piston rod of the horizontal cylinder 2 penetrates the vertical plate of the main fixing frame 1 and is connected to the rear end of the support frame 9 to push the support frame 9 to move forward.

[0035] The above are only preferred embodiments of the present invention, and are not intended to limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A cantilever grabbing manipulator, characterized in that: It includes a main fixing frame for connecting to the execution end of the robot; A support frame, the rear end of which is connected to the front end of the main fixing frame and is used to install a vertical cylinder; A vertical cylinder, wherein the cylinder body of the vertical cylinder is installed inside the support frame, and the piston rod penetrates downwardly through the bottom plate of the support frame; A fixing plate fixedly connected to the bottom plate is provided below the bottom plate of the support frame, and the piston rod of the vertical cylinder penetrates the fixing plate; A claw clamp is hinged on the left and right sides of the fixing plate respectively; A push block is installed at the end of the piston rod of the vertical cylinder; A linkage rod is respectively arranged at the left and right ends of the push block, and the two ends of the linkage rod are respectively hinged to the side of the push block and the upper position of the inner part of the claw clamp; The claw pliers include two front and rear clamps, the clamps are arc-shaped, a rotating shaft is provided on the top of the clamps, and the rotating shaft penetrates the body of the fixed plate; A plurality of rollers are arranged along the contour track of the middle and lower part of the clamping plate, the rollers are connected between the two clamping plates, a roller is installed on each of the rollers, and the diameter of the roller is greater than the lateral width of the clamping plate.

2. A cantilever grabbing manipulator according to claim 1, characterized in that: A slide rail is also extended forward in front of the main fixing frame, and the top of the support frame is clamped on the slide rail and moves back and forth along the length direction of the slide rail; A horizontal cylinder is also arranged at the rear of the main fixing frame, and the piston rod of the horizontal cylinder penetrates the main fixing frame and is connected with the rear end of the supporting frame.

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