Opening and closing manipulator

Abstract

The utility model discloses an opening and closing manipulator which comprises a cross beam, a left arm and a right arm, and the left arm and the right arm are arranged at the two ends of the bottom of the cross beam respectively and can move oppositely. A driving mechanism for driving the left arm and the right arm to move in opposite directions is arranged on the cross beam, and comprises a turntable rotationally arranged at the bottom of the cross beam, a driving assembly for driving the turntable to rotate, and two connecting rods for connecting the turntable with the left arm and the right arm respectively; one ends of the two connecting rods are hinged to the opposite directions of the circumference of the rotary disc respectively, and the other ends of the two connecting rods are hinged to the left arm and the right arm respectively. The driving mechanism drives the rotating disc to rotate and drives the two connecting rods hinged to the two sides of the rotating disc to move in the opposite direction, the two connecting rods pull the left arm and the right arm to move in the opposite direction to clamp a product, the longitudinal installation space of the mechanical arm can be saved, the opening size of the mechanical arm can be adjusted within a certain range, and the mechanical arm is convenient to use. The device is suitable for different sizes of loads.

Description

Technical Field

[0001] The utility model relates to the technical field of conveyor lines, in particular to an opening and closing manipulator. Background Art

[0002] During the production process, a clamping mechanism is used to clamp the two sides of the product and move it to a specified position. Common clamping mechanisms use two cylinders to drive two jaws to open and close to clamp the product. The two cylinder drives may cause the two jaws to move asynchronously, and at the same time, it takes up more installation space. Or a simple manipulator with gear transmission such as that disclosed in the Chinese patent announced as CN103624770A is used, in which a vertical cylinder drives the rack to move up and down, thereby driving the gears on both sides of the rack to rotate. The rotation of the two gears will drive the two racks to move horizontally, thereby realizing the opening and closing of the jaws. The defects of this manipulator are also obvious. The greater the opening degree of the two jaws, the longer the length of the rack, which will increase the installation space of the manipulator. At the same time, the rack connected to the cylinder may contact the product when it moves vertically downward, which will interfere with the clamping of the product. Utility Model Content

[0003] The utility model aims to solve the above problems and designs an opening and closing manipulator, which solves the problems of the existing manipulators having poor generality and occupying installation space.

[0004] The technical solution of the utility model for achieving the above-mentioned purpose is an opening and closing manipulator, comprising a crossbeam, a left arm and a right arm, wherein the left arm and the right arm are respectively arranged at two ends of the bottom of the crossbeam and can move toward each other;

[0005] The crossbeam is provided with a driving mechanism for driving the left arm and the right arm to move toward each other, and the driving mechanism includes a turntable rotatably arranged at the bottom of the crossbeam, a driving assembly for driving the turntable to rotate, and two connecting rods respectively used to connect the turntable and the left arm and the right arm, one end of the two connecting rods is respectively hinged on the opposite side of the circumference of the turntable, and the other end is respectively hinged to the left arm and the right arm.

[0006] Preferably, at least one guide rod is provided at the bottom of the cross beam, two ends of the guide rod are respectively fixed on two connecting blocks at the bottom of the cross beam, and the left arm and the right arm are slidably connected to the guide rod.

[0007] Preferably, the driving assembly includes a driving cylinder fixedly mounted on a crossbeam, a rack hinged to an output end of the driving cylinder, and a gear meshing with the rack. A rotating shaft is fixedly mounted on the turntable, the gear is fixed to an upper end of the rotating shaft, a supporting wheel is arranged on the opposite side of the gear, a channel for the rack to move is formed between the supporting wheel and the gear, and the side of the rack away from the gear is pressed against the supporting wheel.

[0008] Preferably, two pin holes are provided on the circumference of the bottom of the turntable, a pin shaft is arranged in each pin hole, one end of the two connecting rods is hinged to the corresponding pin shaft, and the other end is hinged to the left arm and the right arm.

[0009] Preferably, a plurality of side rollers are provided on opposite sides of the left arm and the right arm, and the plurality of side rollers are divided into two layers, each layer is provided with a plurality of side rollers, and the side rollers are rotatably connected to the left arm and the right arm.

[0010] Preferably, the left arm or the right arm is provided with two positioning mechanisms for positioning the side surfaces of the product, and the two positioning mechanisms are respectively located above the two layers of side rollers.

[0011] Preferably, the positioning mechanism includes a cylinder fixing block, a positioning cylinder mounted on the cylinder fixing block, and a positioning pin connected to the output end of the positioning cylinder, the cylinder fixing block is provided with an insertion hole, and the positioning pin is slidably connected to the insertion hole.

[0012] Compared with the prior art, the beneficial effects are:

[0013] In the utility model, a driving mechanism is used to drive the turntable to rotate, thereby driving two connecting rods hinged to the two sides of the turntable to move toward each other, and the two connecting rods pull the left arm and the right arm to move toward each other to clamp the product. First, one driving mechanism can drive the left arm and the right arm to open and close, which can save the longitudinal installation space of the manipulator. Second, the driving mechanism is located above the crossbeam, so the operation of the driving mechanism will not affect the operation of the left arm and the right arm below the crossbeam. At the same time, due to the obstruction of the crossbeam, the manipulator can grab high-temperature or other special load products. The opening and closing of the manipulator is driven by the rotation of the turntable to move the connecting rod, and the opening size of the manipulator can be adjusted within a certain range, which is suitable for loads of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the opening and closing manipulator in the utility model;

[0015] Figure 2 It is a schematic diagram of the top structure of the opening and closing manipulator;

[0016] Figure 3 It is a schematic diagram of the bottom structure of the opening and closing manipulator;

[0017] Figure 4 It is a schematic diagram of the cross-sectional structure of the opening and closing manipulator when it is working.

[0018] In the figure, 1. crossbeam; 2. driving assembly; 21. driving cylinder; 22. rack; 23. gear; 3. left arm; 4. right arm; 5. positioning mechanism; 51. cylinder fixing block; 52. positioning cylinder; 53. positioning pin; 6. connecting assembly; 7. side roller; 8. turntable; 9. connecting rod; 10. supporting wheel. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. 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.

[0020] like Figure 1 and Figure 2 As shown, a preferred embodiment of the utility model proposes an opening and closing manipulator, which mainly includes a beam 1, a left arm 3, a right arm 4, a driving mechanism and other components, wherein a guide rod is arranged on both sides of the bottom of the beam 1, and a connecting block is arranged at the four corners of the bottom of the beam 1, and the two ends of the guide rod are respectively fixed on the connecting blocks, and the left arm 3 and the right arm 4 are divided into two ends located at the bottom of the beam 1, and are horizontally slidably connected with the two guide rods, and the driving mechanism is drivingly connected to the left arm 3 and the right arm 4, and is used for controlling the left arm 3 and the right arm 4 to open or close.

[0021] like Figure 2 , Figure 4 As shown, the driving mechanism is mainly composed of a driving assembly 2, a turntable 8, and two connecting rods 9, wherein the driving assembly 2 is composed of a driving cylinder 21, a gear 23, and a rack 22.

[0022] A bearing is provided at the center of the crossbeam 1, and a rotating shaft is rotatably connected to the bearing. The lower end of the rotating shaft is connected to the turntable 8, and the upper end of the rotating shaft is connected to the gear 23. A sleeve is provided between the turntable 8 and the rotating shaft for fixing the turntable 8; a driving cylinder 21 is installed and fixed on the crossbeam 1, and the output end of the driving cylinder 21 is hinged to the rack 22, and the rack 22 is meshed with the gear 23. A supporting wheel 10 is provided on the opposite side of the gear 23, and the supporting wheel 10 is rotatably connected to the crossbeam 1. A channel for the rack 22 to move is formed between the supporting wheel 10 and the gear 23. The side extrusion force of the rack 22 is given by the supporting wheel 10, so that the rack 22 is firmly meshed with the gear 23, and the driving cylinder 21 moves through the driving gear 23, thereby driving the rotating shaft to rotate through the gear 23, and then driving the turntable 8 to rotate.

[0023] The two connecting rods 9 correspond to the left arm 3 and the right arm 4 respectively. Two pin holes are opened on the circumference of the bottom of the turntable 8. The two pin holes are symmetrically distributed. A pin shaft is arranged in each pin hole. Among the two connecting rods 9, one end of one connecting rod 9 is hinged to the corresponding pin shaft, and the other end is hinged to the middle part of the top of the left arm 3. One end of the other connecting rod 9 is hinged to the pin shaft, and the other end is hinged to the middle part of the top of the right arm 4. When the turntable 8 rotates, it can drive the two connecting rods 9 to move toward or away from each other, thereby driving the left arm 3 and the right arm 4 to move toward or away from each other along the guide rod to clamp or release the product.

[0024] like Figure 3 As shown, a plurality of side rollers 7 are arranged on the opposite sides of the left arm 3 and the right arm 4. The side rollers 7 on each arm are divided into two layers, an upper layer and an lower layer, each layer has four side rollers 7, and the side rollers 7 are rotatably connected to the left arm 3 and the right arm 4. The upper and lower layers of side rollers 7 are used to drag the upper and lower parts of the product. At the same time, the side rollers 7 can also play a guiding role, guiding the product to enter the bottom of the manipulator, and then the left arm 3 and the right arm 4 are closed to clamp the upper and lower parts of the product.

[0025] In order to accurately position the upper and lower parts of the product, two positioning mechanisms 5 are provided on the left arm 3, and two positioning mechanisms 5 can also be provided on the right arm 4. The two positioning mechanisms 5 correspond to the two layers of side rollers 7 respectively, and the positioning mechanisms 5 are located above the side rollers 7 of each layer.

[0026] like Figure 2 As shown, the positioning mechanism 5 is composed of a cylinder fixing block 51, a positioning cylinder 52 and a positioning pin 53. The cylinder fixing block 51 is fixed on the left arm 3, and the positioning cylinder 52 is horizontally installed on the side of the cylinder fixing block 51. An insertion hole is opened on the cylinder fixing block 51. The positioning pin 53 is located in the insertion hole and is fixedly connected to the output end of the positioning cylinder 52. The positioning pin 53 can be controlled by the positioning cylinder 52 to slide along the insertion hole and extend to the outside of the insertion hole. The positioning pin 53 can cooperate with the positioning holes on the sides of the upper and lower parts of the product. The positioning pin 53 is inserted into the positioning hole to position the upper and lower parts of the product, so that the position of the upper and lower parts of the product is consistent, which is convenient for subsequent assembly.

[0027] A connecting component 6 is also provided on the top of the crossbeam 1, and the component is connected with other auxiliary devices for installing and fixing the manipulator, which is convenient for installation and disassembly.

[0028] The above technical solutions only reflect the preferred technical solutions of the technical solutions of the utility model. Some changes that may be made to certain parts thereof by technicians in this technical field all reflect the principles of the utility model and fall within the protection scope of the utility model.

Claims

1. An opening and closing robot, comprising a crossbeam (1), a left arm (3) and a right arm (4), characterized in that: The left arm (3) and the right arm (4) are respectively arranged at two ends of the bottom of the crossbeam (1) and are capable of moving towards each other; The crossbeam (1) is provided with a driving mechanism for driving the left arm (3) and the right arm (4) to move toward each other, the driving mechanism comprising a turntable (8) rotatably arranged at the bottom of the crossbeam (1), a driving assembly (2) for driving the turntable (8) to rotate, and two connecting rods (9) respectively used to connect the turntable (8) and the left arm (3) and the right arm (4), one end of the two connecting rods (9) is respectively hinged on the opposite side of the circumference of the turntable (8), and the other end is respectively hinged to the left arm (3) and the right arm (4).

2. The opening and closing robot according to claim 1, characterized in that: At least one guide rod is provided at the bottom of the crossbeam (1), and the two ends of the guide rod are respectively fixed on two connecting blocks at the bottom of the crossbeam (1), and the left arm (3) and the right arm (4) are slidably connected to the guide rod.

3. The opening and closing robot according to claim 1, characterized in that: The driving assembly (2) comprises a driving cylinder (21) fixedly arranged on the crossbeam (1), a rack (22) hingedly connected to the output end of the driving cylinder (21), and a gear (23) meshing with the rack (22); a rotating shaft is fixedly arranged on the rotating disk (8); the gear (23) is fixed to the upper end of the rotating shaft; a supporting wheel (10) is arranged on the opposite side of the gear (23); a channel for the rack (22) to move is formed between the supporting wheel (10) and the gear (23); and a side of the rack (22) away from the gear (23) is closely attached to the supporting wheel (10).

4. The opening and closing robot according to claim 3, characterized in that: Two pin holes are provided on the circumference of the bottom of the rotating disk (8), each of which is provided with a pin shaft. One end of the two connecting rods (9) is respectively hinged to the corresponding pin shaft, and the other end is respectively hinged to the left arm (3) and the right arm (4).

5. The opening and closing robot according to claim 1, characterized in that: A plurality of side rollers (7) are arranged on opposite sides of the left arm (3) and the right arm (4); the side rollers (7) are divided into two layers, an upper layer and an lower layer, each layer is provided with a plurality of side rollers (7); and the side rollers (7) are rotatably connected to the left arm (3) and the right arm (4).

6. The opening and closing robot according to claim 5, characterized in that: The left arm (3) or the right arm (4) is provided with two positioning mechanisms (5) for positioning the side surfaces of the product, and the two positioning mechanisms (5) are respectively located above the two layers of side rollers (7).

7. The opening and closing robot according to claim 6, characterized in that: The positioning mechanism (5) comprises a cylinder fixing block (51), a positioning cylinder (52) mounted on the cylinder fixing block (51), and a positioning pin (53) connected to the output end of the positioning cylinder (52); an insertion hole is provided on the cylinder fixing block (51), and the positioning pin (53) is slidably connected to the insertion hole.

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