Manipulator capable of quickly grabbing workpieces

Abstract

The utility model provides a manipulator for quickly grabbing workpieces, which comprises a fixed block and a double-head cylinder connected with the rear side of the fixed block, two piston rod ends of the double-head cylinder are connected with connecting plates, one sides of the two connecting plates are respectively connected with a first sliding frame and a second sliding frame, and the first sliding frame and the second sliding frame are connected with a clamping device. According to the manipulator, the first grabbing arm and the second grabbing arm can be driven to be close to each other by controlling the two piston rods of the double-head air cylinder to contract, a workpiece can be in contact with the anti-skid rubber blocks firstly, meanwhile, the two anti-skid rubber blocks are close to the silica gel block, the spring is compressed, the center of the silica gel block is also extruded by the anti-skid rubber blocks, and the workpiece is clamped. The two sides of the silica gel block are attached to the surface of a workpiece in a surrounding mode, the area of the manipulator for grabbing the workpiece is increased, stability is improved, the silica gel block and the anti-skid rubber blocks protect the workpiece at the same time, hard contact is avoided, grabbing is stable, and meanwhile the workpiece is prevented from sliding and falling off.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical processing, and more specifically, particularly relates to a mechanical arm for quickly grabbing a workpiece. Background Art

[0002] A manipulator is an automatic 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. It can be programmed to complete various expected tasks, and its structure and performance combine the advantages of both human and mechanical machines.

[0003] In the process of rapid grasping of workpieces by existing manipulators, grasping defects are prone to occur due to poor grasping force accuracy, such as slight deformation of the workpiece surface, which can easily damage the workpiece. Workpieces that are not stable enough may also fall and be damaged.

[0004] Therefore, in view of this, research and improvement are carried out on the existing structure and deficiencies, and a manipulator for quickly grasping workpieces is provided, in order to achieve a more practical purpose. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a manipulator for quickly grasping workpieces, which is achieved by the following specific technical means:

[0006] A robot for quickly grabbing workpieces comprises a fixed block and a double-headed cylinder connected to the rear side thereof, wherein the two piston rod ends of the double-headed cylinder are connected to a connecting plate, and one side of the two connecting plates is respectively connected to a first slide and a second slide, the first slide and the second slide are slidably connected to the front side of the fixed block, and the front sides of the first slide and the second slide are respectively connected to a first grabbing arm and a second grabbing arm, the inner sides of the front ends of the first grabbing arm and the second grabbing arm are connected to a silicone block, the inner sides of the two silicone blocks are provided with an anti-slip rubber block, the rear sides of the two anti-slip rubber blocks are connected to a guide rod, one end of the two guide rods passes through the silicone block and the first grabbing arm and the second grabbing arm, the front sides of the two silicone blocks are provided with four through holes, one end of the four through holes is connected to a spring, and one end of the four springs is connected to the rear side of the anti-slip rubber block.

[0007] Furthermore, the front side of the fixed block is connected to two parallel dovetail bars, and the rear sides of the first slide and the second slide are each provided with two dovetail grooves corresponding to the two dovetail bars.

[0008] Furthermore, mounting blocks are installed on the front sides of the first slide and the second slide, and the rear sides of the first grabbing arm and the second grabbing arm are fixedly connected to the corresponding mounting blocks.

[0009] Furthermore, a positioning groove is provided at the center of the front side of each of the first slide and the second slide, and the bottoms of the two mounting blocks are integrally formed with positioning blocks matching the positioning groove.

[0010] Furthermore, a plurality of mounting holes are equidistantly provided on the front sides of the first grabbing arm and the second grabbing arm, and two mounting screws are provided on the two mounting blocks, and the mounting screws pass through the mounting blocks and are threadedly connected to the corresponding mounting holes.

[0011] Furthermore, the rear sides of the two silicone blocks are connected with adhesive layers, and the two adhesive layers are bonded to the inner sides of the front ends of the first grabbing arm and the second grabbing arm.

[0012] Furthermore, a U-shaped frame is clamped on the outer side of the front end of the first grabbing arm and the second grabbing arm, and locking screws are provided on the top and bottom of the U-shaped frame, and each of the locking screws is threadedly connected to the inside of the silicone block.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] 1. In the utility model, the manipulator controls the contraction of the two piston rods of the double-headed cylinder to drive the first grabbing arm and the second grabbing arm to approach each other. The workpiece will first contact the anti-slip rubber block. At the same time, the two anti-slip rubber blocks are moved closer to the silicone block, and the spring is compressed by it. The center of the silicone block is also squeezed by the anti-slip rubber block, so that the two sides of the silicone block are squeezed by the anti-slip rubber block and quickly deformed. The two sides of the silicone block are fitted and surrounded on the surface of the workpiece, increasing the area of ​​the manipulator grasping the workpiece and improving the stability. The silicone block and the anti-slip rubber block protect the workpiece at the same time to avoid hard contact. The grasping is stable and the workpiece is prevented from sliding and falling off.

[0015] 2. By setting up a U-shaped frame, locking screws, adhesive layer, spring, anti-slip rubber block and silicone block for use together, when the silicone block and the anti-slip rubber block are severely worn and need to be replaced, remove the locking screws from the silicone block, pull the U-shaped frame outward to make the U-shaped frame separate from the silicone block, and the anti-slip rubber block and the silicone block can be removed, thereby facilitating the disassembly and replacement of the anti-slip rubber block and the silicone block. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a three-dimensional structure diagram of the utility model. Figure 1 .

[0017] Figure 2 This is a three-dimensional structure diagram of the utility model. Figure 2 .

[0018] Figure 3 The utility model Figure 1 A is an enlarged schematic diagram.

[0019] Figure 4 It is a three-dimensional structural schematic diagram of the silica gel block of the utility model.

[0020] In the figure, the corresponding relationship between the component names and the figure numbers is as follows:

[0021] 1. Fixing block; 2. Double-headed cylinder; 3. Connecting plate; 4. First slide; 5. Second slide; 6. First grabbing arm; 7. Second grabbing arm; 8. Silicone block; 9. Anti-slip rubber block; 10. Spring; 11. Through hole; 12. Guide rod; 13. Adhesive layer; 14. U-shaped frame; 15. Locking screw; 16. Dovetail strip; 17. Dovetail groove; 18. Mounting hole; 19. Mounting block; 20. Mounting screw; 21. Positioning groove; 22. Positioning block. DETAILED DESCRIPTION

[0022] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0023] In the description of the present invention, unless otherwise specified, "multiple" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] Example:

[0026] As attached Figure 1 To Attachment Figure 4 As shown:

[0027] The utility model provides a manipulator for quickly grasping workpieces, including a fixed block 1 and a double-headed cylinder 2 connected to the rear side thereof, two piston rod ends of the double-headed cylinder 2 are connected to a connecting plate 3, one side of the two connecting plates 3 is respectively connected to a first slide 4 and a second slide 5, the first slide 4 and the second slide 5 are slidably connected to the front side of the fixed block 1, the front sides of the first slide 4 and the second slide 5 are respectively connected to a first grabbing arm 6 and a second grabbing arm 7, the inner sides of the front ends of the first grabbing arm 6 and the second grabbing arm 7 are respectively connected, a silicone block 8 is connected to the inner sides of the two silicone blocks 8, anti-skid rubber blocks 9 are provided on the inner sides of the two anti-skid rubber blocks 9, guide rods 12 are connected to the rear sides of the two guide rods 12, one end of the two guide rods 12 passes through the silicone block 8 and the first grabbing arm 6 and the second grabbing arm 7, the two Four through holes 11 are provided on the front side of the silicone block 8, and one end of the four through holes 11 is connected to a spring 10, and one end of the four springs 10 is connected to the rear side of the anti-slip rubber block 9. The two anti-slip rubber blocks 9 first contact and fit the surface of the workpiece. After the two anti-slip rubber blocks 9 are subjected to force, they move toward the direction of the silicone block 8, thereby causing the guide rod 12 to slide backward. At this time, the spring 10 is compressed by the anti-slip rubber block 9. At the same time, the center of the silicone block 8 is also squeezed by the anti-slip rubber block 9, so that the two sides of the silicone block 8 are squeezed by the anti-slip rubber block 9 and deformed quickly. At this time, the two sides of the silicone block 8 are fitted and surrounded by the surface of the workpiece, the center of the workpiece is contacted and clamped by the anti-slip rubber block 9, and the two sides of the workpiece are surrounded and clamped by the deformed silicone block 8, thereby increasing the area for the manipulator to grasp the workpiece.

[0028] In other embodiments, two parallel dovetail bars 16 are connected to the front side of the fixed block 1, and two dovetail grooves 17 are provided on the rear sides of the first slide 4 and the second slide 5 corresponding to the two dovetail bars 16. By arranging the dovetail bars 16 and the dovetail grooves 17 for use in conjunction with each other, the moving first slide 4 and the second slide 5 are guided, and the movement of the first slide 4 and the second slide 5 is also smoother.

[0029] In other embodiments, mounting blocks 19 are installed on the front sides of the first slide 4 and the second slide 5, and the rear sides of the first grabbing arm 6 and the second grabbing arm 7 are fixedly connected to the corresponding mounting blocks 19. The two mounting blocks 19 are used to make the first grabbing arm 6 and the second grabbing arm 7 detachably connected to the first slide 4 and the second slide 5.

[0030] In other embodiments, a positioning groove 21 is provided at the center of the front side of the first slide 4 and the second slide 5, and the bottoms of the two mounting blocks 19 are integrally formed with positioning blocks 22 that match the positioning groove 21. By setting the positioning groove 21 and the positioning block 22 for use in conjunction, the two mounting blocks 19 are installed on the first slide 4 and the second slide 5 for positioning.

[0031] In other embodiments, a plurality of mounting holes 18 are equidistantly provided on the front sides of the first grabbing arm 6 and the second grabbing arm 7, and two mounting screws 20 are provided on the two mounting blocks 19. The mounting screws 20 pass through the mounting blocks 19 and are threadedly connected to the corresponding mounting holes 18. By setting the mounting holes 18 and the mounting screws 20 for use in conjunction, the clamping distance between the first grabbing arm 6 and the second grabbing arm 7 can be adjusted.

[0032] In other embodiments, the rear sides of the two silicone blocks 8 are connected with an adhesive layer 13, and the two adhesive layers 13 are bonded to the inner sides of the front ends of the first grabbing arm 6 and the second grabbing arm 7. The adhesive layer 13 can be used to stick the two silicone blocks 8 to the inner sides of the front ends of the first grabbing arm 6 and the second grabbing arm 7 for preliminary fixation.

[0033] In other embodiments, a U-shaped frame 14 is provided on the outer side of the front end of the first grabbing arm 6 and the second grabbing arm 7, and locking screws 15 are provided on the top and bottom of the U-shaped frame 14, and each locking screw 15 is threadedly connected to the inside of the silicone block 8. When the silicone block 8 and the anti-slip rubber block 9 are severely worn and need to be replaced, the locking screws 15 are removed from the silicone block 8, and the U-shaped frame 14 is pulled outward to separate the U-shaped frame 14 from the silicone block 8 and the guide rod 12, so that the anti-slip rubber block 9 and the silicone block 8 can be disassembled and removed, thereby facilitating the disassembly and replacement of the anti-slip rubber block 9 and the silicone block 8.

[0034] The specific usage and function of this embodiment are as follows:

[0035] In the utility model, when the manipulator is used to quickly grasp a workpiece, the double-headed cylinder 2 is started, and the two piston rods of the double-headed cylinder 2 are retracted, thereby driving the two connecting plates 3 to move toward the center, and then driving the first slide 4 and the second slide 5 to move toward the center, and then synchronously driving the first grabbing arm 6 and the second grabbing arm 7 to move toward the center, so that the two anti-skid rubber blocks 9 first contact and fit the surface of the workpiece, and the two anti-skid rubber blocks 9 move toward the direction of the silicone block 8 after being subjected to force, so that the guide rod 12 slides backward. At this time, the spring 10 is pressed by the anti-skid rubber block 9 The silicone block 8 is compressed by force, and at the same time, the center of the silicone block 8 is also squeezed by the anti-slip rubber block 9, so that the two sides of the silicone block 8 are squeezed by the anti-slip rubber block 9 and quickly deformed. The two sides of the silicone block 8 are fitted and surrounded on the surface of the workpiece, and the center of the workpiece is contacted and clamped by the anti-slip rubber block 9. The two sides of the workpiece are surrounded and clamped by the deformed silicone block 8, which increases the area of ​​the manipulator to grasp the workpiece and improves stability. The silicone block 8 and the anti-slip rubber block 9 protect the workpiece at the same time to avoid hard contact. While grasping stably, it also prevents the workpiece from sliding and falling off. At this time, the workpiece can be grasped.

[0036] It should be noted that the specific model and specifications of the double-headed cylinder 2 need to be selected and determined according to the actual specifications of the device, etc. The specific selection calculation method adopts the existing technology in the field, so it will not be described in detail. The double-headed cylinder 2 is a device or equipment that exists in the prior art, or is a device or equipment that can be realized by the prior art. Its power supply, specific composition and principle are clear to technical personnel in this field, and are common knowledge in the field, so it will not be described in detail.

[0037] The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A manipulator for quickly grabbing a workpiece, characterized in that: The invention comprises a fixed block (1) and a double-headed cylinder (2) connected to the rear side thereof, wherein the two piston rod ends of the double-headed cylinder (2) are both connected to a connecting plate (3), one side of the two connecting plates (3) is respectively connected to a first slide (4) and a second slide (5), the first slide (4) and the second slide (5) are slidably connected to the front side of the fixed block (1), the front sides of the first slide (4) and the second slide (5) are respectively connected to a first grabbing arm (6) and a second grabbing arm (7), the inner sides of the front ends of the first grabbing arm (6) and the second grabbing arm (7) are Both are connected to a silicone block (8), and an anti-skid rubber block (9) is provided on the inner side of the two silicone blocks (8). The rear sides of the two anti-skid rubber blocks (9) are connected to a guide rod (12), and one end of the two guide rods (12) passes through the silicone block (8) and the first grabbing arm (6) and the second grabbing arm (7). The front sides of the two silicone blocks (8) are provided with four through holes (11), and one end of the four through holes (11) is connected to a spring (10), and one end of the four springs (10) is connected to the rear side of the anti-skid rubber block (9).

2. The robot for quickly grabbing a workpiece as claimed in claim 1, characterized in that: The front side of the fixed block (1) is connected to two parallel dovetail strips (16), and the rear sides of the first slide (4) and the second slide (5) are each provided with two dovetail grooves (17) corresponding to the two dovetail strips (16).

3. The robot for quickly grabbing a workpiece as claimed in claim 1, characterized in that: The front sides of the first sliding frame (4) and the second sliding frame (5) are both installed with mounting blocks (19), and the rear sides of the first grabbing arm (6) and the second grabbing arm (7) are both fixedly connected to the corresponding mounting blocks (19).

4. The robot for quickly grabbing a workpiece as claimed in claim 3, characterized in that: A positioning groove (21) is provided at the center of the front side of the first slide (4) and the second slide (5), and a positioning block (22) matching the positioning groove (21) is integrally formed and connected to the bottom of the two mounting blocks (19).

5. The robot for quickly grabbing a workpiece as claimed in claim 3, characterized in that: A plurality of mounting holes (18) are equidistantly provided on the front sides of the first grabbing arm (6) and the second grabbing arm (7), and two mounting screws (20) are provided on the two mounting blocks (19), wherein the mounting screws (20) pass through the mounting blocks (19) and are threadedly connected to the inside of the corresponding mounting holes (18).

6. The robot for quickly grabbing a workpiece as claimed in claim 1, characterized in that: The rear sides of the two silicone blocks (8) are both connected with an adhesive layer (13), and the two adhesive layers (13) are both bonded to the inner sides of the front ends of the first grabbing arm (6) and the second grabbing arm (7).

7. The robot for quickly grabbing a workpiece as claimed in claim 1, characterized in that: A U-shaped frame (14) is clamped on the outer side of the front end of the first grabbing arm (6) and the second grabbing arm (7), and locking screws (15) are provided on the top and bottom of the U-shaped frame (14), and each of the locking screws (15) is threadedly connected to the inside of the silicone block (8).

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