Double-claw type suction cup manipulator

Abstract

The utility model discloses a double-claw type sucker manipulator, and belongs to the field of double-claw type sucker manipulators. A double-claw type suction cup mechanical arm comprises a workbench and a supporting plate arranged on the surface of the workbench, and further comprises a fixing plate fixedly connected to the supporting plate, and an installation cavity is formed in the fixing plate; the push plate is connected in the mounting cavity of the fixed plate in a sliding manner; the connecting plate is hinged to the top end of the push plate; and the clamping jaw is hinged to the top end of the connecting plate. According to the double-claw type suction cup mechanical arm, the push plate pushes and drives the connecting plate to rotate, so that the clamping claws and the suction cup rotate to clamp a workpiece, the first rack abuts against the workpiece and retreats, the first gear rotates, the first gear drives the second rack to slide, abuts against the rotating second gear and clamps the rotating second gear, and the second gear stops rotating; and therefore, the workpiece can be protected from being damaged and deformed while the workpiece is clamped and fixed.

Description

Technical Field

[0001] The utility model relates to the technical field of double-claw type suction cup manipulators, in particular to a double-claw type suction cup manipulator. Background Art

[0002] The double-claw suction cup manipulator is a mechanical device used in automated production lines. The double-claw suction cup manipulator can grasp and move parts through the suction cup to realize the automation of product assembly. It can accurately grasp and manipulate parts of various shapes and sizes, greatly improving production efficiency and product quality.

[0003] The existing double-claw suction cup manipulator does not have the function of protecting the workpiece when clamping some workpieces with low hardness. It is easy to over-clamp and cause damage or deformation of the workpiece, and it does not have the function of adjusting the position. Utility Model Content

[0004] The utility model aims to solve the problem that the double-claw suction cup manipulator in the prior art does not have the function of protecting the workpiece and is inconvenient to adjust the position, and proposes a double-claw suction cup manipulator.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A double-claw suction cup manipulator includes a workbench and a support plate arranged on the surface of the workbench, and also includes: a fixed plate fixedly connected to the support plate, an installation cavity is opened inside the fixed plate; a push plate slidably connected in the installation cavity of the fixed plate; a connecting plate hinged on the top of the push plate; a clamping claw hinged on the top of the connecting plate; a suction cup fixedly connected to the clamping claw; and an electric push rod fixedly connected to the bottom of the push plate.

[0007] Preferably, the connecting plate and the clamping jaws are provided in two groups, and the two groups of clamping jaws and suction cups are symmetrically arranged with the center line of the push plate as the symmetry axis.

[0008] Preferably, a first circular support rod passes through the hinged portion of the two clamping jaws and is rotatably connected to the clamping jaws, and the first circular support rod is rotatably connected in the mounting cavity of the fixing plate.

[0009] Preferably, the suction cup and the clamp are provided with slide grooves of the same size, the slide grooves of the suction cup and the clamp are penetrated by a first rack and are slidably connected to the slide grooves of the suction cup and the clamp, the surface of the workbench close to the clamp is rotatably connected to a second circular support rod, the surface of the second circular support rod is penetrated by a first gear and is fixedly connected to the second circular support rod, and the first gear is meshed with the first rack.

[0010] Preferably, a vertical plate is fixedly connected to the surface of the workbench close to the suction cup, a sliding groove is provided on the top surface of the vertical plate, a second rack is slidably connected in the sliding groove of the vertical plate, the second rack is meshed with the first gear, and a pointed head is provided on one end surface of the second rack close to the first gear.

[0011] Preferably, strip plates are fixedly connected to both side surfaces of the push plate, and a third rack is fixedly connected to one end of the strip plate away from the push plate.

[0012] Preferably, the two side surfaces of the workbench close to the third rack are rotatably connected to a third circular support rod, the surface of the third circular support rod is penetrated by a second gear and fixedly connected to the third circular support rod, and the third rack is meshed with the second gear.

[0013] Preferably, one end of the electric push rod away from the push plate is fixedly connected to a vertical plate, and the vertical plate is fixedly connected to the workbench.

[0014] Preferably, universal wheels are fixedly provided on the bottom of the workbench.

[0015] Preferably, a spring is sleeved on the surface of the first rack, one end of the spring is fixedly connected to the first rack, and the other end of the spring is fixedly connected to the inner wall of the sliding groove of the clamping jaw.

[0016] Compared with the prior art, the utility model provides a double-claw suction cup manipulator, which has the following beneficial effects:

[0017] 1. The double-claw suction cup manipulator is pushed by the push plate to drive the connecting plate to rotate, so that the clamping claws and the suction cup rotate to clamp the workpiece, the first rack contacts the workpiece and retreats, so that the first gear rotates, and the first gear drives the second rack to slide, contacts the rotating second gear and gets stuck, so that the second gear stops rotating, so that the push plate can not continue to push, which helps to clamp the workpiece and protect the workpiece from damage and deformation.

[0018] 2. The double-claw suction cup manipulator can adjust the direction and angle of the clamp and suction cup through the universal wheel mobile workbench to adapt to workpieces in different positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of a double-claw suction cup manipulator proposed by the utility model;

[0020] Figure 2 A double-claw suction cup manipulator proposed in the utility model Figure 1 Schematic diagram of the structure of part A;

[0021] Figure 3This is a schematic diagram of the top view of a double-claw suction cup manipulator proposed by the utility model;

[0022] Figure 4 A double-claw suction cup manipulator proposed in the utility model Figure 3 The structural diagram of part B;

[0023] Figure 5 This is a structural schematic diagram of a cross section of a fixed plate in a double-claw suction cup manipulator proposed by the utility model;

[0024] Figure 6 A double-claw suction cup manipulator proposed in the utility model Figure 5 Schematic diagram of the structure of part C;

[0025] Figure 7 This is a partial structural schematic diagram of a double-claw suction cup manipulator proposed by the utility model;

[0026] Figure 8 A double-claw suction cup manipulator proposed in the utility model Figure 7 The structural diagram of the D part;

[0027] Fig. 9 A double-claw suction cup manipulator proposed in the utility model Figure 1 Schematic diagram of the structure of part E.

[0028] In the figure: 1. workbench; 2. support plate; 3. fixed plate; 4. push plate; 5. connecting plate; 6. clamping claw; 7. suction cup; 8. electric push rod; 9. first circular support rod; 10. first rack; 11. second circular support rod; 12. first gear; 13. vertical plate; 14. second rack; 15. strip plate; 16. third rack; 17. third circular support rod; 18. second gear; 19. vertical plate; 20. universal wheel; 21. spring. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0030] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0031] Reference Figure 1-Figure 9 , a double-claw suction cup manipulator comprises a workbench 1 and a support plate 2 arranged on the surface of the workbench 1, and also comprises: a fixed plate 3, fixedly connected to the support plate 2, and an installation cavity is opened inside the fixed plate 3; a push plate 4, slidably connected in the installation cavity of the fixed plate 3; a connecting plate 5, hinged at the top of the push plate 4; a clamping claw 6, hinged at the top of the connecting plate 5; a suction cup 7, fixedly connected to the clamping claw 6; an electric push rod 8, fixedly connected to the bottom of the push plate 4. When the workpiece needs to be clamped and fixed, the workbench 1 is moved to a suitable position, and the push plate 4 is pushed by the electric push rod 8 to rotate the connecting plate 5. When the connecting plate 5 rotates, the clamping claw 6 is driven to rotate toward the center of the workbench 1, and the two clamping claws 6 rotate towards each other, thereby driving the suction cup 7 to clamp the workpiece.

[0032] There are two groups of connecting plates 5 and clamps 6, and the two groups of clamps 6 and suction cups 7 are symmetrically arranged with the center line of the push plate 4 as the symmetry axis. By pushing the push plate 4, the two clamps 6 and suction cups 7 can clamp and fix the workpiece, making the clamping effect more stable.

[0033] A first circular support rod 9 runs through the hinge of the two clamping jaws 6 and is rotatably connected to the clamping jaws 6. The first circular support rod 9 is rotatably connected in the installation cavity of the fixed plate 3. The first circular support rod 9 can support and limit the clamping jaws 6 when they rotate.

[0034] The suction cup 7 and the clamping jaw 6 are provided with sliding grooves of the same size, and the sliding grooves of the suction cup 7 and the clamping jaw 6 are penetrated by a first rack 10 and are slidably connected to the sliding grooves of the suction cup 7 and the clamping jaw 6. The surface of the workbench 1 close to the clamping jaw 6 is rotatably connected to a second circular support rod 11, and the surface of the second circular support rod 11 is penetrated by a first gear 12 and is fixedly connected to the second circular support rod 11. The first gear 12 is meshed with the first rack 10. When the two suction cups 7 clamp the workpiece, they first contact the first rack 10, and the first rack 10 slides in the opposite direction along the sliding grooves inside the suction cup 7 and the clamping jaw 6 and meshes with the first gear 12, so that the first gear 12 can be rotated, and the second circular support rod 11 plays a role in supporting the first gear 12.

[0035] A vertical plate 13 is fixedly connected to the surface of the workbench 1 close to the suction cup 7, and a sliding groove is provided on the top surface of the vertical plate 13. A second rack 14 is slidably connected in the sliding groove of the vertical plate 13. The second rack 14 is meshed with the first gear 12. A pointed head is provided on the surface of one end of the second rack 14 close to the first gear 12. When the first gear 12 rotates, it will drive the second rack 14 to slide in the sliding groove of the vertical plate 13 toward the edge of the workbench 1.

[0036] The two side surfaces of the push plate 4 are fixedly connected with strip plates 15 , and one end of the strip plate 15 away from the push plate 4 is fixedly connected with a third rack 16 .

[0037] The two side surfaces of the workbench 1 close to the third rack 16 are rotatably connected with a third circular support rod 17, the surface of the third circular support rod 17 is penetrated by a second gear 18 and is fixedly connected to the third circular support rod 17, the third rack 16 is meshed with the second gear 18, when the push plate 4 is pushed, the third rack 16 is driven to slide upward through the strip plate 15 and meshed with the second gear 18, so that the second gear 18 can continue to rotate.

[0038] One end of the electric push rod 8 away from the push plate 4 is fixedly connected to a vertical plate 19 , and the vertical plate 19 is fixedly connected to the workbench 1 . The vertical plate 19 can support and stabilize the electric push rod 8 .

[0039] Universal wheels 20 are fixedly provided at the bottom of the workbench 1, and the universal wheels 20 are used to facilitate the movement of the workbench 1, thereby facilitating the adjustment of the position of the manipulator.

[0040] A spring 21 is sleeved on the surface of the first rack 10, one end of the spring 21 is fixedly connected to the first rack 10, and the other end of the spring 21 is fixedly connected to the inner wall of the slide groove of the clamping jaw 6. The spring 21 helps to reset the first rack 10, making it easier to clamp the workpiece next time.

[0041] In the utility model, when it is necessary to clamp and fix the workpiece with a manipulator, the workbench 1 is moved to a suitable position, the electric push rod 8 is started to push the push plate 4 to slide in the installation cavity of the fixed plate 3, and the connecting plate 5 is driven to rotate, and the two clamping claws 6 are driven to rotate through the hinged relationship, thereby driving the two suction cups 7 to rotate to clamp the workpiece. At the same time, the first rack 10 in the suction cup 7 first contacts the workpiece, and the first rack 10 slides in the slide groove of the suction cup 7 and the clamping claw 6, meshing with the first gear 12, driving the first gear 12 to rotate on the second circular support rod 11, and the first gear 12 is engaged with the second rack 14 when rotating, so that the second rack 1 4 slides in the slide groove of the vertical plate 13. At the same time, the push plate 4 drives the third rack 16 to move upward and mesh with the second gear 18 through the strip plate 15 when pushing, so that the second gear 18 continues to rotate on the third circular support rod 17. When the workpiece is clamped and fixed by the suction cup 7, the tip of the second rack 14 slides into the gap of the second gear 18, clamps the second gear 18, and stops the second gear 18 from rotating, so that the third rack 16 stops sliding upward, so that the push plate 4 stops sliding upward, so that the suction cup 7 and the clamping claw 6 stop clamping the workpiece, which helps to protect the workpiece and prevent the workpiece from being over-clamped and causing damage and deformation.

[0042] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A double-claw suction cup manipulator, comprising a workbench (1) and a support plate (2) arranged on the surface of the workbench (1), characterized in that: Also includes: A fixing plate (3) fixedly connected to the supporting plate (2), wherein a mounting cavity is provided inside the fixing plate (3); A push plate (4) slidably connected in the mounting cavity of the fixing plate (3); A connecting plate (5) hingedly connected to the top end of the push plate (4); A clamping claw (6) is hinged on the top end of the connecting plate (5); A suction cup (7) fixedly connected to the clamping jaw (6); An electric push rod (8) is fixedly connected to the bottom of the push plate (4).

2. A double-claw suction cup manipulator according to claim 1, characterized in that: The connecting plate (5) and the clamping jaws (6) are provided in two groups, and the two groups of clamping jaws (6) and suction cups (7) are symmetrically arranged with the center line of the push plate (4) as the symmetry axis.

3. A double-claw suction cup manipulator according to claim 1, characterized in that: A first circular support rod (9) passes through the hinged part of the two clamping jaws (6) and is rotatably connected to the clamping jaws (6); the first circular support rod (9) is rotatably connected in the installation cavity of the fixing plate (3).

4. A double-claw suction cup manipulator according to claim 1, characterized in that: The suction cup (7) and the clamping jaw (6) are provided with sliding grooves of the same size, and the sliding grooves of the suction cup (7) and the clamping jaw (6) are penetrated by a first rack (10) and are slidably connected to the sliding grooves of the suction cup (7) and the clamping jaw (6). The surface of the workbench (1) close to the clamping jaw (6) is rotatably connected to a second circular support rod (11), the surface of the second circular support rod (11) is penetrated by a first gear (12) and is fixedly connected to the second circular support rod (11), and the first gear (12) is meshed with the first rack (10).

5. A double-claw suction cup manipulator according to claim 1, characterized in that: A vertical plate (13) is fixedly connected to the surface of the workbench (1) close to the suction cup (7), a sliding groove is provided on the top surface of the vertical plate (13), a second rack (14) is slidably connected in the sliding groove of the vertical plate (13), the second rack (14) is meshed with the first gear (12), and a pointed head is provided on one end surface of the second rack (14) close to the first gear (12).

6. A double-claw suction cup manipulator according to claim 1, characterized in that: The two side surfaces of the push plate (4) are fixedly connected with strip plates (15), and one end of the strip plate (15) away from the push plate (4) is fixedly connected with a third rack (16).

7. A double-claw suction cup manipulator according to claim 1, characterized in that: The workbench (1) is rotatably connected to a third circular support rod (17) on both side surfaces close to the third rack (16); a second gear (18) penetrates the surface of the third circular support rod (17) and is fixedly connected to the third circular support rod (17); the third rack (16) is meshed with the second gear (18).

8. A double-claw suction cup manipulator according to claim 1, characterized in that: One end of the electric push rod (8) away from the push plate (4) is fixedly connected to a vertical plate (19), and the vertical plate (19) is fixedly connected to the workbench (1).

9. A double-claw suction cup manipulator according to claim 1, characterized in that: Universal wheels (20) are fixedly arranged at the bottom of the workbench (1).

10. A double-claw suction cup manipulator according to claim 4, characterized in that: A spring (21) is sleeved on the surface of the first rack (10), one end of the spring (21) is fixedly connected to the first rack (10), and the other end of the spring (21) is fixedly connected to the inner wall of the slide groove of the clamping jaw (6).

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