Manipulator clamp capable of automatically turning over by 90 degrees
By designing a robotic clamp that can automatically flip 90 degrees, the problem of low product clamping and placing efficiency in the prior art is solved, and the automatic flow of products is realized, which improves production efficiency and reduces costs.
Patent Information
- Application Number
- CN202422097907.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-28
- Publication Date
- 2025-06-06
- Estimated Expiration
- 2034-08-28
AI Technical Summary
The prior art is difficult to achieve low-cost fully automated production, especially in the process of product clamping and placing, which is inefficient and cannot meet the needs of fully automated production.
A robotic clamp that can automatically flip 90 degrees is designed, including finger cylinders, jaws, bearing frames, flip connection blocks, connecting arms and linear cylinders. Through the synergy of these components, the automatic flip of the clamp and the automatic clamping and placing of the product are achieved.
It realizes automatic clamping and placing of products, simplifies product flow process, improves flow efficiency, reduces flow cost, and has the advantages of small size, light weight, large load and low manufacturing cost.
Smart Images
Figure CN222945582U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a manipulator clamp which can automatically flip over by 90 degrees and belongs to the technical field of manipulator clamps. Background Art
[0002] With the development of science and technology, it has become a general trend to realize fully automatic assembly line production. However, in the processing and production of many products (such as auto parts), the processed products need to be taken out of the machine first and then stacked in the flow box. From clamping to stacking, it usually requires a change of direction. At present, one way is to use a fully automatic method of a multi-axis robot, but the cost of a multi-axis robot is very high and it is not suitable for the use needs of most companies; another way is to use a semi-automatic method of low-function robots and manual cooperation, that is: first use a low-function robot to clamp the processed products to the conveyor line, and then manually stack them in the flow box. This semi-automatic method is inefficient and cannot meet the needs of fully automated production. Therefore, in order to achieve fully automated production at a low cost, it is necessary to develop a manipulator fixture that can automatically flip 90 degrees to achieve full automation of product clamping and stacking. Utility Model Content
[0003] In view of the above problems existing in the prior art, the purpose of the utility model is to provide a manipulator clamp which can automatically flip 90 degrees to achieve low-cost automatic clamping and stacking of products.
[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:
[0005] A manipulator clamp capable of automatically flipping 90 degrees comprises a finger cylinder and a clamping claw arranged on the finger cylinder, a receiving frame is arranged on the top of the finger cylinder, a flip connecting block A is vertically arranged on the top of the receiving frame, a connecting arm is horizontally arranged on the upper side of the receiving frame, a linear cylinder is horizontally arranged on the connecting arm, a floating joint is connected to the output end of the linear cylinder, a flip connecting block B is horizontally arranged below the floating joint and at the front of the connecting arm, the front end of the floating joint is rotatably connected to the upper front end of the flip connecting block A, and the front end of the flip connecting block B is rotatably connected to the lower rear end of the flip connecting block A.
[0006] In one implementation scheme, a hydraulic buffer A is horizontally provided at the front end of the connecting arm and on both sides of the floating joint, a limit plate A adapted to the hydraulic buffer A is horizontally provided at the top of the receiving frame, a hydraulic buffer B is horizontally provided at the bottom of the connecting arm and below the floating joint, and a limit plate B adapted to the hydraulic buffer B is vertically provided on the rear side of the receiving frame.
[0007] A preferred solution, the supporting frame includes two supporting frame horizontal plates distributed up and down and parallel to each other, and a supporting frame vertical plate is vertically connected between the front and rear sides of the two supporting frame horizontal plates, the limiting plate A is arranged on the top of the supporting frame horizontal plate located above, and the limiting plate B is arranged on the side of the supporting frame horizontal plate located at the rear.
[0008] In one embodiment, the connecting arm includes a horizontal connecting arm plate and a vertical connecting arm plate vertically arranged at the rear of the horizontal connecting arm plate, connecting arm reinforcement plates are respectively connected between the two sides of the horizontal connecting arm plate and the vertical connecting arm plate, and the linear cylinder is horizontally arranged at the top of the horizontal connecting arm plate.
[0009] In one implementation scheme, the flip connection block A is L-shaped as a whole, and is provided with a limiting groove with a top and a front opening inside, upper front connecting holes are horizontally provided at the upper front ends on the left and right sides of the limiting groove, and lower rear connecting holes are horizontally provided at the lower rear ends on the left and right sides of the limiting groove, and pins are detachably provided in the upper front connecting holes and the lower rear connecting holes, the front end of the floating joint is located in the limiting groove and is rotatably connected to the flip connection block A through the pin and the upper front connecting hole, the front end of the flip connection block B is provided with a notch matched with the rear end of the flip connection block A, and the left and right sides of the notch are rotatably connected to the flip connection block A through the pin and the lower rear connecting hole.
[0010] In one embodiment, a polyurethane block is provided on the clamping end surface of the clamping jaw.
[0011] Compared with the prior art, the beneficial technical effects of the utility model are:
[0012] When the manipulator clamp capable of automatic 90-degree flipping provided by the utility model is installed on a robot arm to form a robot for use, it can not only be transformed into a straight-line shape to reach into the machine to clamp products, but also can be transformed into an L-shape to stack the clamped products, which can effectively simplify the product circulation process, can significantly improve the circulation efficiency and reduce the circulation cost. In addition, the manipulator clamp described in the utility model also has the advantages of small size, light weight, large load and low manufacturing cost; therefore, the utility model has obvious practical value for realizing low-cost automatic clamping and stacking of products. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 This is a diagram of the initial state of the manipulator fixture capable of automatically flipping 90 degrees provided by the embodiment installed on the manipulator arm;
[0014] Figure 2 It is a structural schematic diagram of a manipulator clamp capable of automatically flipping 90 degrees provided in an embodiment when it is in an L-shaped state;
[0015] Figure 3is a schematic structural diagram of a manipulator clamp capable of automatically flipping 90 degrees provided in an embodiment in an L-shaped state from another viewing angle;
[0016] Figure 4 It is a schematic structural diagram of a manipulator clamp capable of automatically turning 90 degrees provided in an embodiment in an L-shaped state after removing a connecting arm reinforcement plate and an oil pressure buffer A on one side;
[0017] Figure 5 It is a schematic structural diagram of a manipulator clamp capable of automatically flipping 90 degrees provided in an embodiment when it is in a straight line state;
[0018] Figure 6 It is a schematic structural diagram of a manipulator clamp capable of automatically flipping 90 degrees provided in an embodiment in a straight-line state after removing a connecting arm reinforcement plate and an oil pressure buffer A on one side;
[0019] Figure 7 is a schematic structural diagram of the flip connection block A described in the embodiment;
[0020] Figure 8 Schematic diagram of the mechanism of the flip connection block B described in the embodiment;
[0021] The numbers in the figure are as follows:
[0022] 1. A robot gripper capable of automatically turning over 90 degrees; 101. Finger cylinder; 102. Gripper; 103. Receiver; 1031. Receiver horizontal plate; 1032. Receiver vertical plate; 104. Turnover connecting block A; 1041. Limiting groove; 1042. Upper front connecting hole; 1043. Lower rear connecting hole; 105. Connecting arm; 1051. Connecting arm horizontal plate; 1052. Connecting arm vertical plate; 1053. Connecting arm reinforcement plate; 106. Linear cylinder; 107. Floating joint; 108. Turnover connecting block B; 109. Hydraulic buffer A; 110. Limiting plate A; 111. Hydraulic buffer B; 112. Limiting plate B; 113. Pin; 114. Polyurethane block; 2. Robotic arm; 3. Products. DETAILED DESCRIPTION
[0023] The technical solution of the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be noted that the terms used in the utility model are only for the purpose of describing specific embodiments, and are not intended to limit the utility model. Unless otherwise defined, the technical terms or scientific terms used in the utility model should be the usual meanings understood by people with general skills in the field. The directions or positional relationships indicated by the terms "inside", "outside", "upper", "lower", "top", "bottom", "front", "back", "left", "right", "vertical", "horizontal", etc. are all based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the utility model. In addition, terms such as "set", "installed", "connected", "connected", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be an indirect connection or a direct connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. It should also be noted that when an element is referred to as being "fixed on" or "set on" another element, it can be directly on the other element or there can be a central element.
[0024] Example
[0025] Please combine Figures 2 to 4 As shown: This embodiment provides a manipulator clamp 1 that can automatically flip 90 degrees, including a finger cylinder 101 and a clamping claw 102 connected to the finger cylinder 101, a receiving frame 103 is provided on the top of the finger cylinder 101, a flip connecting block A 104 with an L-shaped side surface is provided on the top of the receiving frame 103, a connecting arm 105 is horizontally provided on the upper side of the receiving frame 103, a linear cylinder 106 is horizontally provided on the connecting arm 105, the output end of the linear cylinder 106 is connected to a floating joint 107, a flip connecting block B 108 with a U-shaped opening at the front end is horizontally provided at the front of the connecting arm 105 and below the floating joint 107, the front end of the floating joint 107 is rotatably connected to the upper part of the vertical support arm of the flip connecting block A 104, and the two sides of the front end opening of the flip connecting block B 108 are rotatably connected to the rear part of the horizontal support arm of the flip connecting block A 104.
[0026] In this embodiment, the finger cylinder 101 and the linear cylinder 106 can be commercially available products. In this embodiment, the finger cylinder 101 can be a commercially available wide finger cylinder, and the linear cylinder 106 can be a commercially available mini linear cylinder.
[0027] In this embodiment, Figures 2 to 4As shown, a hydraulic buffer A 109 is horizontally provided at the front end of the connecting arm 105 and on both sides of the floating joint 107, a limit plate A 110 adapted to the hydraulic buffer A 109 is horizontally provided at the top of the receiving frame 103, a hydraulic buffer B111 is horizontally provided at the bottom of the connecting arm 105 and below the floating joint 107, and a limit plate B 112 adapted to the hydraulic buffer B 111 is vertically provided on the rear side of the receiving frame 103. When the linear cylinder 106 extends and the flip connection block A 104 flips downward 90 degrees, the oil pressure buffer B 111 will hit the limit plate B 112; when the linear cylinder 106 contracts and the flip connection block A 104 flips upward 90 degrees, the oil pressure buffer A 109 will hit the limit plate A 110; the flipping can be limited and buffered by the oil pressure buffer A 109, the limit plate A 110, the oil pressure buffer B 111, and the limit plate B 112, which can effectively ensure the accuracy and stability of the flipping of the manipulator clamp 1.
[0028] In this embodiment, please combine Figures 2 to 4 As shown, the support frame 103 includes two support frame horizontal plates 1031 distributed up and down and parallel to each other and two support frame vertical plates 1032 distributed front and back and parallel to each other, the limit plate A110 is arranged on the top of the support frame horizontal plate 1031 located at the top, and the limit plate B112 is arranged on the side of the support frame vertical plate 1032 located at the rear. The support frame 103 is a hollow frame structure, which can effectively reduce the overall weight of the support frame 103 while ensuring strength.
[0029] In this embodiment, please combine Figures 2 to 4 As shown, the connecting arm 105 includes a horizontal connecting arm plate 1051 and a vertical connecting arm plate 1052 arranged vertically at the rear of the horizontal connecting arm plate 1051. A connecting arm reinforcing plate 1053 is connected between the two sides of the horizontal connecting arm plate 1051 and the vertical connecting arm plate 1052. The linear cylinder 106 is arranged horizontally on the top of the horizontal connecting arm plate 1051. Correspondingly, the flip connecting block B108 is arranged on the front end top of the horizontal connecting arm plate 1051. When installing, the vertical connecting arm plate 1052 is connected to the end of the robot arm 2, and the robot gripper 1 can be installed on the robot arm 2 as a whole to form a robot (see Figure 1 as shown).
[0030] In this embodiment, the flip connection block A104 is L-shaped as a whole, and is provided with a limit groove 1041 with a top and a front opening inside. The upper front ends of the left and right sides of the limit groove 1041 are respectively provided with upper front connection holes 1042 horizontally, and the lower rear ends of the left and right sides of the limit groove 1041 are respectively provided with lower rear connection holes 1043 horizontally (see Figure 7As shown in FIG. 1 ), the upper front connection hole 1042 and the lower rear connection hole 1043 are both detachably provided with a pin 113, the front end of the floating joint 107 is located in the limiting groove 1041 and is rotatably connected to the flip connection block A104 through the pin 113 and the upper front connection hole 1042 (please refer to FIG. 114 for details). Figure 4 and Figure 7 As shown); the front end of the flip connection block B108 is provided with a notch that matches the rear end of the flip connection block A104, and the left and right sides of the notch are rotatably connected to the flip connection block A104 through the pin 113 and the lower rear connection hole 1043, and the flip connection block B108 is U-shaped as a whole. Correspondingly, the left and right sides of the notch in the flip connection block B108 are also provided with connection holes respectively, so that the flip connection block B108 can be rotatably connected to the flip connection block A104 through the pin 113, the lower rear connection hole 1043, and the connection hole of the flip connection block B108 (please refer to the figure for details). Figure 4 , Figure 7 and Figure 8 The design of the flip connection block A104 and the flip connection block B108 effectively ensures the rotation stability among the floating joint 107, the flip connection block A104 and the flip connection block B108, thereby effectively ensuring the flip stability of the manipulator fixture 1.
[0031] In this embodiment, please refer to Figures 2 to 4 As shown, the clamping end surface of the clamping jaw 102 is provided with a polyurethane block 114. Since the polyurethane block 114 has good flexibility and wear resistance, it can effectively avoid the problem of damage to the surface of the product 3 due to excessive clamping force when the clamping jaw 102 clamps the product 3, and can play a good protective role for the product 3.
[0032] The method of using the manipulator clamp 1 capable of automatically turning over 90 degrees described in the utility model is as follows:
[0033] like Figure 1 As shown, by connecting the rear end of the connecting arm 105 to the end of the robot arm 2, the robot gripper 1 can be installed on the robot arm 2 as a whole to form a robot for use;
[0034] In the initial state, the robot gripper 1 is in Figure 2 and Figure 3 The L-type state shown;
[0035] When it is necessary to reach into the punching machine to pick up the punched product, the linear cylinder 106 is retracted to drive the floating joint 107 to move backward, causing the floating joint 107 and the flip connection block B 108 to rotate relative to the flip connection block A 104, so that the flip connection block A 104 is flipped upward by 90 degrees, and then the finger cylinder 101 is flipped upward by 90 degrees, so that the manipulator clamp 1 is in a state of being ... Figure 5 and Figure 6 The straight-line state shown, and then the product 3 is clamped by the finger cylinder 101;
[0036] After the product is taken out, the linear cylinder 106 is extended, and the floating joint 107 moves forward under the action of the linear cylinder 106, causing the floating joint 107 and the flip connection block B 108 to rotate relative to the flip connection block A 104, so that the flip connection block A 104 flips downward 90 degrees, thereby driving the finger cylinder 101 to flip downward 90 degrees, so that the manipulator clamp 1 is in a state of being ... Figure 2 and Figure 3 The L-shaped state shown, and then adjust the posture of the robot arm 2 so that the robot clamp 1 is located in the flow frame, and then release the finger cylinder 101 to put the product 3 into the flow frame.
[0037] As can be seen from the above, the manipulator clamp 1 provided by the utility model, through the setting of the linear cylinder 106, the flip connection block A104, and the flip connection block B 108, allows the finger cylinder 101 to flip 90 degrees up and down, so that the manipulator clamp 1 can be transformed into a straight-line state to clamp the product, and can be transformed into an L-shape to stack the product after clamping the product. It not only realizes the automatic clamping and automatic stacking of the product, effectively simplifies the product circulation process, significantly improves the circulation efficiency and reduces the circulation cost, but also the unique design of the utility model makes the power requirement for the linear cylinder 106 smaller. Even if the product 3 is a car audio support plate, which is a product with large volume and weight, the use of a mini linear cylinder 106 can also meet the use requirements, so that the overall volume of the manipulator clamp 1 is small, the weight is light, the load is large, the cost is low, and it has obvious practical value.
[0038] Finally, it is necessary to point out that the above is only a preferred specific implementation method of the utility model, but the protection scope of the utility model is not limited to this. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the utility model should be covered within the protection scope of the utility model.
Claims
1. A manipulator clamp capable of automatically turning 90 degrees, comprising a finger cylinder and a clamping claw arranged on the finger cylinder, characterized in that: A supporting frame is provided on the top of the finger cylinder, a flip connecting block A is vertically provided on the top of the supporting frame, a connecting arm is horizontally provided on the upper side of the supporting frame, a linear cylinder is horizontally provided on the connecting arm, the output end of the linear cylinder is connected with a floating joint, a flip connecting block B is horizontally provided below the floating joint and at the front of the connecting arm, the front end of the floating joint is rotatably connected to the upper front end of the flip connecting block A, and the front end of the flip connecting block B is rotatably connected to the lower rear end of the flip connecting block A.
2. The manipulator clamp capable of automatic 90-degree flipping according to claim 1 is characterized in that: A hydraulic buffer A is horizontally provided at the front end of the connecting arm and on both sides of the floating joint, a limit plate A matched with the hydraulic buffer A is horizontally provided on the top of the receiving frame, a hydraulic buffer B is horizontally provided at the bottom of the connecting arm and below the floating joint, and a limit plate B matched with the hydraulic buffer B is vertically provided on the rear side of the receiving frame.
3. The manipulator clamp capable of automatic 90-degree flipping according to claim 2, characterized in that: The supporting frame includes two supporting frame horizontal plates which are distributed up and down and parallel to each other, and a supporting frame vertical plate is vertically connected between the front and rear sides of the two supporting frame horizontal plates. The limiting plate A is arranged on the top of the supporting frame horizontal plate located above, and the limiting plate B is arranged on the side of the supporting frame horizontal plate located at the rear.
4. The manipulator clamp capable of automatic 90-degree flipping according to claim 1, characterized in that: The connecting arm includes a horizontal connecting arm plate and a vertical connecting arm plate vertically arranged at the rear of the horizontal connecting arm plate. Connecting arm reinforcement plates are respectively connected between the two sides of the horizontal connecting arm plate and the vertical connecting arm plate. The linear cylinder is horizontally arranged at the top of the horizontal connecting arm plate.
5. The manipulator clamp capable of automatic 90-degree flipping according to claim 1, characterized in that: The flip connection block A is L-shaped as a whole, and is provided with a limiting groove with a top and a front opening inside. Upper front connecting holes are horizontally provided at the upper front ends on the left and right sides of the limiting groove, and lower rear connecting holes are horizontally provided at the lower rear ends on the left and right sides of the limiting groove. Pins are detachably provided in the upper front connecting holes and the lower rear connecting holes. The front end of the floating joint is located in the limiting groove and is rotatably connected to the flip connection block A through the pin and the upper front connecting hole. The front end of the flip connection block B is provided with a notch that matches the rear end of the flip connection block A, and the left and right sides of the notch are rotatably connected to the flip connection block A through the pin and the lower rear connecting hole.