Grabbing and pitch-changing mechanism of manipulator

Abstract

The utility model discloses a manipulator grabbing and pitch changing mechanism which comprises an air cylinder installation plate, a quick-change connector is installed in the middle of the upper portion of the air cylinder installation plate, installation frames are fixedly connected to the two ends of the outer side of the air cylinder installation plate, and pitch changing frames are fixedly connected to the inner ends of the installation frames. Two pairs of sliding rods are fixedly connected to the positions, located at the inner end of the mounting frame, of the upper end of the distance changing frame, and guide sleeves are slidably connected to the sliding rods. The distance changing air cylinder stretches out and draws back to drive the distance changing groove plate to move and drive the bearings of the guide sleeve assemblies to slide in the sliding grooves in the groove plate, distance changing is achieved, products are collected and clamped according to the set number, and therefore the production efficiency is improved. The variable-pitch range is changed by replacing the groove plate, replacement is easy, the clamping plate is driven to move through stretching and retracting of the clamping air cylinder, folded products are clamped, the products are prevented from falling off when a mechanical arm rapidly moves, compared with suction cup material taking, the problem that the products fall off is greatly solved, and the mechanism is simple in structure and convenient to use. Adjustment is easy, cost is low, and the structure is stable.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and particularly relates to a manipulator grasping and variable-spacing mechanism. Background Art

[0002] In automated equipment, grasping devices are required when transferring semi-finished products such as vials, ampoules, blister packs, and cartons (including but not limited to products in the medical industry). In previous projects, the grasping device generally adopted equal-spacing grasping and then used conveyor belt guide bars to guide variable-spacing; or adopted a variable-spacing mechanism with a relatively complex structure (such as a guide groove variable-spacing mechanism), but the overall structure was relatively bulky, which conflicted with the rated load of the robot. Often, a robot with a larger rated load needed to be purchased, which undoubtedly increased the cost of purchasing the robot in terms of cost. In terms of versatility, the stroke of the usually adopted variable-spacing mechanism is limited and generally can only be applicable to products of one specification. When encountering similar projects, the drawings need to be modified or even redesigned. Therefore, there is an urgent need for a flexible, lightweight and adjustable variable-spacing mechanism to solve the problem of grasping and transferring semi-finished and finished products in automated equipment, so as to be applicable to more products and solve the problem of product grasping and transferring. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a manipulator grasping and variable-spacing mechanism, which solves the problem that the stroke of the variable-spacing mechanism of the existing manipulator is limited and generally can only be applicable to products of one specification.

[0004] To achieve the above purpose, the utility model adopts the following technical scheme: a manipulator grasping and variable-spacing mechanism includes a cylinder mounting plate, a quick-change joint is installed in the middle above the cylinder mounting plate, both ends of the outer side of the cylinder mounting plate are fixedly connected with mounting frames, the inner ends of the mounting frames are fixedly connected with variable-spacing frames, and two pairs of sliding rods are fixedly connected to the upper ends of the variable-spacing frames and located inside the mounting frames;

[0005] A guide sleeve is slidably connected to the sliding rod, a bearing fixing shaft is installed in the middle of the upper end of the guide sleeve, a bearing is arranged at the outer end of the bearing fixing shaft, and variable-spacing cylinders are fixedly connected to both ends below the cylinder mounting plate.

[0006] As a further description of the above technical scheme: a variable-spacing groove plate is installed at the extending end of the variable-spacing cylinder, and a plurality of sliding grooves are penetrated and opened inside the variable-spacing groove plate.

[0007] As a further description of the above technical scheme: the bearing is slidably connected inside the sliding groove, and the lower end of the guide sleeve penetrates through the variable-spacing frame and is fixedly connected with a distance-dividing plate downward.

[0008] As a further description of the above technical solution: Two clamping cylinders are fixedly connected to the inner side of the pitch-changing cylinder and at the lower end of the cylinder mounting plate. Extension ends are provided at both ends of the clamping cylinder, and a connecting member is fixedly connected to the extension ends.

[0009] As a further description of the above technical solution: A clamping plate is fixedly connected to the lower end of the connecting member.

[0010] The utility model has the following beneficial effects:

[0011] 1. Compared with the prior art, the robotic arm gripper and pitch-changing machine drives the pitch-changing groove plate to move through the telescopic movement of the pitch-changing cylinder, and drives the bearing of the guide sleeve assembly to slide in the sliding groove of the groove plate to achieve pitch change. The products are gathered and clamped according to the set quantity, and the pitch-changing range is changed by replacing the groove plate, which is simple and easy to replace. Moreover, the clamping plate is driven to move through the telescopic movement of the clamping cylinder to clamp the gathered products, avoiding the products from falling when the robotic arm moves quickly. This mechanism greatly reduces the problem of product dropping compared with the suction cup material taking. This mechanism has the characteristics of simple structure, easy adjustment, low cost, and stable structure.

[0012] The additional aspects and advantages of the utility model will be partially given in the following description, partially will become obvious from the following description, or will be understood through the practice of the utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The following further illustrates the utility model in conjunction with the drawings and embodiments;

[0014] Figure 1 is the overall structural schematic diagram of the utility model.

[0015] Figure 2 is the structural schematic diagram of the guide sleeve assembly of the utility model.

[0016] Figure 3 is the structural schematic diagram before grasping of the utility model.

[0017] Figure 4 is the structural schematic diagram after grasping of the utility model.

[0018] Legend description:

[0019] 1. Quick-change joint; 2. Cylinder mounting plate; 3. Clamping cylinder; 4. Mounting frame; 5. Pitch-changing cylinder; 6. Pitch-changing groove plate; 7. Spacing plate; 8. Slide bar; 9. Guide sleeve; 10. Sliding groove; 11. Clamping plate; 12. Bearing fixing shaft; 13. Bearing; 14. Connecting member; 15. Pitch-changing frame. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the drawings. The role of the drawings is to supplement the description of the text part of the specification, enabling people to intuitively and vividly understand each technical feature and the overall technical solution of the present utility model. However, it should not be construed as a limitation on the protection scope of the present utility model.

[0021] Referring to Figures 1-4 , an embodiment provided by the present utility model, a robotic arm grasping and variable-spacing mechanism, includes a cylinder mounting plate 2. In the middle above the cylinder mounting plate 2, a quick-change joint 1 is installed. Through the quick-change joint 1, the entire mechanism can be installed on the robotic arm, so as to achieve the purpose of rotational movement, ensuring that the mechanism can correspond to the material. At both outer ends of the cylinder mounting plate 2, mounting brackets 4 are fixedly connected. At the inner ends of the mounting brackets 4, a variable-spacing frame 15 is fixedly connected. At the upper end of the variable-spacing frame 15 and inside the inner ends of the mounting brackets 4, two pairs of slide rods 8 are fixedly connected. By providing the slide rods 8, the guide sleeves 9 can be restricted, ensuring the stable movement of the guide sleeves 9 and improving the effect of their spacing;

[0022] A guide sleeve 9 is slidably connected to the slide rod 8. In the middle of the upper end of the guide sleeve 9, a bearing fixing shaft 12 is installed. At the outer end of the bearing fixing shaft 12, a bearing 13 is provided. At both lower ends of the cylinder mounting plate 2, variable-spacing cylinders 5 are fixedly connected. At the extending ends of the variable-spacing cylinders 5, variable-spacing groove plates 6 are installed. Inside the variable-spacing groove plates 6, a number of chutes 10 are penetrated and opened. Starting the variable-spacing cylinder 5 can drive the variable-spacing groove plates 6 to move. During the movement of the variable-spacing groove plates 6, the bearings 13 can move inside the chutes 10. The chutes 10 are obliquely designed. While the bearings 13 drive the guide sleeves 9 to move inside the chutes 10, they can gradually tighten, so as to achieve the spacing operation on the material. And between the variable-spacing groove plates 6 and the variable-spacing cylinders 5, bolts are used for connection, so that it is convenient for the staff to replace the variable-spacing groove plates 6 later and change the variable-spacing range, which is simple and easy to replace;

[0023] The bearings 13 are slidably connected inside the chutes 10. And the lower end of the guide sleeve 9 penetrates through the variable-spacing frame 15 and is fixedly connected downward with a spacing plate 7. Inside the variable-spacing cylinders 5 and at the lower end of the cylinder mounting plate 2, two clamping cylinders 3 are fixedly connected. At both ends of the clamping cylinders 3, extending ends are provided, and the extending ends are fixedly connected with connecting pieces 14. At the lower ends of the connecting pieces 14, clamping plates 11 are fixedly connected. Starting the upper clamping cylinders 3 can drive the connecting pieces 14 at both ends to move relatively, thereby driving the clamping plates 11 to move and clamping the gathered products, avoiding the products from falling when the robotic arm moves quickly. Compared with the suction cup for material taking, this mechanism greatly reduces the problem of product dropping. And the clamping cylinders 3 in this patent are two-way cylinders, which can realize the functions of synchronous extension and contraction at both ends, ensuring the clamping operation on the material.

[0024] Working principle: When the device is in use, first connect the quick-change connector 1 to the robot arm to achieve the purpose of rapid rotation and adjustment, move the entire mechanism to the top of the material, then start the variable pitch cylinder 5 to drive the variable pitch slot plate 6 to move, drive the bearing 13 on the guide sleeve 9 to slide in the slide groove 10 on the variable pitch slot plate 6 to achieve variable pitch, and gather and clamp the products according to the set quantity, then start the upper clamping cylinder 3 to drive the connecting parts 14 at both ends to move relative to each other, thereby driving the clamping plate 11 to move, clamp the gathered products, and prevent the products from falling when the robot moves quickly. Compared with the suction cup material picking, this mechanism greatly reduces the problem of product falling. This mechanism has the characteristics of simple structure, easy adjustment, low cost, and stable structure.

[0025] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A robot gripping and pitch changing mechanism, comprising a cylinder mounting plate (2), characterized in that: A quick-change joint (1) is installed in the middle of the upper part of the cylinder mounting plate (2); the outer ends of the cylinder mounting plate (2) are fixedly connected to mounting frames (4); the inner end of the mounting frame (4) is fixedly connected to a pitch-changing frame (15); and the upper end of the pitch-changing frame (15) and located at the inner end of the mounting frame (4) are fixedly connected to two pairs of sliding rods (8); A guide sleeve (9) is slidably connected to the slide rod (8), a bearing fixing shaft (12) is installed in the middle of the upper end of the guide sleeve (9), a bearing (13) is provided at the outer end of the bearing fixing shaft (12), and the variable pitch cylinder (5) is fixedly connected to the lower ends of the cylinder mounting plate (2).

2. A robot gripping and distance changing mechanism according to claim 1, characterized in that: A pitch-changing slot plate (6) is mounted on the extended end of the pitch-changing cylinder (5), and a plurality of slide slots (10) are provided through the interior of the pitch-changing slot plate (6).

3. A robot gripping and distance changing mechanism according to claim 2, characterized in that: The bearing (13) is slidably connected inside the slide groove (10), and the lower end of the guide sleeve (9) passes through the pitch-changing frame (15) and is fixedly connected downward to the spacing plate (7).

4. A robot gripping and distance changing mechanism according to claim 1, characterized in that: Two clamping cylinders (3) are fixedly connected to the inner side of the variable pitch cylinder (5) and at the lower end of the cylinder mounting plate (2). Both ends of the clamping cylinders (3) are provided with extension ends, and the extension ends are fixedly connected to connecting pieces (14).

5. A robot gripping and distance changing mechanism according to claim 4, characterized in that: The lower end of the connecting piece (14) is fixedly connected to a clamping plate (11).

Images