Manipulator capable of alternately grabbing materials in turnover mode

Abstract

The utility model provides a manipulator capable of alternately grabbing materials in a turnover mode, which comprises a supporting frame, a position adjusting device is arranged at the top of the supporting frame, a pushing air cylinder is arranged below the position adjusting device, a grabbing device is arranged at the bottom of the pushing air cylinder, the position adjusting device comprises a left-right adjusting device, and the left-right adjusting device comprises a left-right adjusting device and a right-right adjusting device. The mobile phone support accessory is grabbed through the arranged first grabbing jig, then the pushing air cylinder is controlled to push the connecting piece to rotate, the angle of the first grabbing jig is adjusted, and the second grabbing jig which is originally in the horizontal position and does not conduct clamping is in the vertical state; the first grabbing jig which originally clamps the jig to be machined is in a horizontal state, then the second grabbing jig in the vertical state is driven by the pushing air cylinder to move downwards to clamp the jig which is machined and located below the second grabbing jig, and alternate grabbing of the mobile phone support accessories can be achieved through the operation. The practicability and the working efficiency of the device are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator capable of flipping and alternately grasping materials. Background Art

[0002] A manipulator is an automatic operating device that can imitate some action functions of human hands and arms, and is used to grasp, transport objects or operate tools according to a fixed program. Its characteristics are that it can complete various expected operations through programming, and it combines the respective advantages of humans and machines in terms of structure and performance.

[0003] For the existing manipulator for grasping materials, reference can be made to the Chinese utility model patent with the authorization announcement number CN215511124U, which discloses a manipulator structure for grasping materials. "It includes a base, a fixed seat is fixedly installed on the top of the base, a base is fixedly installed on the top of the fixed seat, a positioning groove is opened on the top of the fixed seat, a manipulator base extending into the base is fixedly installed inside the positioning groove, and fastening screws penetrating through the base and extending into the fixed seat are movably installed on both the left and right sides of the top of the base. For this manipulator structure for grasping materials, by setting a stable base, starting a double-shaft servo motor to drive a threaded rod to rotate, two sliding seats on the threaded rod move away from each other, driving a connecting rod and a mounting block to move a pulley, thereby squeezing an inclined block to drive a spring to stretch and contract, so that the stable base moves downward to contact the ground, and the manipulator base is stabilized by the fastening screws penetrating through the base and extending into the fixed seat, achieving the purpose of high stability of the base and not being easily toppled."

[0004] When the above device is in use, it adopts the method of setting a stable base, starting a double-shaft servo motor to drive a threaded rod to rotate, two sliding seats on the threaded rod move away from each other, driving a connecting rod and a mounting block to move a pulley, thereby squeezing an inclined block to drive a spring to stretch and contract, so that the stable base moves downward to contact the ground and the provided manipulator grasps the materials. However, the above device is not convenient for alternately grasping materials, resulting in a reduction in the working efficiency of the device. Summary of the Invention

[0005] In order to solve the above problems, the utility model proposes a manipulator capable of flipping and alternately grasping materials to more precisely solve the problems raised in the above-mentioned background art.

[0006] The utility model is realized through the following technical solutions:

[0007] The utility model proposes a manipulator capable of flipping and alternately grasping materials, including a support frame, a position adjusting device is arranged at the top of the support frame, a pushing cylinder is arranged below the position adjusting device, and a grasping device is arranged at the bottom of the pushing cylinder;

[0008] The position adjustment device includes a left - right adjustment device, a front - back adjustment device, and a height adjustment device. The left - right adjustment device can drive the left - right movement of the grasping device, the front - back adjustment device can drive the front - back movement of the grasping device, and the height adjustment device can drive the up - down movement of the grasping device;

[0009] The grasping device includes a first grasping jig and a second grasping jig, and the pushing cylinder can drive the first grasping jig and the second grasping jig to rotate.

[0010] Further, the left - right adjustment device includes a driving motor. A gearbox is arranged at the output shaft end of the driving motor, a sliding track is arranged at the power transmission end of the gearbox, and a mounting seat is slidably connected to the inner wall of the sliding track.

[0011] Further, the bottom of the driving motor is fixed to the top of the support frame by bolts, the bottom of the gearbox is fixed to the top of the support frame by bolts, and the sliding track is bolt - fixed to the top of the support frame at a position far from the gearbox.

[0012] Further, a mounting plate is bolt - fixed to the top of the support frame at a position far from the sliding track, and a drag chain is fixed to the top of the mounting plate by bolts.

[0013] Further, the front - back adjustment device includes a front - back telescopic cylinder. The top and bottom of the front - back telescopic cylinder are bolt - fixed to the top of the mounting seat. A first air inlet valve is fixed to the top of the front - back telescopic cylinder by bolts, and a fixing plate is bolt - fixed to the power rod end of the front - back telescopic cylinder.

[0014] Further, the height adjustment device includes a lifting cylinder. The outer wall of the lifting cylinder is fixed to the outer wall of the fixing plate by bolts, and a second air inlet valve is fixed to the outer wall of the lifting cylinder by bolts.

[0015] Further, the grasping device further includes a connecting piece. The connecting piece is L - shaped, and the first grasping jig and the second grasping jig are respectively fixed to the outer walls on both sides of the connecting piece by bolts.

[0016] Further, the power rod end of the pushing cylinder is rotatably connected to the inner wall of the connecting piece, and the top of the pushing cylinder and the power rod end of the lifting cylinder are fixed together by bolts.

[0017] The beneficial effects of the present utility model:

[0018] A manipulator capable of flipping and alternately grasping materials proposed by the present utility model grasps mobile phone bracket accessories through a first grasping fixture, and then controls a pushing cylinder to push a connecting piece to rotate, realizing the adjustment of the angle of the first grasping fixture, so that the second grasping fixture that was originally in the horizontal position and not clamped is in a vertical state, and the first grasping fixture that has originally clamped the fixture to be processed is in a horizontal state. Then, the vertically state second grasping fixture is driven by the pushing cylinder to move downward to clamp the fixture that has been processed below. Through the above operations, the alternate grasping of mobile phone bracket accessories can be realized, improving the practicability and working efficiency of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a three-dimensional structure diagram of the present utility model;

[0020] Figure 2 is a structural schematic diagram of the present utility model;

[0021] Figure 3 is a structural schematic diagram of the present utility model.

[0022] The reference numerals are as follows: 1, support frame; 2, left and right adjustment device; 201, drive motor; 202, gearbox; 203, sliding track; 204, mounting seat; 3, mounting plate; 4, armored chain; 5, front and back adjustment device; 501, front and back telescopic cylinder; 502, first air inlet valve; 503, fixing plate; 6, height adjustment device; 601, lifting cylinder; 602, second air inlet valve; 7, pushing cylinder; 8, grasping device; 801, connecting piece; 802, first grasping fixture; 803, second grasping fixture. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] In order to more clearly and completely illustrate the technical solution of the present utility model, the present utility model will be further described below with reference to the drawings.

[0024] Please refer to Figure 1 one Figure 3 , the present utility model proposes a manipulator capable of flipping and alternately grasping materials, including a support frame 1. A position adjustment device is arranged at the top of the support frame 1, a pushing cylinder 7 is arranged below the position adjustment device, and a grasping device 8 is arranged at the bottom of the pushing cylinder 7;

[0025] The grasping device 8 includes a first grasping jig 802 and a second grasping jig 803. The pushing cylinder 7 can drive the first grasping jig 802 and the second grasping jig 803 to rotate. The grasping device 8 further includes a connecting member 801. The connecting member 801 is L-shaped. The first grasping jig 802 and the second grasping jig 803 are respectively fixed to the outer walls on both sides of the connecting member 801 by bolts. The power rod end of the pushing cylinder 7 is rotatably connected to the inner wall of the connecting member 801, and the top of the pushing cylinder 7 is fixed to the power rod end of the lifting cylinder 601 by bolts.

[0026] The left and right adjusting device 2 includes a driving motor 201. A gearbox 202 is provided at the output shaft end of the driving motor 201. A sliding track 203 is provided at the power transmission end of the gearbox 202. A mounting seat 204 is slidably connected to the inner wall of the sliding track 203. The bottom of the driving motor 201 is fixed to the top of the support frame 1 by bolts. The bottom of the gearbox 202 is fixed to the top of the support frame 1 by bolts. The sliding track 203 is bolted to the top of the support frame 1 at a position away from the gearbox 202. By controlling the driving motor 201 to work, power is transmitted through the gearbox 202, driving the mounting seat 204 to slide on the top of the sliding track 203, and driving the front and back adjusting device 5 to slide left and right, thereby realizing the adjustment of the left and right positions of the grasping device 8.

[0027] A mounting plate 3 is bolted and connected to the top of the support frame 1 at a position away from the sliding track 203. A drag chain 4 is fixed to the top of the mounting plate 3 by bolts, and cables are provided inside the drag chain 4, facilitating the power supply work of the device.

[0028] The front and back adjusting device 5 includes a front and back telescopic cylinder 501. The bottom and top of the front and back telescopic cylinder 501 are fixed to the top of the mounting seat 204 by bolts. A first air inlet valve 502 is fixed to the top of the front and back telescopic cylinder 501 by bolts. The power rod end of the front and back telescopic cylinder 501 is fixed to a fixing plate 503 by bolts. By pressurizing or decompressing the inside of the front and back telescopic cylinder 501 through the first air inlet valve 502, the purpose of being able to push the fixing plate 503 is achieved.

[0029] The height adjusting device 6 includes a lifting cylinder 601. The outer wall of the lifting cylinder 601 is fixed to the outer wall of the fixing plate 503 by bolts. A second air inlet valve 602 is fixed to the outer wall of the lifting cylinder 601 by bolts. By inflating or exhausting the inside of the lifting cylinder 601 through the second air inlet valve 602, the purpose of adjusting the internal pressure of the lifting cylinder 601 is achieved, and it can push the pushing cylinder 7 and the grasping device 8 to lift, thereby adjusting the height of the grasping device 8.

[0030] Working principle: When in use, control the driving motor 201 to work, transmit power through the gearbox 202, drive the mounting seat 204 to slide on the top of the sliding track 203, and drive the front and rear adjustment device 5 to slide left and right, thereby realizing the adjustment of the left and right positions of the grasping device 8. Then control the front and rear telescopic cylinder 501 to work, push the fixed plate 503 to move back and forth, and at the same time drive the height adjustment device 6 to move back and forth to realize the adjustment of the front and rear positions of the grasping device 8. When the position of the grasping device 8 is adjusted to a suitable position, control the lifting cylinder 601 to work, drive the pushing cylinder 7 and the grasping device 8 to adjust the height. Then control the pushing cylinder 7 to drive the connecting piece 801 to adjust the angle to realize the conversion between the first grasping jig 802 and the second grasping jig 803. Then the lifting cylinder 601 pushes the first grasping jig 802 and the second grasping jig 803 to convert and grasp the mobile phone bracket accessories, so that the second grasping jig 803 that was originally in the horizontal position and not clamped is in a vertical state, and the first grasping jig 802 that has already clamped the jig to be processed is in a horizontal state. Then the vertical second grasping jig 803 drives the lower movement through the pushing cylinder 7 to clamp the jig that has been processed below, and then place the jig that has been processed at the blanking position. Then the front and rear adjustment device 5 and the left and right adjustment device 2 drive the grasping device 8 to move above the jig to be processed, and then repeat the above alternating clamping steps to carry out the transfer.

[0031] Certainly, the present utility model can also have other various implementation manners. Based on this implementation manner, other implementation manners obtained by ordinary technicians in the art without any creative labor belong to the scope protected by the present utility model.

Claims

1. A manipulator capable of flipping and alternately grabbing materials, characterized in that: It includes a support frame, a position adjustment device is arranged on the top of the support frame, a pushing cylinder is arranged below the position adjustment device, and a grabbing device is arranged at the bottom of the pushing cylinder; the position adjustment device includes a left-right adjustment device, a front-back adjustment device and a height adjustment device, the left-right adjustment device can drive the grabbing device to move left and right, the front-back adjustment device can drive the grabbing device to move forward and backward, and the height adjustment device can drive the grabbing device to move up and down; the grabbing device includes a first grabbing fixture and a second grabbing fixture, and the pushing cylinder can drive the first grabbing fixture and the second grabbing fixture to rotate.

2. The manipulator capable of flipping and alternately grabbing materials according to claim 1, characterized in that: The left-right adjustment device comprises a driving motor, the output shaft end of the driving motor is provided with a gear box, the power transmission end of the gear box is provided with a sliding track, and the inner wall of the sliding track is slidably connected with a mounting seat.

3. The manipulator capable of flipping and alternately grabbing materials according to claim 2, characterized in that: The bottom of the driving motor is fixed to the top of the support frame by bolts, the bottom of the gear box is fixed to the top of the support frame by bolts, and the sliding rail is bolted to the top of the support frame away from the gear box.

4. The manipulator capable of flipping and alternately grabbing materials according to claim 1, characterized in that: A mounting plate is fixedly connected with bolts at a position of the top of the support frame away from the sliding track, and a tank chain is fixedly connected with bolts at the top of the mounting plate.

5. The manipulator capable of flipping and alternately grabbing materials according to claim 1, characterized in that: The front and rear adjustment device includes a front and rear telescopic cylinder, and the top of the bottom of the front and rear telescopic cylinder is bolted to the top of the mounting seat, the top of the front and rear telescopic cylinder is fixedly connected to the first air intake valve by bolts, and the power rod end of the front and rear telescopic cylinder is bolted to the fixing plate.

6. The manipulator capable of flipping and alternately grabbing materials according to claim 1, characterized in that: The height adjustment device comprises a lifting cylinder, and the outer wall of the lifting cylinder is fixed to the outer wall of the fixing plate by bolts, and the outer wall of the lifting cylinder is fixedly connected to the second air intake valve by bolts.

7. The manipulator capable of flipping and alternately grabbing materials according to claim 1, characterized in that: The grabbing device further includes a connecting piece, which is L-shaped, and the first grabbing fixture and the second grabbing fixture are respectively fixed to the outer walls on both sides of the connecting piece by bolts.

8. The manipulator capable of flipping and alternately grabbing materials according to claim 1, characterized in that: The power rod end of the pushing cylinder is rotatably connected to the inner wall of the connecting piece, and the top of the pushing cylinder is fixed together with the power rod end of the lifting cylinder by bolts.

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