Carrying manipulator for clamping, positioning and grabbing

Abstract

The utility model discloses a carrying manipulator for clamping, positioning and grabbing, which belongs to the technical field of carrying manipulators and is characterized in that parameters are set to enable a servo motor to rotate according to a certain angle and rotating speed, and an output end is connected with a crank rod mechanism; the servo motor is fixed to the base, the stand column is arranged on the base and inserted into the sliding groove of the sliding rod, a certain space limiting effect is achieved on movement of the sliding rod, it is guaranteed that the sliding rod moves in the linear direction, and stability is improved. Mechanical claw fixing pieces are arranged at the two ends of the base, the middle point of the mechanical claw device is fixed to the fixing pieces, the transverse movement range is limited, in order to overcome the defects and defects in the prior art, the mechanical arm can reduce the labor intensity, improve the production efficiency and achieve window clamping within a certain space range, and the clamping mechanical arm is simple in structure and convenient to use. On the premise of meeting basic functions, the internal structure is optimized, kinematic chains are reduced, the self weight is reduced, and the loss in the movement process is reduced.

Description

Technical Field

[0001] The utility model relates to a handling manipulator for clamping, positioning and grasping, belonging to the technical field of handling manipulators. Background Technique

[0002] In the blow molding method, a preformed bottle blank is first placed into a blow molding die. The tubular parison is heated by infrared rays. After it is softened, high-pressure gas is injected into the bottle blank to make it closely adhere to the inner wall of the cavity. Then it is cooled and solidified to form. This process includes the following steps: First, the preformed bottle blank is put into the die, the die is closed for infrared heating, compressed air is injected into the bottle blank through the air inlet hole to blow up the bottle blank so that it adheres tightly to the die cavity, and then wait for it to cool and set. Finally, the die is opened and the cooled product is taken out to complete the entire blow molding process. The blow molding process is widely used in the production of various plastic products, such as bottles, cans, warning posts, plastic barrels, etc.

[0003] During the blow molding production process, there is still a certain amount of manual labor. Limited by the output and cost considerations of blow molded bottles, there are a large number of manual and semi-automatic devices. In such devices, it is necessary to place the injection molded bottle blank into the die of the blow molding machine and also take out the finished product after blow molding. This working process is cumbersome to operate manually, the work process is repetitive and boring, lacks flexibility, and the human hand is directly in contact with the die that has certain production risks, there are certain potential safety hazards. A manipulator can work repetitively without fatigue and grasp the bottle blank, which can replace workers to complete this part of the operation, which is both efficient and safe. Therefore, designing a manipulator for clamping, positioning and grasping injection molded bottle blanks can effectively solve the problems of low economic efficiency and high danger in traditional injection molded bottle blank production.

[0004] A manipulator is a comprehensive technical achievement that combines multiple scientific fields such as mechanics, machinery, sensor technology, and automation technology. A manipulator is the end-execution mechanism in a robot, which can imitate some action functions of the human hand and arm, and is used to replace the function of the human hand. It is an automatic operation device for grasping, handling objects or operating tools according to a fixed program. The accuracy and rapidity of its grasping and placing are crucial for industrial production. As a high-tech automatic production equipment, the manipulator has become an important branch in the field of robots. Through programming instructions, it can complete the expected tasks and gradually achieve intelligence, and can adapt to different working environments faster, becoming an irreplaceable part of the modern production and manufacturing industry, replacing manual labor to achieve efficient and reliable manufacturing.

[0005] In automated equipment, the existing solution is to use a conventional hinge clamping manipulator system to initially clamp and fix objects, etc. to achieve the expected effect. Such manipulators have a simple structure and limited working space, and mainly rely on pneumatic energy, which has certain limitations in production and manufacturing.

[0006] For example, the application number: 201920144494.9 discloses a gripping fixture for cooperating with a handling manipulator, which includes a fixture plate, a side plate is fixed on the side wall of the fixture plate, and a first fixed plate and a second fixed plate are respectively arranged at both ends of the side plate, a first clamping cylinder is fixedly installed on the first fixed plate, and a plurality of first piston rods and a second piston rod are respectively connected to the two ends of the first clamping cylinder, and the ends of the first piston rod and the second piston rod are respectively installed with a first gripping finger structure for gripping a first type of parts; a second clamping cylinder is fixedly installed on the second fixed plate, and a plurality of piston rods are respectively connected to the two ends of the second clamping cylinder, and a second gripping finger structure for gripping a second type of parts is respectively installed at the ends of the piston rods. This gripping fixture can be used for gripping different types of parts, and then cooperate with assembly equipment to complete its automatic assembly, thereby greatly improving its assembly efficiency, while reducing process routes and assembly costs.

[0007] Based on the search and analysis, the existing technology still has deficiencies:

[0008] The existing technology has many motion chains, complex structures, heavy weight, and large losses during power transmission. Therefore, a handling robot for clamping, positioning, and grasping is needed to improve the above-mentioned deficiencies. Utility Model Content

[0009] The main purpose of the utility model is to provide a handling manipulator for clamping, positioning and grabbing.

[0010] The purpose of the utility model can be achieved by adopting the following technical solutions:

[0011] A handling manipulator for clamping, positioning and grasping, comprising a power drive device for driving;

[0012] The output end of the power driving device is equipped with a crank rod mechanism for pulling, and a mechanical claw device is linked to the crank rod mechanism. The power driving device, the crank rod mechanism and the mechanical claw device form a linkage structure.

[0013] Preferably, the power drive device is composed of a servo motor, a base and a mechanical claw fixing part. The base is installed on the power drive device, and the mechanical claw fixing parts are correspondingly installed on both sides of the base. The mechanical claw fixing parts are used in conjunction with the mechanical claw device.

[0014] Preferably, the crank rod mechanism consists of a column, a transmission disc, a rod, a sliding rod and a corner rod. A transmission disc is installed on the crank rod mechanism, and the rods are symmetrically installed on the transmission disc. The sliding rod is installed on the outer end of the rod, and the corner rod is installed on the outer end of the sliding rod. A column is slidably installed in the sliding rod, and the outer end of the column is fixedly connected to the base.

[0015] Preferably, the mechanical claw device consists of a mechanical claw and a special cushion block. The outer end of the corner rod is foldably connected with the mechanical claw, and the special cushion blocks are distributed at the outer end of the mechanical claw.

[0016] Preferably, the special cushion blocks at the outer end of the mechanical claw are at least two groups of curved surface structures

[0017] Preferably, the column is a telescopic structure, and the sliding rod slides along the column.

[0018] The beneficial technical effects of the present utility model:

[0019] A handling manipulator for clamping, positioning and grasping provided by the present utility model, the power driving device includes a servo motor, a base, a column, and a mechanical claw fixing member. The servo motor is adjusted to rotate at a certain angle and speed, and the output end is connected with a crank and rod mechanism; the servo motor is fixed on the base, the column is arranged on the base, and the column is inserted into the chute of the sliding rod, which plays a certain spatial limiting role in the movement of the sliding rod, ensuring that the sliding rod moves along a straight line direction and improving stability. Mechanical claw fixing members are arranged at both ends of the base, and the midpoint of the mechanical claw device is fixed on the fixing member, restricting the lateral movement range. To overcome the shortcomings and deficiencies of the prior art, this manipulator can reduce the labor intensity and improve the production efficiency, realize a clamping window within a certain space range, and the clamping manipulator has a simple structure. On the premise of meeting the basic functions, by optimizing the internal structure, reducing the motion chain, reducing the self-weight, and reducing the loss during the movement process. Description of the Drawings

[0020] Figure 1 It is a schematic perspective view of the overall structure of a preferred embodiment of a handling manipulator for clamping, positioning and grasping according to the present utility model;

[0021] Figure 2 It is a schematic structural view of the motor transmission part of a preferred embodiment of a handling manipulator for clamping, positioning and grasping according to the present utility model;

[0022] Figure 3 It is a schematic structural view of the power driving part of a preferred embodiment of a handling manipulator for clamping, positioning and grasping according to the present utility model;

[0023] Figure 4 It is a top view of the clamping part of a preferred embodiment of a handling manipulator for clamping, positioning and grasping according to the present utility model.

[0024] In the figure: 1. Power driving device; 2. Crank and rod mechanism; 3. Mechanical claw device; 11. Servo motor; 12. Base; 13. Column; 14. Mechanical claw fixing member; 21. Transmission disc; 22. Rod; 23. Sliding rod; 24. Corner rod; 31. Mechanical claw; 32. Special cushion block. DETAILED DESCRIPTION

[0025] In order to make the technical solution of the present invention more clear and specific to those skilled in the art, the present invention is further described in detail below in conjunction with embodiments and drawings, but the implementation methods of the present invention are not limited thereto.

[0026] like Figure 1 - Figure 4 As shown, the present embodiment provides a handling robot for clamping, positioning and grasping, comprising a power drive device 1 for driving;

[0027] A crank rod mechanism 2 for pulling is installed at the output end of the power drive device 1, and a mechanical claw device 3 is installed in linkage with the crank rod mechanism 2. The power drive device 1, the crank rod mechanism 2 and the mechanical claw device 3 form a linkage structure.

[0028] The power drive device 1 is composed of a servo motor 11, a base 12 and a mechanical claw fixing part 14. The base 12 is installed on the power drive device 1, and mechanical claw fixing parts 14 are correspondingly installed on both sides of the base 12. The mechanical claw fixing part 14 is used in conjunction with the mechanical claw device 3.

[0029] The crank rod mechanism 2 is composed of a column 13, a transmission disc 21, a rod 22, a sliding rod 23 and a corner rod 24. The transmission disc 21 is installed on the crank rod mechanism 2, and the rod 22 is symmetrically installed on the transmission disc 21. The sliding rod 23 is installed on the outer end of the rod 22, and the corner rod 24 is installed on the outer end of the sliding rod 23. The column 13 is slidably installed in the sliding rod 23, and the outer end of the column 13 is fixedly connected to the base 12.

[0030] The mechanical claw device 3 is composed of a mechanical claw 31 and a special pad block 32 . The outer end of the corner rod 24 is folded and connected with the mechanical claw 31 , and the outer end of the mechanical claw 31 is distributed with a special pad block 32 .

[0031] The dedicated pad 32 at the outer end of the mechanical claw 31 is a curved structure of at least two groups.

[0032] The column 13 is a telescopic structure, and the sliding rod 23 slides along the column 13 .

[0033] like Figure 1 - Figure 4As shown in the figure, the working process of a handling manipulator for clamping, positioning and grasping provided in this embodiment is as follows: After setting certain parameters for the online control servo motor, the power drive device 1 transmits power along the crank and link mechanism 2, from the transmission disc 21 - link 22 - sliding rod 23 - corner rod 24 - mechanical claw 31. It converts the rotational motion of the variable rotation servo motor 11 into the linear motion of the transmission part, and the linear motion of the transmission part is further converted into the rotational movement of the mechanical claw 31. The two mechanical claws 31 are symmetrically arranged and move simultaneously, similar to the human hand claws. When the two mechanical claws 31 are tightened, the clamping function is achieved; when the two mechanical claws 31 are loosened, the object can be released. Due to the limitation of the link 22, the transmission disc 21 rotates alternately in the forward and reverse directions within a certain angle range and cannot rotate a full circle.

[0034] The mechanical claw device 3 includes a mechanical claw 31 and a special cushion block 32. The mechanical claw 31 adopts a curved surface design to widen the movement space; the special cushion block 32 is arranged at the arc part of the long end of the mechanical claw 31 to relieve and balance the friction generated during the process of clamping the object and make the clamped object more stable. The crank and link mechanism 2 preferably uses transmission links, including a transmission disc 21, a link 22, a sliding rod 23, and a corner rod 24. The sliding rod 23 is movably hinged to the corner rod 24, and the link 22 is fixedly connected to the sliding rod 23 by a movable hinge. The link 22 is fixed on the transmission disc 21 and realizes the crank motion as the rotation amplitude and speed of the motor change.

[0035] The power drive device 1 includes a servo motor 11, a base 12, a column 13, and a mechanical claw fixing part 14. After setting the parameters, the servo motor 11 rotates at a certain angle and speed, and its output end is connected to the crank and link mechanism 2; the servo motor 11 is fixed on the base 12, and a column 13 is arranged on the base 12. The column 13 is inserted into the chute of the sliding rod 23, which plays a role in restricting the movement space of the sliding rod to ensure that the sliding rod moves along a straight line direction and improves stability. Mechanical claw fixing parts 14 are arranged at both ends of the base 12, and the midpoint of the mechanical claw device 3 is fixed to the fixing part 14 to limit the lateral movement range. To overcome the shortcomings and deficiencies of the prior art, this manipulator can reduce the labor intensity of manpower and improve production efficiency, realize a clamping window within a certain space range. The structure of the clamping manipulator is simple. On the premise of meeting the basic functions, by optimizing the internal structure, reducing the motion chain, reducing the self-weight, and reducing the loss during the movement process.

[0036] Embodiment:

[0037] As Figure 1 - Figure 4As shown, a servo motor 11 is installed on one side of the base 12. A crank and rod mechanism 2 is installed on the output end of the servo motor 11 for left - right rotation. A rod 22 is correspondingly installed on the crank and rod mechanism 2. A sliding rod 23 is installed at the outer end of the rod 22. A mechanical claw 31 is installed at the outer end of the sliding rod 23. A column 13 is slidably installed in the sliding rod 23. The other end of the column 13 is fixedly connected to the base 12. The outer end of the mechanical claw 31 is bent oppositely to install a mechanical claw device 3. Special pads 32 are distributed inside the mechanical claw device 3. Power drive devices 1 are symmetrically distributed on both sides of the base 12. Mechanical claw fixing parts 14 are distributed and installed on both outer ends of the base 12. The mechanical claw fixing parts 14 are pull - connected to the mechanical claw 31 and the mechanical claw device 3;

[0038] After setting certain parameters for the servo motor online, the power drive device 1 transmits power along the crank and rod mechanism 2, and the power is transmitted along the transmission disc 21 - rod 22 - sliding rod 23 - corner rod 24 - mechanical claw 31. The rotational motion of the servo motor 11 is transformed into the linear motion of the transmission part, and the linear motion of the transmission part is further transformed into the rotational movement of the mechanical claw 31. The two mechanical claws 31 are symmetrically arranged and move simultaneously, similar to human hand claws. When the two mechanical claws 31 are tightened, the clamping function is achieved. When the two mechanical claws 31 are loosened, the object can be released. Due to the limitation of the rod 22, the transmission disc 21 rotates alternately in the forward and reverse directions within a certain angle range and cannot rotate a full circle.

[0039] The mechanical claw device 3 includes a mechanical claw 31 and special pads 32. The mechanical claw 31 adopts a curved surface design to widen the activity space. The special pads 32 are arranged at the arc part of the long end of the mechanical claw 31 to relieve and balance the friction generated during the process of clamping the object and make the clamped object more stable. The crank and rod mechanism 2 preferably includes transmission rods, including a transmission disc 21, a rod 22, a sliding rod 23, and a corner rod 24. The sliding rod 23 is movably hinged to the corner rod 24, and the rod 22 is movably and hingedly fixed to the sliding rod 23. The rod 22 is fixed on the transmission disc 21 and realizes the crank motion with the rotation amplitude and speed of the motor.

[0040] The power drive device 1 includes a servo motor 11, a base 12, a column 13, and a mechanical claw fixing member 14. By setting parameters, the servo motor 11 rotates at a certain angle and speed, and its output end is connected to the crank and link mechanism 2. The servo motor 11 is fixed on the base 12. A column 13 is provided on the base 12. The column 13 is inserted into the chute of the sliding rod 23, which plays a role in restricting the movement of the sliding rod within a certain space, ensuring that the sliding rod moves along a straight line direction and improving stability. Mechanical claw fixing members 14 are provided at both ends of the base 12. The midpoint of the mechanical claw device 3 is fixed to the fixing member 14, restricting the lateral movement range. To overcome the shortcomings and deficiencies of the prior art, this manipulator can reduce the labor intensity and improve the production efficiency, realizing a clamping window within a certain space. The structure of the clamping manipulator is simple. On the premise of meeting the basic functions, by optimizing the internal structure, reducing the motion chain, reducing the self-weight, and reducing the losses during the movement process.

[0041] As mentioned above, the above are only further embodiments of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the scope disclosed by the present utility model, according to the technical solution and its concept of the present utility model, makes equivalent substitutions or changes, all belong to the protection scope of the present utility model.

Claims

1. A handling manipulator for clamping, positioning and grasping, comprising a power drive device (1) for driving; It is characterized in that: The output end of the power drive device (1) is equipped with a crank rod mechanism (2) for pulling, and a mechanical claw device (3) is linked to the crank rod mechanism (2). The power drive device (1), the crank rod mechanism (2) and the mechanical claw device (3) form a linkage structure.

2. The handling manipulator for clamping, positioning and grasping according to claim 1, wherein: The power drive device (1) is composed of a servo motor (11), a base (12) and a mechanical claw fixing member (14). The base (12) is installed on the power drive device (1), and the mechanical claw fixing members (14) are correspondingly installed on both sides of the base (12). The mechanical claw fixing members (14) are used in conjunction with the mechanical claw device (3).

3. The handling manipulator for clamping, positioning and grasping according to claim 2, characterized in that: The crank rod mechanism (2) is composed of a column (13), a transmission disc (21), a rod (22), a sliding rod (23) and an angle rod (24). The crank rod mechanism (2) is mounted with a transmission disc (21), the rod (22) is symmetrically mounted on the transmission disc (21), the sliding rod (23) is mounted on the outer end of the rod (22), the angle rod (24) is mounted on the outer end of the sliding rod (23), the column (13) is slidably mounted inside the sliding rod (23), and the outer end of the column (13) is fixedly connected to the base (12).

4. A handling manipulator for clamping, positioning and grasping according to claim 3, characterized in that: The mechanical claw device (3) is composed of a mechanical claw (31) and a special pad (32); the outer end of the corner rod (24) is folded and connected with the mechanical claw (31); and the special pad (32) is distributed on the outer end of the mechanical claw (31).

5. The handling manipulator for clamping, positioning and grasping according to claim 4, wherein: The dedicated pad (32) at the outer end of the mechanical claw (31) is a curved surface structure of at least two groups.

6. The handling manipulator for clamping, positioning and grasping according to claim 5, characterized in that: The column (13) is a telescopic structure, and the sliding rod (23) slides along the column (13).

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