Hexagonal workpiece clamping manipulator
By setting up a clamping mechanism with a cushion structure and an anti-fall baffle on the robot, the problem of unsolid clamping of one-side robot is solved, and fast and reliable workpiece clamping is achieved, which improves working efficiency.
Patent Information
- Application Number
- CN202422553271.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-22
- Publication Date
- 2025-09-02
- Estimated Expiration
- 2034-10-22
AI Technical Summary
The workpiece moving horizontally by the one-sided robot is not firmly clamped, resulting in a longer waiting time and affecting the working efficiency.
The first and second clamping mechanisms arranged symmetrically on the two sliding lifting plates are adopted, and the clamping surface is in a squishy structure. The clamping is completed by pushing the clamping cylinder, and an anti-fall baffle and a protective nylon plate are equipped to improve the clamping firmness and stability.
It improves the firmness of workpiece clamping, shortens clamping time, and improves work efficiency.
Smart Images
Figure CN223289836U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of manipulators, in particular to a hexagonal workpiece clamping manipulator. Background Art
[0002] A manipulator is an automated device that mimics certain movements of human hands and arms, used to grasp, move objects, or operate tools according to a fixed program. It is a key branch of industrial robotics and one of the earliest modern robots. Manipulators have the following characteristics: Programmability: Manipulators can be programmed to perform a variety of desired tasks. Flexibility: While not as flexible as humans, manipulators can perform the same action repeatedly without fatigue. High Precision: For specific tasks, manipulators can achieve very high operational accuracy. Safety: Manipulators can operate in hazardous environments to protect human safety.
[0003] The manipulator is mainly composed of three parts: the actuator, the drive mechanism, and the control system: Actuator: The hand (end effector) is used to grasp the workpiece or tool. It has various structural forms according to the shape, size, weight, material and working requirements of the grasped object, such as clamping type, holding type and adsorption type. Drive mechanism: Provides power to the manipulator so that it can perform various actions. The main driving methods are hydraulic, pneumatic, electric and mechanical. Control system: Completes specific actions by controlling the motor of each degree of freedom of the manipulator. At the same time, it receives information fed back by the sensor to form a stable closed-loop control. The core of the control system is usually composed of a microcontroller such as a single-chip microcomputer or DSP.
[0004] However, in the operation steps of grasping and then processing the workpiece moving in the horizontal direction, the clamping is not firm and the waiting time is prolonged by relying on the robot arm on one side, which affects the work efficiency. Utility Model Content
[0005] In order to solve the problems of weak clamping and long waiting time in the process of clamping a workpiece moving in the horizontal direction by a single-sided manipulator, the utility model provides a hexagonal workpiece clamping manipulator with reliable clamping and fast clamping waiting time.
[0006] The utility model is realized through the following technical solutions:
[0007] A hexagonal workpiece clamping manipulator includes sliding lifting plates. There are two sliding lifting plates, which are arranged oppositely in the horizontal direction; on the two sliding lifting plates, there are respectively a first clamping mechanism and a second clamping mechanism with the same structure and symmetrically arranged. The first clamping mechanism and the second clamping mechanism are respectively installed on the sliding lifting plates through clamping cylinders; the clamping surfaces of the first clamping mechanism and the second clamping mechanism are both of a 冂-shaped structure; the telescopic direction of the first clamping mechanism is perpendicular to the moving direction of the workpiece to be clamped.
[0008] The two sliding lifting plates are arranged oppositely on both sides of the moving track of the workpiece. The clamping cylinders respectively push the first clamping mechanism and the second clamping mechanism to move relatively, so as to complete the clamping of the hexagonal workpiece, improve the firmness of clamping. And the first clamping mechanism and the second clamping mechanism have the same structure. Only by clamping in place can the workpiece be clamped, which shortens the waiting time for clamping the workpiece and improves the operation efficiency.
[0009] A further improvement of the present utility model is that the clamping surfaces of the first clamping mechanism and the second clamping mechanism enclose a regular hexagon structure relatively.
[0010] A further improvement of the present utility model is that anti-dropping baffles are provided on the clamping surfaces of the first clamping mechanism and the second clamping mechanism.
[0011] A further improvement of the present utility model is that the anti-dropping baffles are respectively arranged at the lower parts of the first clamping mechanism and the second clamping mechanism, and the bottom surfaces of the anti-dropping baffles are flush with the bottom surfaces of the first clamping mechanism and the second clamping mechanism.
[0012] A further improvement of the present utility model is that a protective nylon plate is provided above the anti-dropping baffles.
[0013] A further improvement of the present utility model is that a jaw lifting mechanism capable of driving the sliding lifting plate to move up and down is provided on the sliding lifting plate, and the jaw lifting mechanism is arranged on one side of the first clamping mechanism or the second clamping mechanism in the horizontal direction.
[0014] As can be seen from the above technical solutions, the beneficial effects of the present utility model are: the two sliding lifting plates are arranged oppositely on both sides of the moving track of the workpiece. The clamping cylinders respectively push the first clamping mechanism and the second clamping mechanism to move relatively, so as to complete the clamping of the hexagonal workpiece, improve the firmness of clamping. And the first clamping mechanism and the second clamping mechanism have the same structure. Only by clamping in place can the workpiece be clamped, which shortens the waiting time for clamping the workpiece and improves the operation efficiency. Description of the Drawings
[0015] To more clearly illustrate the technical solution of the present utility model, the accompanying drawings required for description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.
[0016] Figure 1 It is the first structural schematic diagram of the specific embodiment of the present utility model.
[0017] Figure 2 It is the second structural schematic diagram of the specific embodiment of the present utility model.
[0018] Figure 3 It is the top view of the operating state of the specific embodiment of the present utility model.
[0019] In the accompanying drawings: 1. Sliding lifting plate; 2. Opposing clamping cylinder; 3. First clamping mechanism; 4. Second clamping mechanism; 5. Anti-dropping baffle; 6. Protective nylon plate; 7. Claw lifting mechanism. Specific embodiment
[0020] To make the purpose, features, and advantages of the present utility model more obvious and understandable, the technical solutions in the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in this specific embodiment. Obviously, the embodiments described below are only some embodiments of the present utility model, rather than all embodiments. Based on the embodiments in this patent, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this patent.
[0021] As shown in the attached Figure 1-3 As shown, a hexagon workpiece clamping manipulator includes a sliding lifting plate 1. There are two sliding lifting plates 1, and the two sliding lifting plates 1 are arranged opposite to each other in the horizontal direction; on the two sliding lifting plates 1, there are respectively a first clamping mechanism 3 and a second clamping mechanism 4 with the same structure and symmetrically arranged. The first clamping mechanism 3 and the second clamping mechanism 4 are respectively installed on the sliding lifting plate 1 through an opposing clamping cylinder 2; the first clamping mechanism 3 and the opposing clamping cylinder 2 and the second clamping mechanism 4 and the opposing clamping cylinder 2 are respectively arranged on both sides of the sliding lifting plate 1. Among them, the opposing clamping cylinder 2 is installed on the sliding lifting plate 1, and the telescopic end penetrates through the sliding lifting plate 1. The space on both sides of the sliding lifting plate 1 is reasonably utilized.
[0022] [[ID=
[0023] The clamping surfaces of the first and second clamping mechanisms 3, 4 are equipped with anti-drop baffles 5. These baffles 5 are located below the first and second clamping mechanisms 3, 4, respectively, with their bottom surfaces flush with the bottom surfaces of the first and second clamping mechanisms 3, 4. A protective nylon plate 6 is located above the baffles 5. The baffles 5 support the bottom surface of the hexagonal workpiece, increasing clamping stability. The protective nylon plate 6 also cushions the extrusion force on the workpiece, preventing deformation.
[0024] The sliding lift plate 1 is provided with a clamping claw lifting mechanism 7 capable of driving the sliding lift plate 1 up and down. The clamping claw lifting mechanism 7 is arranged on one side of the first clamping mechanism 3 or the second clamping mechanism 4 in the horizontal direction. The clamping claw lifting mechanism 7 includes a clamping claw lifting motor, a gear, and a rack. The clamping claw lifting motor is arranged on the side of the sliding lift plate 1 near the clamping mechanism. The output end of the clamping claw lifting motor extends to the other side of the sliding lift plate 1. The output end of the clamping claw lifting motor is provided with the gear. The rack meshing with the gear is mounted on an external carrier. The sliding lift plate 1 is simultaneously arranged on the carrier so as to be able to slide up and down. The upward and downward movement of the sliding lift plate 1 is completed under the action of the clamping claw lifting motor.
[0025] To sum up, the method of using this device is as follows: when a hexagonal workpiece in a vertical state moves in a straight line in the horizontal direction and passes between the two clamping mechanisms, the first clamping mechanism 3 and the second clamping mechanism 4 move relative to each other at the same time under the action of the clamping cylinder 2, thereby completing the clamping of the hexagonal workpiece in the vertical state. As the clamping claw lifting mechanism 7 drives the sliding lifting plate 1 to move upward, the upward movement of the hexagonal workpiece is completed, which facilitates the processing of the top of the hexagonal workpiece. After the processing is completed, the hexagonal workpiece is driven back and the workpiece is released until the next hexagonal workpiece in a vertical state passes by, thereby realizing a cyclic operation.
[0026] The utility model describes a hexagonal workpiece clamping robot, in which two sliding lifting plates are arranged opposite to each other on both sides of the workpiece moving track, and the clamping cylinders respectively push the first clamping mechanism and the second clamping mechanism to move relative to each other, completing the clamping of the hexagonal workpiece and improving the firmness of the clamping. The first clamping mechanism and the second clamping mechanism have the same structure, and only need to be clamped in place to complete the clamping of the workpiece, which shortens the waiting time for clamping the workpiece and improves the working efficiency.
[0027] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other.
[0028] The terms "upper," "lower," "outer," "inner," and the like, if used in the specification and claims of the present invention and the accompanying drawings, are used to distinguish relative positions and do not necessarily define them. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present invention described herein can be implemented in sequences other than those illustrated or described herein. Furthermore, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions.
[0029] The above description of the disclosed embodiments will enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A hexagonal workpiece clamping manipulator, comprising a sliding lifting plate (1), characterized in that: There are two sliding lifting plates (1), and the two sliding lifting plates (1) are arranged oppositely in the horizontal direction; on the two sliding lifting plates (1), there are respectively a first clamping mechanism (3) and a second clamping mechanism (4) with the same structure and symmetrically arranged. The first clamping mechanism (3) and the second clamping mechanism (4) are respectively installed on the sliding lifting plate (1) through clamping cylinders (2); the clamping surfaces of the first clamping mechanism (3) and the second clamping mechanism (4) are both in a 冂-shaped structure; the telescopic direction of the first clamping mechanism (3) is perpendicular to the moving direction of the workpiece to be clamped.
2. A hexagonal workpiece clamping manipulator according to claim 1, characterized in that: The clamping surfaces of the first clamping mechanism (3) and the second clamping mechanism (4) are relatively enclosed to form a regular hexagon structure.
3. A hexagonal workpiece clamping manipulator according to claim 1 or 2, characterized in that: The clamping surfaces of the first clamping mechanism (3) and the second clamping mechanism (4) are provided with anti-dropping baffles (5).
4. A hexagonal workpiece clamping manipulator according to claim 3, characterized in that: The anti-dropping baffles (5) are respectively arranged at the lower parts of the first clamping mechanism (3) and the second clamping mechanism (4), and the bottom surfaces of the anti-dropping baffles (5) are flush with the bottom surfaces of the first clamping mechanism (3) and the second clamping mechanism (4).
5. A hexagonal workpiece clamping manipulator according to claim 4, characterized in that: There is a protective nylon plate (6) above the anti-dropping baffle (5).
6. A hexagonal workpiece clamping manipulator according to claim 1 or 2, characterized in that: On the sliding lifting plate (1), there is a jaw lifting mechanism (7) that can drive the sliding lifting plate (1) to move up and down. The jaw lifting mechanism (7) is arranged on one side of the first clamping mechanism (3) or the second clamping mechanism (4) in the horizontal direction.