Material taking mechanism of manipulator

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a material taking mechanism of a mechanical arm, which comprises a frame body arranged on the mechanical arm, a frame plate is fixed on the top of the frame body, a plurality of positioning pins and a plurality of sleeve blocks are arranged on the frame plate, and two groups of jacking components are arranged at the bottom of the frame plate. According to the material taking mechanism of the mechanical arm, the frame body is driven to move through the operation of the mechanical arm, so that the corresponding positioning pins are inserted into the calibration positions in the positioning cylinders, the material taking assembly extends the inner rods into the material taking cylinders of the external pre-placing table, nuts are taken out after being clamped through the clamping parts, and meanwhile the positioning pins at different positions are positioned; through cooperation of the clamping assembly and the jacking assembly, an assembly column pre-placed on the pre-placing table can be clamped out, parts can be taken out, so that the parts can be conveniently placed into an injection mold, under the action of a clamping air cylinder, a shell subjected to injection molding can be transplanted out, and therefore multiple functions of the mechanical arm can be achieved; and meanwhile, the production cost can be reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field, concretely is a kind of material taking mechanism of manipulator. BACKGROUND

[0002] Manipulator refers to the certain action function of imitating human hand and arm, to grasp, transport object or operate tool according to fixed program, automatic operation device, mainly by actuating mechanism, drive mechanism and control system three parts, it can replace the heavy labor of person to realize the mechanization and automation of production.

[0003] Manipulator is now generally used in factory, reduce the labor intensity of worker, improve the work efficiency of worker, therefore in injection molding process, need through manipulator to complete nut, screw and spare part's material taking and put into injection mold, make mold and spare part directly form, when mold forms, it will be removed by another manipulator, therefore the function of traditional manipulator is relatively single, lead to the need to use multiple manipulators in entire processing process, thus increase the cost of production. UTILITY MODEL CONTENT

[0004] To realize the above-mentioned purpose, the utility model provides the following technical scheme: a kind of material taking mechanism of manipulator, including the frame of installation on manipulator, the top of frame is fixed with frame plate, multiple positioning pins and multiple sleeve blocks are installed on frame plate, and two groups of jacking assemblies are installed at bottom, the top of two groups of jacking assemblies is fixed with multiple respectively with multiple sleeve blocks and is arranged push block, the top of push block is installed with multiple electric magnetic attraction devices, the top of frame plate is also installed with multiple clamping assemblies opposite to part of push block, and the bottom of frame plate is fixed with support plate, clamping cylinder is installed on support plate, the clamping end of clamping cylinder is fixed with clamping plate, and multiple material taking assemblies are installed on the top of frame plate.

[0005] Further, the jacking assembly includes multiple guide rods fixed at the bottom of frame plate, multiple guide rods are divided into two groups, bottom plate and upper top plate are fixed between the bottom of two groups of guide rods and are arranged, the bottom of bottom plate is installed with the upper top cylinder connected with upper top plate, and multiple push blocks are respectively fixed on two upper top plates.

[0006] Further, the clamping assembly includes multiple front push cylinders installed at the bottom of frame plate, and guide block is fixed at the top, sliding block is slidably connected to guide block, the piston rod of front push cylinder is fixed with front push block fixed with sliding block through frame plate, and clamping cylinder is installed on the top of sliding block.

[0007] Further, multiple buffers are installed on the surface of frame plate, the side of sliding block is fixed with baffle, and baffle is opposite to corresponding buffer.

[0008] Further, the taking component comprises a plurality of push-up cylinders fixed at the bottom of the frame plate, the piston rods of the push-up cylinders are fixed with connecting plates through the frame plate, the inner sides of the connecting plates are fixed with two sleeves, the inner sides of the sleeves are sleeved with inner rods, the bottoms of the inner rods are connected with ring blocks fixed at the bottom of the frame plate, and the head ends of the inner rods are provided with clamping parts.

[0009] Further, the clamping part comprises two inner cylinders embedded in the outer sides of the inner rods, the inner sides of the inner cylinders are fixed with elastic sheets, and the inner sides of the inner cylinders are provided with steel balls.

[0010] Compared with the prior art, the technical scheme has the following beneficial effects:

[0011] The taking mechanism of the mechanical arm drives the frame body to move through the operation of the mechanical arm, makes the corresponding positioning pins inserted into the positioning cylinders to calibrate the position, makes the taking component extend the inner rod to the external pre-placement table taking cylinder, takes out after clamping the nut through the clamping part, and according to the positioning of the positioning pins in different positions, the pre-placed assembly column on the pre-placement table can be clamped out and the parts can be taken out through the cooperation of the clamping component and the jacking component, so that the parts can be placed into the injection mold, the jacking component can be moved out under the action of the clamping cylinder, so that the multifunction of the mechanical arm can be realized, and the production cost can be reduced. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is a structural schematic view of the utility model;

[0013] Figure 2 It is a top view of the utility model;

[0014] Figure 3 It is a three-dimensional view of the clamping component in the utility model;

[0015] Figure 4 It is a three-dimensional view of the taking component in the utility model;

[0016] Figure 5 It is a sectional view of the sleeve and the inner rod in the utility model;

[0017] Figure 6 It is a three-dimensional view of the jacking component in the utility model.

[0018] In the figure: 1, frame; 2, frame plate; 3, positioning pin; 4, material taking assembly; 401, push-up air cylinder; 402, connecting plate; 403, sleeve; 404, inner rod; 405, ring block; 406, inner cylinder; 407, elastic sheet; 408, steel ball; 5, clamping assembly; 501, front push air cylinder; 502, guide block; 503, sliding block; 504, front push block; 505, clamping air cylinder; 506, buffer; 507, baffle; 6, jacking assembly; 601, guide rod; 602, bottom plate; 603, upper jacking air cylinder; 604, upper jacking plate; 7, clamping air cylinder; 8, clamping plate; 9, support plate; 10, sleeve block; 11, push block; 12, electric magnetic attraction device. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0020] Please refer to Figures 1-6 In the embodiment, the material taking mechanism of the mechanical hand comprises a frame 1 and a frame plate 2 fixed on the top of the frame 1, the top of the frame plate 2 is fixed with four positioning pins 3, and four sleeve blocks 10 are fixed, and two jacking assemblies 6 are installed at the bottom, the top end of the jacking assembly 6 is fixed with three push blocks 11, six push blocks 11 are respectively arranged through the four sleeve blocks 10, and two push blocks 11 are arranged through the sleeve blocks 10 on the back of the left side and the front of the right side, respectively, not less than two electric magnetic attraction devices 12 are installed on the top of the push block 11, two material taking assemblies 4, four clamping assemblies 5 and a support plate 9 are further installed on the frame plate 2, and the clamping air cylinder 7 is installed at the bottom of the support plate 9, the clamping end of the clamping air cylinder 7 is fixed with the clamping plate 8, three clamping assemblies 5 are opposite to the three push blocks 11 on the left side, and the other clamping assemblies 5 are opposite to the push block 11 at the middle position on the right side.

[0021] In the above structure, first, the nut, screw and parts are placed on the external pre-placement table, then under the operation of the manipulator, the frame body follows the movement, so that the two positioning pins on one side are docked and calibrated with the external pre-placement table, then the corresponding parts are attracted by the electric magnetic attraction device, at the same time the clamping assembly clamps the corresponding assembly column, and the taking assembly moves the corresponding nut close to the positioning pin, then under the operation of the manipulator, the other two positioning pins are docked and calibrated with the corresponding positioning cylinder, so that the clamping assembly and the electric magnetic attraction device can attract and clamp the corresponding parts and assembly column again, and under the movement of the manipulator, they can be transferred to the injection molding device, so that the assembly column is inserted into the adapted position, then the clamping assembly retreats, and under the operation of the jacking assembly, the parts are pushed to the appropriate position for injection molding. After injection molding, the injection molded part is removed by the clamping cylinder driven clamping plate, so that the manipulator can realize multifunction, and the production cost can be reduced.

[0022] As Figure 4 and 5 The taking assembly 4 comprises two push-up cylinders 401 fixed at the bottom of the frame plate 2. The piston rods of the push-up cylinders 401 pass through the frame plate 2 and are fixed with a connecting plate 402. Two sleeves 403 are fixed on the plate surface of the connecting plate 401. An inner rod 404 is provided in the sleeve 403. The bottom of the inner rod 404 is fixed with a ring block 405, and the top of the ring block 405 is fixed with the bottom of the frame plate 2. Two inner cylinders 406 distributed in opposite directions are inlaidly and fixedly installed on the outer side of the top of the sleeve 403. Steel balls 408 are placed in the inner cylinders 406. V-shaped elastic sheets 407 are fixed on the side of the inner wall of the inner cylinder 406 opposite to the steel balls 408. The diameter of the cylinder port of the inner cylinder 406 is smaller than the diameter of the steel ball 408. When the positioning pin is inserted into the external positioning cylinder, the frame plate drives the inner rod to be inserted into the nut cylinder, so that the nut is filled and the steel ball is extruded, and the steel ball extrudes the elastic sheet until the steel ball moves to the inner side of the nut. Under the action of the elastic sheet, the steel ball is pushed out, so that the nut is positioned on the outer side of the inner rod. When the manipulator moves it to the injection molding machine, the push-up cylinder drives the sleeve through the connecting plate, and the sleeve pushes the nut away from the inner rod, so as to complete the discharging operation.

[0023] As Figure 1 and 3The clamping assembly 5 comprises four front pushing cylinders 501 mounted on the bottom of the frame plate 2, and a corresponding number of guide blocks 502 fixed on the top of the front pushing cylinders 501, the outer side of the guide blocks 502 is slidably connected with a sliding block 503, the piston rod of the front pushing cylinder 501 is fixed with a front pushing block 504 penetrating the frame plate 2, one side of the front pushing block 504 is fixed with the sliding block 503, the top of the sliding block 503 is mounted with a clamping cylinder 505, four buffers 506 are fixed on the plate surface of the frame plate 2, one side of the sliding block 503 is fixed with a baffle 507 distributed opposite to the corresponding buffer 506. First, when the right two positioning pins are docked and corrected with the external pre-staging table, the corresponding electric magnetic suction device will attract the corresponding parts, and the right front pushing cylinder drives the sliding block to move through the front pushing block, the clamping end of the clamping cylinder is in an open state, and the baffle is opposite to the corresponding buffer, thereby playing a limiting role, so that the assembly column is located between the clamping ends of the clamping cylinder, and then the assembly column is clamped and fixed, and then the assembly column is removed by the mechanical hand, so that the corresponding parts and the assembly column are taken out, then the other two positioning pins are corrected and positioned with the pre-staging table, and then the above operation is repeated again, and the corresponding parts and the assembly column are taken out and placed in the appropriate position, and then the assembly column is inserted into the specified position by the mechanical hand, and the clamping cylinder is separated from the assembly column by the front pushing cylinder driving the sliding block to retreat, so as to avoid blocking the placement of the parts.

[0024] As Figure 6 The jacking assembly 6 comprises two groups of guide rods 601 fixed on the bottom of the frame plate 2, one group of guide rods 601 is four in number, and the bottom of the two groups of guide rods 601 is fixed with a bottom plate 602, and an upper top plate 604 is penetratingly arranged, the bottom plate 602 is mounted with an upper top cylinder 603, the piston rod of the upper top cylinder 603 penetrates the bottom plate 602 and is fixed with the upper top plate 604, and six pushing blocks 11 are arranged in two groups, and the two groups of pushing blocks 11 are fixed on the two upper top plates 604 respectively. When the above assembly column is placed in the appropriate position, the clamping cylinder retreats, at this time the upper top cylinder is ejected, drives the upper top plate to move upwards, and under the action of the guide rod, the moving stability of the upper top plate can be improved, so that the upper top plate can drive the pushing block to be ejected, so that the attracted parts are moved to the appropriate position, the electric magnetic suction device is disconnected and separated from the parts, and the ejection operation of the parts is completed.

[0025] The working principle of the above embodiment is as follows:

[0026] Firstly, the external pre-staging table will place the required parts one by one, then the mechanical hand drives the frame to move, so that the two positioning pins on the right side are positioned with the pre-staging table, so that the corresponding electric magnetic suction device is attached to the parts, then the corresponding front pushing cylinder ejects, the front pushing block moves the clamping cylinder through the sliding block, so that the assembly column is located at the clamping end of the clamping cylinder, and is clamped and fixed through the clamping cylinder, then the mechanical hand drives the frame plate to move upwards, so that the parts and the assembly column move out, then the two positioning pins on the left side are positioned with the pre-staging table, then the above steps are repeated to adsorb and clamp the corresponding parts and assembly column, and the inner rod is also inserted into the nut cylinder, in the process of insertion, the nut will extrude the steel ball, the steel ball will extrude the elastic sheet and retreat, until the steel ball is located in the middle of the nut, under the pushing of the elastic sheet, the steel ball can be pushed outwards to clamp the nut, then through the movement of the mechanical hand, the frame is moved to the injection molding machine, first, the assembly column is moved to the specified position, then the clamping end of the clamping cylinder is separated from the assembly column, then the front pushing cylinder drives the sliding block to retreat, and the upper pushing cylinder and the upper top cylinder operate, the upper top cylinder drives the upper top plate to eject, thereby driving the pushing block to eject, after the parts are moved to the specified position, the electric magnetic suction device is separated from the parts, the upper top plate retreats, and when the nut also moves to the appropriate position, the upper pushing cylinder drives the connecting plate to move upwards, the nut is pushed outwards through the sleeve to separate from the inner rod, thereby completing the installation of all parts, and after injection molding, the product can also be moved out through the clamping cylinder and the clamping plate.

[0027] The entire work flow is completed, and the contents not described in detail in the specification all belong to the prior art known to those skilled in the art.

[0028] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one entity or action from another, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more limitations, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0029] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A pick-up mechanism of a robot, characterized in that: The utility model provides a kind of mechanical arm, including the frame (1) installed on the mechanical arm, the top of frame (1) is fixed with frame plate (2), frame plate (2) is installed with multiple positioning pins (3) and multiple sleeve blocks (10), and bottom is installed with two groups of jacking assembly (6), the upper top end of two groups of jacking assembly (6) is fixed with multiple respectively with multiple sleeve blocks (10) and is arranged push block (11), the top of push block (11) is installed with multiple electric magnetic attraction device (12), the top of the frame plate (2) is also installed with multiple and part push block (11) opposite clamping assembly (5), and the bottom of frame plate (2) is fixed with support plate (9), support plate (9) is installed with clamping cylinder (7), and the clamping end of clamping cylinder (7) is fixed with clamping plate (8), and the top of frame plate (2) is also installed with multiple groups of material taking assembly (4).

2. A pick-up mechanism for a robot according to claim 1, wherein: The jacking assembly (6) includes a plurality of guide rods (601) fixed at the bottom of the frame plate (2), the plurality of guide rods (601) are divided into two groups, the bottom of the two groups of guide rods (601) is fixed with a bottom plate (602) and an upper top plate (604) penetrating between the outer sides, the bottom of the bottom plate (602) is installed with an upper top cylinder (603) connected with the upper top plate (604), and the plurality of push blocks (11) are respectively fixed on the two upper top plates (604).

3. The material taking mechanism of a robot according to claim 1, characterized in that: The clamping assembly (5) includes a plurality of front push cylinders (501) installed at the bottom of the frame plate (2), and a guide block (502) fixed at the top, a sliding block (503) slidably connected to the guide block (502), a piston rod of the front push cylinder (501) fixed with a front push block (504) penetrating through the frame plate (2) and fixed with the sliding block (503), and a clamping cylinder (505) installed at the top of the sliding block (503).

4. A pick-up mechanism for a robot according to claim 3, wherein: A plurality of bumpers (506) are installed on the surface of the frame plate (2), and a baffle (507) is fixed on one side of the sliding block (503) and opposite to the corresponding bumper (506).

5. The material taking mechanism of a robot according to claim 1, wherein: The material taking assembly (4) includes a plurality of upper push cylinders (401) fixed at the bottom of the frame plate (2), a connecting plate (402) fixed with the piston rod of the upper push cylinder (401) penetrating through the frame plate (2), two sleeves (403) fixed on the inner side of the connecting plate (402), an inner rod (404) sleeved in the inner sleeve (403), an annular block (405) connected to the bottom of the frame plate (2) at the bottom of the inner rod (404), and a clamping portion provided on the outer side of the head end of the inner rod (404).

6. A pick-up mechanism for a robot according to claim 5, wherein: The clamping portion includes two inner cylinders (406) embedded on the outer side of the inner rod (404), a spring sheet (407) fixed in the inner cylinder (406), and a steel ball (408) provided in the inner cylinder (406).

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