Manipulator device

Abstract

The utility model relates to the technical field of hardware manufacturing, and provides a manipulator device which comprises a conveying mechanism and a turnover mechanism. The conveying mechanism comprises a limiting structure and a conveying base used for conveying products, and the limiting structure is arranged at one end of the conveying base and used for limiting the products. The turnover mechanism comprises a turnover assembly and a placement structure, the turnover assembly comprises a turnover part, a manipulator and a fixed seat arranged at the other end of the conveying seat, the turnover part is rotationally assembled on the fixed seat, the manipulator is fixed on the turnover part, clamping jaws are arranged on the two sides of the manipulator respectively, and the clamping jaws are fixed on the turnover part. A clamping groove is formed in the clamping jaw, and the placing structure is mounted below the manipulator; the mechanical arm solves the problem that the mechanical arm cannot guarantee the grabbing stability of irregular hardware products, and has the advantages of being simple in structure and low in manufacturing cost.

Description

TECHNICAL FIELD

[0001] The utility model relates to hardware manufacturing technical field, specifically, relate to a mechanical hand device. BACKGROUND

[0002] Hardware products refer to various products made of gold, silver, copper, iron, tin and other metals, including tool hardware, building hardware, lock security, kitchen and bathroom hardware, daily hardware, home hardware and hardware accessories, etc. These products are widely used in daily life and industrial manufacturing. Some daily hardware products are essential tool consumer goods for people's life, while other hardware products are mostly supporting products, semi-finished products and tools used in the production process of industrial manufacturing. When producing hardware products in the workshop, some processes need to use a mechanical hand to transfer hardware parts.

[0003] The mechanical hand in the prior art cannot clamp the periphery of the hardware product in all directions, which leads to the hardware product slipping off easily during transportation, affecting the stability of grabbing and transporting, and when grabbing irregular hardware products, the distance between each side wall of the hardware product and the corresponding clamping mechanism is different, which makes it difficult for the clamping mechanical hand to adapt to firmly grab the irregular hardware product, also affecting the stability of grabbing and transporting the hardware product. UTILITY MODEL CONTENT

[0004] Therefore, in order to solve the problem that the mechanical hand cannot guarantee the stability of grabbing irregular hardware products, the utility model provides a mechanical hand device, and the specific technical scheme is as follows:

[0005] A mechanical hand device, comprising a conveying mechanism and a turnover mechanism; the conveying mechanism comprises a limiting structure and a conveying seat for conveying products, the limiting structure is arranged at one end of the conveying seat and is used for limiting the products; the turnover mechanism comprises a turnover assembly and a placing structure, the turnover assembly comprises a turnover piece, a mechanical hand and a fixing seat arranged at the other end of the conveying seat, the turnover piece is rotatably assembled on the fixing seat, the mechanical hand is fixed on the turnover piece, two sides of the mechanical hand are respectively provided with clamping jaws, the clamping jaws are provided with clamping grooves, and the placing structure is installed below the mechanical hand.

[0006] The above-mentioned mechanical hand device is provided with a conveying seat, which facilitates the displacement and transfer of products, thereby completing the station adjustment of the products in the manufacturing process; the limiting structure is provided to position the products and ensure their stable conveying on the conveying seat; the turnover piece is provided, the rotation of the turnover piece on the fixing seat can drive the mechanical hand to swing, so that the product on the mechanical hand can realize turnover operation, which is convenient for processing or adjusting different end faces of the product; the placing structure is provided to position and fix the turned-over product, realizing the turnover and discharging of the product.

[0007] Further, the mechanical hand device further comprises a workbench, a mounting plate is screwedly arranged on the workbench, the conveying mechanism and the turnover mechanism are fixed on the mounting plate, one end of the mounting plate is provided with a notch, and a discharging box is screwedly connected to the bottom of the mounting plate, and the opening of the discharging box faces the notch.

[0008] Further, the conveying seat is provided with an inlet end and an outlet end at two ends respectively, a blocking block is protrudingly arranged at the outlet end of the conveying seat, and a positioning groove matched with the product is arranged on one side wall of the blocking block.

[0009] Further, the limiting structure comprises two limiting pieces symmetrically arranged at two sides of the inlet end of the conveying seat, the limiting piece comprises a lifting piece, a first pushing cylinder, a first limiting head and a dismounting seat fixed on the mounting plate in a detachable manner, the lifting piece is slidingly connected to the dismounting seat, the first pushing cylinder is installed on the top of the lifting piece, and the output end of the first pushing cylinder is in transmission connection with the first limiting head.

[0010] Further, a bearing is arranged on the top of the fixing seat, the turnover piece comprises a connecting block, a supporting block and a transmission shaft rotatably inserted into the bearing, a transmission gear is sleeved on the transmission shaft, one end of the connecting block is fixedly connected with the transmission shaft, the other end of the connecting block is screwedly connected with the supporting block, and the mechanical hand is fixed on the top of the supporting block.

[0011] Further, the turnover assembly further comprises a driving structure, the driving structure comprises a mounting seat, a second pushing cylinder, a sliding plate and a toothed belt, the mounting seat and the second pushing cylinder are fixed on the mounting plate, the mounting seat is provided with a sliding rail, the sliding plate is slidingly assembled on the sliding rail, the second pushing cylinder is used for controlling the sliding state of the sliding plate, and the toothed belt is arranged on the sliding plate and is in meshing connection with the transmission gear.

[0012] Further, the mechanical hand comprises a positioning block and two swing arms, the positioning block is fixed on the supporting block in a detachable manner, the two swing arms are rotatably connected at two sides of the positioning block respectively, the clamping jaw is connected to each of the swing arms, a clamping space for clamping and fixing the product is formed between the two clamping jaws, and an antiskid pad is arranged in the clamping jaw.

[0013] Further, the placing structure comprises two placing pieces symmetrically arranged on the mounting plate, the placing piece comprises a jacking block and a limiting block, the jacking block is provided with a jacking head, the jacking head can be lifted relative to the workbench, and a second limiting head is slidingly arranged on the limiting block.

[0014] Further, the mechanical arm device further comprises a cleaning mechanism, the cleaning mechanism comprises an adjusting piece, a blowing head and a support fixed on the mounting plate, one end of the adjusting piece is rotatably assembled on the support, the blowing head is arranged on the other end of the adjusting piece, and the blowing head is located above the turnover mechanism.

[0015] Further, the mechanical arm device further comprises a lighting mechanism arranged on the discharging box, the lighting mechanism comprises two opposite lighting lamp tubes, and the two lighting lamp tubes are both vertically fixed on the mounting plate. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a structural schematic view of the mechanical arm device according to an embodiment of the present application;

[0017] Figure 2 is a structural schematic view of the mechanical arm device according to another embodiment of the present application;

[0018] Figure 3 is a structural schematic view of the mechanical arm device according to another embodiment of the present application;

[0019] Figure 4 is a structural schematic view of the turnover mechanism of the mechanical arm device according to an embodiment of the present application.

[0020] BRIEF DESCRIPTION OF DRAWINGS

[0021] 1, limiting structure; 11, lifting piece; 12, first push cylinder; 13, first limiting head; 14, dismounting seat; 2, conveying seat; 21, blocking block; 3, turnover assembly; 31, turnover piece; 311, connecting block; 312, supporting block; 313, transmission shaft; 314, transmission gear; 32, mechanical arm; 321, clamping jaw; 322, positioning block; 323, swing arm; 33, fixing seat; 331, bearing; 34, mounting seat; 35, second push cylinder; 36, sliding plate; 37, toothed belt; 4, placing structure; 41, jacking block; 42, limiting block; 5, workbench; 51, mounting plate; 52, discharging box; 6, adjusting piece; 7, blowing head; 8, support; 9, lighting lamp tube. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application will be further described in detail below with reference to the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and do not limit the protection scope of the present application.

[0023] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0025] In this utility model, "first" and "second" do not represent a specific quantity or order, but are merely used to distinguish names.

[0026] like Figures 1-4 As shown, a robotic arm device in one embodiment of the present invention includes a conveying mechanism and a flipping mechanism; the conveying mechanism includes a limiting structure 1 and a conveying seat 2 for conveying products, the limiting structure 1 is installed at one end of the conveying seat 2 and is used to limit the products; the flipping mechanism includes a flipping component 3 and a placement structure 4, the flipping component 3 includes a flipping part 31, a robotic arm 32 and a fixed seat 33 disposed at the other end of the conveying seat 2, the flipping part 31 is rotatably assembled on the fixed seat 33, the robotic arm 32 is fixed on the flipping part 31, and grippers 321 are respectively provided on both sides of the robotic arm 32, and grippers 321 are provided with clamping grooves, and the placement structure 4 is installed below the robotic arm 32.

[0027] The aforementioned robotic arm device, by being equipped with a conveyor seat 2, facilitates the transfer and shifting of products, thereby completing the workstation adjustment of products during the manufacturing process; by being equipped with a limit structure 1, the product is positioned to ensure its stable transport on the conveyor seat 2; by being equipped with a flipping component 31, the rotation of the flipping component on the fixed seat 33 can drive the robotic arm 32 to swing, thereby enabling the product on the robotic arm 32 to be flipped, facilitating the processing or adjustment of different end faces of the product; by being equipped with a placement structure 4, the flipped product is positioned and fixed, realizing the product flipping and unloading.

[0028] like Figures 1-3As shown in the drawings, in one of the embodiments, the mechanical hand device further comprises a workbench 5, a mounting plate 51 is threadedly arranged on the workbench 5, the conveying mechanism and the turnover mechanism are both fixed on the mounting plate 51, a notch is arranged on one end of the mounting plate 51, and a discharge box 52 is threadedly connected to the bottom of the mounting plate 51, and the opening of the discharge box 52 faces the notch.

[0029] As shown in the drawings, Figure 1 As shown in the drawings, in one of the embodiments, the two ends of the conveying seat 2 are respectively provided with an inlet end and a discharge end, a blocking block 21 is protrudingly arranged at the discharge end of the conveying seat 2, and a positioning groove is arranged on one side wall of the blocking block 21 and is matched with the product. By arranging the positioning groove, the product can be fixedly positioned at the discharge end, which facilitates the clamping operation of the mechanical hand 32 on the product and improves the accuracy of clamping the product.

[0030] As shown in the drawings, Figure 1 and Figure 3 As shown in the drawings, in one of the embodiments, the limiting structure 1 comprises two limiting pieces symmetrically arranged on both sides of the inlet end of the conveying seat 2, the limiting piece comprises a lifting piece 11, a first pushing cylinder 12, a first limiting head 13, and a dismounting seat 14 which is detachably fixed on the mounting plate 51, the lifting piece 11 is slidingly connected to the dismounting seat 14, the first pushing cylinder 12 is installed on the top of the lifting piece 11, and the output end of the first pushing cylinder 12 is in transmission connection with the first limiting head 13. In this way, by arranging the lifting piece 11, the sliding movement of the lifting piece 11 on the dismounting seat 14 can drive the first limiting head 13 to move up and down, so as to adjust the height position of the first limiting head 13, so that the first limiting head 13 can more accurately abut against and limit the product on the conveying seat 2; by arranging the first pushing cylinder 12, the first pushing cylinder 12 controls the first limiting head 13 to reciprocally approach the product, so as to realize the limiting and fixing of the product, complete the positioning of the product during feeding on the conveying seat 2, and effectively avoid the product from slipping off.

[0031] As shown in the drawings, Figure 4 As shown in the drawings, in one of the embodiments, the top of the fixing seat 33 is provided with a bearing 331; the turnover piece 31 comprises a connecting block 311, a supporting block 312, and a transmission shaft 313 which is rotatably inserted into the bearing 331, a transmission gear 314 is sleeved on the transmission shaft 313, one end of the connecting block 311 is fixedly connected with the transmission shaft 313, the other end of the connecting block 311 is threadedly connected with the supporting block 312, and the mechanical hand 32 is fixed on the top of the supporting block 312. By arranging the transmission shaft 313, the rotation of the transmission shaft 313 in the bearing 331 can drive the rotation and swing of the whole turnover piece 31, so as to control the rotation and swing of the mechanical hand 32, and then complete the turnover operation of the product.

[0032] As shown in the drawings, Figure 4As shown in the drawings, in one of the embodiments, the overturning assembly 3 further comprises a driving structure, the driving structure comprising a mounting base 34, a second pushing cylinder 35, a sliding plate 36 and a toothed belt 37, the mounting base 34 and the second pushing cylinder 35 are both fixed on the mounting plate 51, the mounting base 34 is provided with a sliding rail, the sliding plate 36 is slidingly assembled on the sliding rail, the second pushing cylinder 35 is used for controlling the sliding state of the sliding plate 36, and the toothed belt 37 is arranged on the sliding plate 36 and is in meshing connection with the transmission gear 314. By being provided with the second pushing cylinder 35, the second pushing cylinder 35 drives the sliding plate 36 to slide on the sliding rail, so that the toothed belt 37 can reciprocate, and then the meshing state between the toothed belt 37 and the transmission gear 314 drives the rotation of the transmission gear 314, and finally the rotation of the transmission shaft 313 is controlled.

[0033] Specifically, the sliding rail is arranged in a horizontal direction.

[0034] As shown in the drawings, Figure 4 In one of the embodiments, the manipulator 32 comprises a positioning block 322 and two swing arms 323, the positioning block 322 is detachably fixed on the supporting block 312, the two swing arms 323 are respectively rotationally connected on both sides of the positioning block 322, each swing arm 323 is connected with a clamping jaw 321, and a clamping space for clamping and fixing the product is formed between the two clamping jaws, and an antiskid pad is arranged in the clamping jaw.

[0035] As shown in the drawings, Figure 1 and Figure 2 In one of the embodiments, the placing structure 4 comprises two placing pieces symmetrically arranged on the mounting plate 51, the placing piece comprises a jacking block 41 and a limiting block 42, the jacking block 41 is provided with a jacking head, the jacking head can be lifted relative to the workbench 5, and the limiting block 42 is slidingly provided with a second limiting head. In this way, by being provided with the jacking head, the bottom of the product after overturning can be supported, and support force is provided for the product out of the placing, at the same time, the jacking head can be adjusted in height, so as to adjust the supporting position according to the size of the product; by being provided with the second limiting head, the side wall of the product is abutted and limited, at the same time, the second limiting head can slide, so as to adjust the position of the limiting and clamping according to the size of the product.

[0036] As shown in the drawings, Figures 1-3As shown in the drawings, in one of the embodiments, the mechanical hand device further comprises a cleaning mechanism, the cleaning mechanism comprising an adjusting piece 6, a blowing head 7 and a support 8 fixed on the mounting plate 51, one end of the adjusting piece 6 being rotatably assembled on the support 8, the blowing head 7 being arranged on the other end of the adjusting piece 6, and the blowing head 7 being located above the overturning mechanism. By arranging the adjusting piece 6, the rotation of the adjusting piece 6 on the support 8 can drive the position of the blowing head 7 to move, so that the blowing head 7 can not only be aimed at the product that has not been overturned on the discharge end of the conveying seat 2, but also be aimed at the product that has been overturned and placed at the placing structure 4; by arranging the blowing head 7, the blowing head 7 can accurately deliver a certain amount of air to the surface of the product, so as to clean the dust and sundries on the surface of the product and avoid affecting the subsequent manufacturing and processing of the product.

[0037] As Figures 1-3 shown, in one of the embodiments, the mechanical hand device further comprises an illuminating mechanism arranged on the discharge box 52, the illuminating mechanism comprising two opposite illuminating lamp tubes 9, both of which are vertically fixed on the mounting plate 51. The main function of the illuminating lamp tube 9 is to provide illumination, so as to meet the illumination needs of the operator in different production and manufacturing environments.

[0038] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above-mentioned embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0039] The above-mentioned embodiments only express several implementation manners of the present application, the description is more specific and detailed, but it should not be understood as the limitation of the scope of the present application. It should be pointed out that, for the ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. A robotic arm device, characterized in that, include: A conveying mechanism, comprising a limiting structure and a conveying seat for conveying products, wherein the limiting structure is installed at one end of the conveying seat and is used to limit the products; The flipping mechanism includes a flipping component and a placement structure. The flipping component includes a flipping part, a robotic arm, and a fixed base disposed at the other end of the conveyor seat. The flipping part is rotatably mounted on the fixed base. The robotic arm is fixed on the flipping part. The robotic arm has grippers on both sides and gripping grooves. The placement structure is installed below the robotic arm.

2. The robotic arm device according to claim 1, characterized in that, It also includes a workbench, on which a mounting plate is threadedly mounted. The conveying mechanism and the flipping mechanism are both fixed on the mounting plate. One end of the mounting plate has a notch, and a discharge box is threadedly connected to the bottom of the mounting plate. The opening of the discharge box faces the notch.

3. The robotic arm device according to claim 2, characterized in that, The conveyor seat has an inlet end and an outlet end at its two ends, respectively. A blocking block is protruding at the outlet end of the conveyor seat, and a positioning groove that fits into the product is opened on one side wall of the blocking block.

4. The robotic arm device according to claim 3, characterized in that, The limiting structure includes two limiting members symmetrically arranged on both sides of the feed end of the conveyor seat. Each limiting member includes a lifting member, a first pushing cylinder, a first limiting head, and a disassembly and assembly seat detachably fixed on the mounting plate. The lifting member is slidably connected to the disassembly and assembly seat. The first pushing cylinder is installed on the top of the lifting member, and the output end of the first pushing cylinder is connected to the first limiting head in a transmission manner.

5. The robotic arm device according to claim 4, characterized in that, The top of the fixed base is provided with a bearing; the flipping component includes a connecting block, a supporting block, and a transmission shaft rotatably inserted into the bearing. A transmission gear is sleeved on the transmission shaft. One end of the connecting block is fixedly connected to the transmission shaft, and the other end of the connecting block is threadedly connected to the supporting block. The robotic arm is fixed to the top of the supporting block.

6. The robotic arm device according to claim 5, characterized in that, The flipping assembly further includes a drive structure, which includes a mounting base, a second push cylinder, a slide plate, and a toothed belt. The mounting base and the second push cylinder are both fixed on the mounting plate. The mounting base is provided with a slide rail, and the slide plate is slidably mounted on the slide rail. The second push cylinder is used to control the sliding state of the slide plate, and the toothed belt is mounted on the slide plate and meshes with the transmission gear.

7. The robotic arm device according to claim 5, characterized in that, The robotic arm includes a positioning block and two swing arms. The positioning block is detachably fixed to the support block. The two swing arms are rotatably connected to both sides of the positioning block. Each swing arm is connected to a gripper. A gripping space for clamping and fixing the product is formed between the two gripping slots. An anti-slip pad is laid in the gripping slot.

8. The robotic arm device according to claim 2, characterized in that, The placement structure includes two placement components symmetrically arranged on the mounting plate. Each placement component includes a lifting block and a limiting block. The lifting block is provided with a lifting head, which can be raised and lowered relative to the worktable. A second limiting head is slidably arranged on the limiting block.

9. The robotic arm device according to claim 2, characterized in that, It also includes a cleaning mechanism, which includes an adjusting component, a blower head, and a bracket fixed on the mounting plate. One end of the adjusting component is rotatably mounted on the bracket, and the blower head is disposed on the other end of the adjusting component, with the blower head located above the flipping mechanism.

10. The robotic arm device according to claim 2, characterized in that, It also includes a lighting mechanism installed on the discharge box, the lighting mechanism comprising two opposing lighting tubes, both of which are vertically fixed on the mounting plate.

Images