Bar grabbing manipulator

Abstract

The utility model discloses a bar grabbing manipulator, which relates to the technical field of bars and comprises a machine body, the machine body is mounted on a manipulator body, a sliding groove is formed in the bottom of the machine body, two symmetrically arranged moving plates are slidably connected in the sliding groove, a straight gear is rotatably connected to the top wall in the sliding groove, the two moving plates are oppositely arranged, and the straight gear is rotatably connected to the top wall in the sliding groove. According to the bar grabbing manipulator, the two moving plates are arranged, the multiple clamping plates are arranged at the bottoms of the moving plates, when a plurality of bars are grabbed, only the two moving plates need to slide relatively, the clamping plates are arranged at the bottoms of the moving plates, the clamping plates are arranged at the bottoms of the moving plates, the clamping plates are arranged at the bottoms of the moving plates, and the clamping plates are arranged at the bottoms of the moving plates. Therefore, the working efficiency of the grabbing manipulator for grabbing the bars can be effectively improved, and the grabbing mechanism is simple in structure, practical, convenient to use and capable of effectively improving the bar transferring efficiency and the bar machining efficiency.

Description

Technical Field

[0001] This utility model relates to the field of bar stock technology, specifically a bar stock gripping robot. Background Technology

[0002] Bar stock, in contrast to sheet metal and other profiles, refers to round or polygonal long rods of material with a certain length. It is generally not a casting but rather the raw material for forgings. It is mostly produced by stretching or extruding through molds and can also be machined. During the production of bar stock, robotic arms are generally used to grab the bar stock for transportation or transfer to the next process.

[0003] Currently, the gripping mechanism used by bar stock gripping robots has a simple structure and can only grip one bar stock at a time. This makes the transportation of individual bars cumbersome and time-consuming, thus affecting the efficiency of bar stock transfer and reducing the processing efficiency of bars. Utility Model Content

[0004] The purpose of this invention is to provide a bar stock gripping robot to solve the problem of low transfer efficiency of current bar stock gripping robots in the prior art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a bar gripping robot, comprising a body mounted on a robot body, a groove at the bottom of the body, two symmetrically arranged movable plates slidably connected within the groove, and a spur gear rotatably connected to the top wall inside the groove, the two movable plates being arranged opposite to each other, each of the two movable plates having a toothed rack on one side facing each other, the two toothed racks respectively meshing with the two sides of the spur gear, and two sets of linearly arrayed clamping plates at the bottom of the two movable plates, the two sets of clamping plates being mirror-symmetrical and staggered, and the two sets of clamping plates being fixedly connected to the bottom of the two movable plates respectively.

[0006] Preferably, the movable plate includes connecting plates arranged in a linear array, with each clamp plate in the same group fixedly connected to the bottom of each connecting plate. One end of each connecting plate is fixedly connected to a first tenon rod, which has a U-shaped structure. The other end of the connecting plate is provided with a first mortise groove that is mortised and tenoned with the first tenon rod. The first mortise groove is a U-shaped cavity.

[0007] Preferably, an installation groove is formed on the inner wall of the first tenon groove, and a slider is slidably connected in the installation groove. The slider has a hexagonal vertical cross-section, and the cavity of the installation groove is a hexagonal cavity. A first threaded rod is fixedly connected to one side of the slider, and an insert rod is fixedly connected to the movable end of the first threaded rod. A threaded ring is threaded on the outer side of the first threaded rod, and the threaded ring is rotatably connected in the cavity of the installation groove. A slot for insertion and connection with the insert rod is opened at the corresponding position of the first tenon rod relative to the opening of the installation groove.

[0008] Preferably, a worm gear is fixedly sleeved on the outer side of the threaded ring, and a worm is meshed with one side of the worm gear. The worm is rotatably connected in a rotating groove cavity formed on one side of the mounting groove, and a rocker arm is fixedly connected to one end of the worm arm, which is located on one side of the connecting plate.

[0009] Preferably, a second tenon is fixedly connected to the upper part of the movable plate. The second tenon has a convex-shaped structure, and a second mortise is formed on the bottom wall inside the groove, which is slidably connected to the second tenon. The second mortise is a convex-shaped cavity.

[0010] Preferably, the machine body has mounting openings on both sides, and a winding rod is rotatably connected to the inner wall of each mounting opening. A linear array of pull ropes is fixedly connected to one side of the winding rod, and a fixing block is fixedly connected to the movable end of the pull rope. A second threaded rod is rotatably connected to one side of the fixing block, and a threaded groove is provided on the upper part of the second tenon rod for threaded connection with the second threaded rod.

[0011] Preferably, each of the two winding rods has a bevel gear ring fixedly connected to one end facing each other, a connecting rod is fixedly connected to the top of the spur gear, and a bevel gear is fixedly connected to the top of the connecting rod. The bevel gear meshes with both bevel gear rings, and the bevel gear and bevel gear rings are arranged perpendicular to each other.

[0012] Preferably, a servo motor is installed in the body of the machine. The movable end of the servo motor is fixedly connected to the shaft center of the upper part of the bevel gear. The servo motor is electrically connected to the power supply. The servo motor used in this application is a purchased part, which is selected according to the power and size requirements. The system for controlling the switch adopts the module provided by the corresponding vendor. This application will not elaborate further.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. This application sets two movable plates and sets multiple clamping plates at the bottom of the movable plates. When gripping multiple bars, only the two movable plates need to slide relative to each other, and the clamping plates can be used to clamp each bar. Therefore, it can effectively improve the working efficiency of the gripping robot in gripping bars. The gripping mechanism has a simple structure, is practical and convenient, and can effectively improve the efficiency of bar transfer and bar processing.

[0015] 2. This application uses a movable plate composed of multiple connecting plates, which allows the gripping robot to adjust the number of bars it can hold according to the number of bars transferred at one time, thus improving the applicability and practicality of the gripping robot in terms of the number of bars it can hold. Attached Figure Description

[0016] Figure 1 This is a three-dimensional schematic diagram of the entire bar gripping robot of this utility model;

[0017] Figure 2 This is a three-dimensional schematic diagram of the cooperation between the moving plate and the servo motor of the bar stock gripping robot of this utility model;

[0018] Figure 3 This is a bottom-view perspective view of the body of a bar stock gripping machine according to this utility model;

[0019] Figure 4 This is a three-dimensional schematic diagram of the meshing of a spur gear, bevel gear, and winding rod in a bar stock gripping robot according to this utility model.

[0020] Figure 5 This is a three-dimensional schematic diagram of a connecting plate for a bar stock gripping robot according to the present invention;

[0021] Figure 6 This is a three-dimensional cross-sectional view of the connecting plate of a bar stock gripping robot according to the present invention.

[0022] Figure 7 for Figure 6 A magnified view of section A in the image.

[0023] The following are the labeling elements in the diagram: 1. Body; 2. Moving plate; 201. Connecting plate; 202. First tenon; 203. First tenon groove; 3. Spur gear; 4. Slider; 5. First threaded rod; 6. Threaded ring; 7. Slot; 8. Worm gear; 9. Second tenon; 10. Second tenon groove; 11. Second threaded rod; 12. Threaded groove; 13. Servo motor; 14. Bevel gear ring; 15. Bevel gear; 16. Clamping plate; 17. Winding rod; 18. Pull rope. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Example: Figure 1 - Figure 7As shown, this utility model provides a technical solution for a bar material gripping robot, including a body 1, which is mounted on the robot body. A groove is provided at the bottom of the body 1, and two symmetrically arranged movable plates 2 are slidably connected in the groove. A spur gear 3 is rotatably connected to the top wall inside the groove. The two movable plates 2 are arranged opposite to each other, and a toothed rack is provided on one side of each movable plate 2. The two toothed racks are respectively meshed with the two sides of the spur gear 3. Two sets of linearly arrayed clamping plates 16 are provided at the bottom of the two movable plates 2. The two sets of clamping plates 16 are mirror images of each other and are staggered. The two sets of clamping plates 16 are respectively fixedly connected to the bottom of the two movable plates 2.

[0026] Place the bar stock between two adjacent clamping plates 16, then rotate the spur gear 3. The spur gear 3 will drive the two moving plates 2 to move relative to or towards each other. In this way, the two moving plates 2 will drive the two sets of clamping plates 16 to move towards or towards each other, so as to use the two sets of clamping plates 16 to clamp the bar stock in cooperation.

[0027] like Figure 6 As shown, the movable plate 2 includes a linear array of connecting plates 201. Each clamping plate 16 in the same group is fixedly connected to the bottom of each connecting plate 201. One end of the connecting plate 201 is fixedly connected to a first tenon 202, which has a convex U-shaped structure. The other end of the connecting plate 201 is provided with a first mortise 203 that is mortised and tenoned with the first tenon 202. The first mortise 203 is a convex U-shaped cavity.

[0028] By using the sliding connection between the first tenon 202 and the first mortise 203, the two connecting plates 201 can be assembled into a whole by interlocking.

[0029] like Figure 6 and Figure 7 As shown, an installation groove is formed on the inner wall of the first tenon 203. A slider 4 is slidably connected in the installation groove. The vertical cross section of the slider 4 is a hexagonal structure. The cavity of the installation groove is a hexagonal cavity. A first threaded rod 5 is fixedly connected to one side of the slider 4. An insert rod is fixedly connected to the movable end of the first threaded rod 5. A threaded ring 6 is threaded on the outer side of the first threaded rod 5. The threaded ring 6 is rotatably connected in the cavity of the installation groove. A slot 7 for inserting and connecting the first tenon 202 to the corresponding position of the groove opening is provided.

[0030] After the two adjacent connecting plates 201 are assembled together, by rotating the threaded ring 6, the threaded ring 6 drives the first threaded rod 5 to slide in the mounting groove, and the insert of the movable end of the first threaded rod 5 is inserted into the slot 7 cavity on the adjacent connecting plate 201. In this way, the two connecting plates 201 are fixed to each other and cannot be separated from each other, thus improving the stability of the assembly of the connecting plates 201.

[0031] like Figure 7As shown, a worm gear is fixedly sleeved on the outer side of the threaded ring 6, and a worm 8 is meshed with one side of the worm gear. The worm 8 is rotatably connected in the rotating groove cavity formed on one side of the mounting groove. A rocker arm is fixedly connected to one end of the worm 8, and the rocker arm is located on one side of the connecting plate 201.

[0032] By rotating the worm 8, the worm 8 drives the threaded ring 6 to rotate via the worm wheel.

[0033] like Figure 3 and Figure 5 As shown, a second tenon rod 9 is fixedly connected to the upper part of the movable plate 2. The second tenon rod 9 has a convex-shaped structure. A second mortise groove 10 is formed on the bottom wall inside the slide groove and is slidably connected to the second tenon rod 9. The second mortise groove 10 is a convex-shaped cavity.

[0034] The second tenon 9 and the second tenon groove 10 are slidably connected, so that the moving plate 2 can move stably on the body 1.

[0035] like Figure 4 and Figure 5 As shown, mounting ports are provided on both sides of the body 1. A winding rod 17 is rotatably connected to the inner wall of each mounting port. A linear array of pull ropes 18 is fixedly connected to one side of the winding rod 17. A fixing block is fixedly connected to the movable end of the pull rope 18. A second threaded rod 11 is rotatably connected to one side of the fixing block. A threaded groove 12 is provided on the upper part of the second tenon 9, which is threadedly connected to the second threaded rod 11.

[0036] By rotating the winding rod 17, the rope 18 is wound up and released using the winding rod 17, so that the rope 18 can always be kept taut.

[0037] When one end of the movable plate 2 moves toward the body 1, the corresponding winding rod 17 of the movable plate 2 will take in the pull rope 18, and vice versa, the winding rod 17 will release the pull rope 18, thus ensuring that the pull rope 18, the body 1 and the movable plate 2 are balanced with each other.

[0038] The pull rope 18 is used to pull up the movable plate 2, thereby improving the stability of the movable plate 2.

[0039] like Figure 1 - Figure 4 As shown, bevel gear rings 14 are fixedly connected to the opposite ends of the two winding rods 17, a connecting rod is fixedly connected to the top of the spur gear 3, and a bevel gear 15 is fixedly connected to the top of the connecting rod. The bevel gear 15 is meshed with both bevel gear rings 14, and the bevel gear 15 and the bevel gear rings 14 are arranged perpendicular to each other.

[0040] By rotating the bevel gear 15, the bevel gear 15 simultaneously drives the two bevel gear rings 14 to rotate relative to each other, and drives the spur gear 3 to rotate in the same direction. The bevel gear rings 14 then drive the winding rod 17 to rotate.

[0041] like Figure 2As shown, a servo motor 13 is installed inside the body 1. The movable end of the servo motor 13 is fixedly connected to the shaft center of the upper part of the bevel gear 15. The servo motor 13 is electrically connected to the power supply. The servo motor 13 used in this application is a purchased part, which is selected according to the power and size requirements. The system for controlling the switch adopts the module provided by the corresponding vendor. This application will not elaborate further.

[0042] The servo motor 13 drives the bevel gear 15 to rotate, and the bevel gear 15 drives the spur gear 3 to rotate via the connecting rod.

[0043] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A bar stock gripping robot, characterized in that: The device includes a body (1), the bottom of which is provided with a sliding groove. Two symmetrically arranged movable plates (2) are slidably connected in the sliding groove, and a spur gear (3) is rotatably connected to the top wall inside the sliding groove. A toothed rack is provided on the opposite side of the two movable plates (2), and the two toothed racks are respectively meshed with the two sides of the spur gear (3). Two sets of linearly arrayed clamping plates (16) are provided at the bottom of the two movable plates (2). The two sets of clamping plates (16) are mirror symmetrical to each other and staggered, and the two sets of clamping plates (16) are respectively fixedly connected to the bottom of the two movable plates (2).

2. The bar stock gripping robot according to claim 1, characterized in that: The movable plate (2) includes connecting plates (201) arranged in a linear array. Each clamping plate (16) in the same group is fixedly connected to the bottom of each connecting plate (201). One end of the connecting plate (201) is fixedly connected to a first tenon (202), and the other end of the connecting plate (201) is provided with a first mortise (203) that is tenon-mortised to the first tenon (202).

3. The bar stock gripping robot according to claim 2, characterized in that: The first tenon (203) has an installation groove formed on its inner wall. A slider (4) is slidably connected in the installation groove. A first threaded rod (5) is fixedly connected to one side of the slider (4). An insert rod is fixedly connected to the movable end of the first threaded rod (5). A threaded ring (6) is threaded on the outer side of the first threaded rod (5). The threaded ring (6) is rotatably connected in the cavity of the installation groove. A slot (7) for inserting and connecting the first tenon (202) to the insert rod is opened at the corresponding position of the groove opening.

4. The bar stock gripping robot according to claim 3, characterized in that: A worm gear is fixedly sleeved on the outside of the threaded ring (6), and a worm (8) is meshed on one side of the worm gear. The worm (8) is rotatably connected in the rotating cavity formed on one side of the mounting groove.

5. A bar stock gripping robot according to claim 1, characterized in that: The upper part of the movable plate (2) is fixedly connected to the second tenon rod (9), and the bottom wall inside the groove is formed with a second tenon groove (10) that is slidably connected to the second tenon rod (9).

6. A bar stock gripping robot according to claim 5, characterized in that: The machine body (1) has installation ports on both sides, and a winding rod (17) is rotatably connected to the inner wall of each installation port. A linear array of pull ropes (18) is fixedly connected to one side of the winding rod (17). A fixing block is fixedly connected to the movable end of the pull rope (18). A second threaded rod (11) is rotatably connected to one side of the fixing block. A threaded groove (12) is provided on the upper part of the second tenon (9) and is threadedly connected to the second threaded rod (11).

7. A bar stock gripping robot according to claim 6, characterized in that: Both of the two winding rods (17) are fixedly connected to a bevel gear ring (14) at their opposite ends. A connecting rod is fixedly connected to the top of the spur gear (3), and a bevel gear (15) is fixedly connected to the top of the connecting rod. The bevel gear (15) is meshed with both bevel gear rings (14).

8. A bar stock gripping robot according to claim 7, characterized in that: A servo motor (13) is installed inside the body (1), and the movable end of the servo motor (13) is fixedly connected to the shaft center of the upper part of the bevel gear (15).

Images