Manipulator with synchronous sucking and clamping function

Abstract

The utility model discloses a manipulator with a synchronous sucking and clamping function, which comprises a mounting plate, a supporting seat is arranged at the upper end of the mounting plate, a supporting rod is rotatably connected to the upper end of the supporting seat through a rotating shaft, a supporting rod is rotatably connected to the upper end of the supporting rod through a transmission shaft, and a supporting strip is rotatably connected to the front end of the supporting rod through a rotating column. The lower side of the front end of the supporting strip is rotationally connected with a connecting rod through a rotating column, and the lower end of the connecting rod is rotationally connected with an adapter block through a rotating column. The device further comprises a suction clamping mechanism. The sucking and clamping mechanism comprises strip-shaped holes, a clamping jaw, a supporting column, a vacuum generator, an electromagnetic valve, a sucking disc and a friction convex block, and the strip-shaped holes which are uniformly distributed are formed in the lower side of the outer wall of the switching block. When the manipulator with the synchronous sucking and clamping function is used, one manipulator is adopted to clamp and suck injection molding products, the cost is low, the manipulator is not prone to damage, meanwhile, the mold opening distance is reduced, the production cycle is shortened, and the production efficiency of the injection molding products is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to injection product processing technical field, concretely is a mechanical hand with synchronous suction and clamping function. BACKGROUND

[0002] Injection product is a kind of plastic product manufactured by injection molding process, injection molding is to heat melt thermoplastic or thermosetting plastic in the cylinder of injection molding machine, melt plastic is injected into mold cavity under high pressure, after cooling solidification, get the plastic product with certain shape and size, high precision: can produce the product with high dimensional accuracy, repeatability, meet the requirements of various precision parts, high production efficiency: can realize automatic production, short forming cycle, suitable for large-scale batch production, thereby reduce production cost, complex shape: can manufacture various complex shape, product with fine structure, performance variety: by selecting different plastic materials, can make injection product have different physical, chemical and mechanical properties, such as high strength, high toughness, corrosion resistance, insulation, etc.

[0003] Part of existing mechanical hand, when mechanical hand is used, two mechanical hands are used to realize clamping and suction of injection product;Existing this kind of mechanical hand has following problems: when mechanical hand is used, two mechanical hands are used, cost input is high, easy to damage, and two mechanical hands increase mold opening distance, make injection product production cycle lengthen, thereby lead to low production efficiency. UTILITY MODEL CONTENT

[0004] The utility model solves the technical problem of overcoming the defects of the prior art, provides a mechanical hand with synchronous suction and clamping function, when mechanical hand is used, one mechanical hand is used to complete clamping and suction injection product, low cost, not easy to damage, simultaneously reduce mold opening distance, shorten production cycle, improve the production efficiency of injection product, can effectively solve the problems in the background art.

[0005] To realize the above-mentioned purpose, the utility model provides the following technical scheme: a mechanical hand with synchronous suction and clamping function, including mounting plate, the upper end of mounting plate is equipped with support seat, the upper end of support seat is rotatably connected with support rod through rotating shaft, the upper end of support rod is rotatably connected with support rod through transmission shaft, the front end of support rod is rotatably connected with support strip through rotating column, the front end of support strip is rotatably connected with connecting rod through rotating column, the lower end of connecting rod is rotatably connected with adapter block through rotating column, still include suction and clamping mechanism;

[0006] The suction and clamping mechanism comprises a strip-shaped hole, a clamping jaw, a support column, a vacuum generator, a solenoid valve, a suction cup and a friction bump, strip-shaped holes are uniformly arranged on the lower side of the outer wall of the adapter block, a clamping jaw is rotatably connected between the left and right inner walls of the strip-shaped hole through a pin shaft, the inner side of the clamping jaw is respectively provided with uniformly distributed friction bumps, a support column is slidably connected in the sliding hole at the lower end of the adapter block, the lower end of the support column is provided with a vacuum generator, the vacuum inlet at the lower end of the vacuum generator is connected with a suction cup through a connecting pipe, and the front end of the vacuum generator is provided with an air pipe, and the outside of the air pipe is connected with a solenoid valve in series.

[0007] Further, the outside of the support seat is provided with a single-chip microcomputer, the input end of the single-chip microcomputer is electrically connected with an external power supply, the input end of the vacuum generator is electrically connected with the output end of the single-chip microcomputer, and the solenoid valve is bidirectionally electrically connected with the single-chip microcomputer, thereby providing electrical connection of various electrical appliances.

[0008] Further, the suction and clamping mechanism further comprises a sliding plate, a support and a sliding groove, the inner wall of the adapter block is provided with uniformly distributed sliding grooves, the sliding plate is slidably connected between the sliding grooves, the lower end of the sliding plate is provided with uniformly distributed supports, the upper end of the clamping jaw is respectively provided with a sliding groove, the lower end of the support is slidably connected with the inner wall of the vertically adjacent sliding groove, and the upper end of the support column is fixedly connected with the middle part of the lower end of the sliding plate, thereby providing clamping connection.

[0009] Further, the suction and clamping mechanism further comprises a hydraulic rod, the top wall of the adapter block is provided with a hydraulic rod, and the telescopic end of the hydraulic rod is fixedly connected with the upper end of the sliding plate, thereby providing clamping and suction driving.

[0010] Further, the inside of the support seat is provided with a motor one, the output shaft upper end of the motor one is fixedly connected with the lower end of the rotating shaft, the left end upper side of the support rod is provided with a motor two, the output shaft right end of the motor two is fixedly connected with the left end of the transmission shaft, the input ends of the motor one and the motor two are electrically connected with the output end of the single-chip microcomputer, thereby providing angle adjusting driving.

[0011] Further, the left side of the front end of the support rod is provided with a motor three, the right end of the output shaft of the motor three is fixedly connected with the left end of the rotating column, the left side of the front end of the support rod is provided with a motor four, the right end of the output shaft of the motor four is fixedly connected with the left end of the rotating column, and the input ends of the motor three and the motor four are electrically connected with the output end of the single-chip microcomputer, thereby providing angle adjusting driving.

[0012] Further, the inside of the lower end of the connecting rod is provided with a motor five, the output shaft lower end of the motor five is fixedly connected with the upper end of the rotating column, and the input end of the motor five is electrically connected with the output end of the single-chip microcomputer, thereby providing angle adjusting driving.

[0013] Compared with the prior art, the utility model has the beneficial effects that:

[0014] Under the drive of the hydraulic rod, the sliding plate moves up and down, and the sliding plate will realize the opening and closing of the clamping jaw through the support, the sliding groove and the strip-shaped hole, and meanwhile, the sliding plate will drive the suction cup to closely contact with the injection molding product through the operation of the vacuum generator and the support, so that the suction cup sucks up the injection molding product, when the mechanical hand is used, one mechanical hand is used to complete the clamping and adsorption of the injection molding product, the cost is low, the injection molding product is not easy to be damaged, the mold opening distance is reduced, the production cycle is shortened, and the production efficiency of the injection molding product is improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a three-dimensional structure schematic view of the utility model;

[0016] Figure 2 It is a sectional structure schematic view of the utility model;

[0017] Figure 3 It is a left side sectional structure schematic view of the utility model;

[0018] Figure 4 It is an enlarged structure schematic view of the utility model at A.

[0019] In the drawing: 1 mounting plate, 2 support seat, 3 support rod, 4 support rod, 5 support strip, 6 connecting rod, 7 adapter block, 8 suction and clamping mechanism, 801 hydraulic rod, 802 sliding plate, 803 support, 804 sliding groove, 805 strip-shaped hole, 806 clamping jaw, 807 support column, 808 vacuum generator, 809 electromagnetic valve, 810 suction cup, 811 friction bump, 9 motor one, 10 motor two, 11 motor three, 12 motor four, 13 motor five, 14 single-chip microcomputer. DETAILED DESCRIPTION

[0020] 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.

[0021] Please refer to Figures 1-4The embodiment provides a technical scheme: a manipulator with a synchronous suction and clamping function, comprising a mounting plate 1, a support seat 2 arranged at the upper end of the mounting plate 1, a support rod 3 rotatably connected to the upper end of the support seat 2 through a rotating shaft, a support rod 4 rotatably connected to the upper end of the support rod 3 through a transmission shaft, a support strip 5 rotatably connected to the front end of the support rod 4 through a rotating column, a connecting rod 6 rotatably connected to the front end of the support strip 5 through a rotating column, and an adapter block 7 rotatably connected to the lower end of the connecting rod 6 through a rotating column; a single-chip microcomputer 14 is arranged outside the support seat 2, an input end of the single-chip microcomputer 14 is electrically connected to an external power supply, an input end of a vacuum generator 808 is electrically connected to an output end of the single-chip microcomputer 14, an electromagnetic valve 809 is bidirectionally electrically connected to the single-chip microcomputer 14, a motor one 9 is arranged inside the support seat 2, an output shaft upper end of the motor one 9 is fixedly connected to the lower end of the rotating shaft, a motor two 10 is arranged at the upper side of the left end of the support rod 3, an output shaft right end of the motor two 10 is fixedly connected to the left end of the transmission shaft, input ends of the motor one 9 and the motor two 10 are electrically connected to the output end of the single-chip microcomputer 14, a motor three 11 is arranged at the left side of the front end of the support rod 4, an output shaft right end of the motor three 11 is fixedly connected to the left end of the rotating column, a motor four 12 is arranged at the left side of the front end of the support strip 5, an output shaft right end of the motor four 12 is fixedly connected to the left end of the rotating column, input ends of the motor three 11 and the motor four 12 are electrically connected to the output end of the single-chip microcomputer 14, and a motor five 13 is arranged at the lower end inside the connecting rod 6, an output shaft lower end of the motor five 13 is fixedly connected to the upper end of the rotating column, and an input end of the motor five 13 is electrically connected to the output end of the single-chip microcomputer 14.

[0022] The suction and clamping mechanism 8 comprises strip-shaped holes 805, clamping jaws 806, support columns 807, a vacuum generator 808, an electromagnetic valve 809, a suction disc 810 and friction protrusions 811, the lower side of the outer wall of the adapter block 7 is provided with uniformly distributed strip-shaped holes 805, the left and right inner walls of the strip-shaped holes 805 are rotatably connected through pin shafts, the inner sides of the clamping jaws 806 are respectively provided with uniformly distributed friction protrusions 811, the support columns 807 are slidably connected inside the sliding hole at the lower end of the adapter block 7, the lower end of the support column 807 is provided with the vacuum generator 808, the vacuum inlet at the lower end of the vacuum generator 808 is connected through a connecting pipe to the suction disc 810, and the front end of the vacuum generator 808 is provided with an air pipe, the outside of the air pipe is connected in series with the electromagnetic valve 809.

[0023] The suction clamping mechanism 8 also includes a slide plate 802, a bracket 803, and a sliding groove 804. The inner wall of the adapter block 7 is provided with evenly distributed sliding grooves, and the slide plate 802 is slidably connected between the sliding grooves. The lower end of the slide plate 802 is provided with evenly distributed brackets 803. The upper end of the gripper 806 is provided with sliding grooves 804 respectively. The lower outer wall of the bracket 803 is slidably connected to the inner wall of the vertically adjacent sliding groove 804 respectively. The upper end of the support column 807 is fixedly connected to the middle of the lower end of the slide plate 802. The suction clamping mechanism 8 also includes a hydraulic rod 801. The top wall of the adapter block 7 is provided with a hydraulic rod 801, and the telescopic end of the hydraulic rod 801 is fixedly connected to the upper end of the slide plate 802.

[0024] The working principle of this utility model is as follows:

[0025] When handling injection-molded products, the microcontroller 14 controls the operation of motor 9. The output shaft of motor 9 drives the rotating shaft to rotate, which in turn drives the support rod 3 to rotate. Then, motor 2 10 operates, and its output shaft drives the transmission shaft to rotate, which in turn drives the support rod 4 to rotate. Next, motor 3 11 operates, and its output shaft drives the rotating column to rotate, which in turn drives the support bar 5 to rotate. Then, motor 4 12 operates, and its output shaft drives the rotating column to rotate, which in turn drives the connecting rod 6 to rotate. Finally, motor 5 13 operates, and its output shaft drives the rotating column to rotate, which in turn drives the adapter block 7 to rotate, which in turn moves the suction clamping mechanism 8 to the top of the injection-molded product.

[0026] Next, an external hydraulic pump pressurizes the hydraulic rod 801, causing it to operate. The telescopic end of the hydraulic rod 801 pushes the slide plate 802 downward between the sliding grooves. Simultaneously, as the support 803 moves downward, its lower end slides and rotates inside the slide groove 804, causing the middle part of the gripper 806 to open under the rotation within the slot 805. As the gripper 806 opens, the slide plate 802, through the support column 807 and the vacuum generator 808, drives the suction cup 810 to make close contact with the injection-molded product. Then, the vacuum generator 808 and the solenoid valve 809 operate. (An external air compressor is connected to the vacuum generator 808 via an air pipe.) When the external air compressor is running, the solenoid valve 809 opens, and compressed air enters from the air pipe of the vacuum generator 808. It passes through a Laval nozzle, which accelerates the air as it passes through. The increased fluid velocity leads to a decrease in pressure. At the nozzle outlet, the high-speed flowing air forms a low-pressure area. The air around the suction cup 810 is drawn into this area through the connecting pipe at the vacuum inlet. The drawn-in air mixes with the high-speed flowing compressed air in the mixing chamber and then is discharged together from the exhaust port of the vacuum generator 808.

[0027] As compressed air is continuously supplied, a negative pressure is continuously generated, connecting the suction cup 810 to the vacuum generator 808 via a connecting pipe. When the suction cup 810 comes into contact with the injection molded product, a relatively sealed space is formed between them. Due to the pressure difference, an adsorption force is generated, causing the suction cup 810 to lift the injection molded product. Then, the external hydraulic pump depressurizes the hydraulic rod 801, and the telescopic end of the hydraulic rod 801 pulls the slide plate 802 upward, which in turn drives the slide plate 802 upward. The slide plate 802, through the bracket 803 and the slide groove 804, causes the middle part of the gripper 806 to close under the rotation inside the strip hole 805 to clamp the injection molded product. After the injection molded product is moved to the desired position, the external hydraulic pump pressurizes the hydraulic rod 801, and the gripper 806 is released. Then, the external air compressor and vacuum generator 808 are turned off, the suction cup 810 returns to normal pressure, and the suction cup 810 releases the injection molded product.

[0028] It is worth noting that the vacuum generator 808, solenoid valve 809, motor 1 9, motor 2 10, motor 3 11, motor 4 12 and motor 5 13 disclosed in the above embodiments are as follows: vacuum generator 808 can be CV-15HS, solenoid valve 809 can be 2V025-08, motor 1 9, motor 2 10, motor 3 11 and motor 4 12 can all be KS-370, motor 5 13 can be 35BYJ46, and the single-chip microcomputer 14 controls the operation of vacuum generator 808, solenoid valve 809, motor 1 9, motor 2 10, motor 3 11, motor 4 12 and motor 5 13 using methods commonly used in the prior art.

[0029] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A robotic arm with synchronous suction and gripping function, comprising a mounting plate (1), wherein a support base (2) is provided at the upper end of the mounting plate (1), a support rod (3) is rotatably connected to the upper end of the support base (2) via a rotating shaft, a support rod (4) is rotatably connected to the upper end of the support rod (3) via a transmission shaft, a support bar (5) is rotatably connected to the front end of the support rod (4) via a rotating column, a connecting rod (6) is rotatably connected to the lower side of the front end of the support bar (5) via a rotating column, and a transition block (7) is rotatably connected to the lower end of the connecting rod (6) via a rotating column. Its features are: It also includes a suction clamping mechanism (8); The suction clamping mechanism (8) includes a strip hole (805), a gripper (806), a support column (807), a vacuum generator (808), a solenoid valve (809), a suction cup (810), and friction protrusions (811). The lower side of the outer wall of the adapter block (7) is provided with a uniformly distributed strip hole (805). The left and right inner walls of the strip hole (805) are rotatably connected to the gripper (806) by a pin. The inner side of the gripper (806) is provided with uniformly distributed friction protrusions (811). The support column (807) is slidably connected inside the sliding hole at the lower end of the adapter block (7). The lower end of the support column (807) is provided with a vacuum generator (808). The vacuum inlet at the lower end of the vacuum generator (808) is connected to the suction cup (810) by a connecting pipe. The front end of the vacuum generator (808) is provided with an air pipe. The solenoid valve (809) is connected in series outside the air pipe.

2. The robotic arm with synchronous suction and gripping function according to claim 1, characterized in that: The support base (2) is equipped with a microcontroller (14) on its exterior. The input end of the microcontroller (14) is electrically connected to an external power source. The input end of the vacuum generator (808) is electrically connected to the output end of the microcontroller (14). The solenoid valve (809) is bidirectionally electrically connected to the microcontroller (14).

3. A robotic arm with synchronous suction and gripping function according to claim 1, characterized in that: The suction clamping mechanism (8) further includes a sliding plate (802), a bracket (803), and a sliding groove (804). The inner wall of the adapter block (7) is provided with evenly distributed sliding grooves. The sliding plate (802) is slidably connected between the sliding grooves. The lower end of the sliding plate (802) is provided with evenly distributed brackets (803). The upper end of the gripper (806) is provided with sliding grooves (804). The lower outer wall of the bracket (803) is slidably connected to the inner wall of the vertically adjacent sliding groove (804). The upper end of the support column (807) is fixedly connected to the middle of the lower end of the sliding plate (802).

4. A robotic arm with synchronous suction and gripping function according to claim 3, characterized in that: The suction clamping mechanism (8) also includes a hydraulic rod (801). The top wall of the adapter block (7) is provided with a hydraulic rod (801), and the telescopic end of the hydraulic rod (801) is fixedly connected to the upper end of the slide plate (802).

5. A robotic arm with synchronous suction and gripping function according to claim 2, characterized in that: The support base (2) is equipped with a motor 1 (9) inside. The upper end of the output shaft of the motor 1 (9) is fixedly connected to the lower end of the rotating shaft. The upper left side of the support rod (3) is equipped with a motor 2 (10). The right end of the output shaft of the motor 2 (10) is fixedly connected to the left end of the transmission shaft. The input ends of the motor 1 (9) and the motor 2 (10) are both electrically connected to the output end of the microcontroller (14).

6. A robotic arm with synchronous suction and gripping function according to claim 2, characterized in that: The front end of the support rod (4) is provided with a motor three (11), the right end of the output shaft of the motor three (11) is fixedly connected to the left end of the rotating column, the front end of the support bar (5) is provided with a motor four (12), the right end of the output shaft of the motor four (12) is fixedly connected to the left end of the rotating column, and the input ends of the motor three (11) and the motor four (12) are both electrically connected to the output end of the microcontroller (14).

7. A robotic arm with synchronous suction and gripping function according to claim 2, characterized in that: The lower end of the connecting rod (6) is equipped with a motor five (13). The lower end of the output shaft of the motor five (13) is fixedly connected to the upper end of the rotating column. The input end of the motor five (13) is electrically connected to the output end of the microcontroller (14).

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