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CN-224223893-U - Flexible grabbing equipment of manipulator

CN224223893UCN 224223893 UCN224223893 UCN 224223893UCN-224223893-U

Abstract

The invention relates to the field of throttle valve production equipment, in particular to manipulator flexible grabbing equipment. The equipment is used for solving the problems of low manual feeding efficiency and inaccurate positioning. The structure of the device comprises a base and a manipulator, wherein a screw rod with a thread groove and a driving circular ring are arranged in the manipulator. The bottom of the screw rod is connected with a floating platform, and a floating pressing plate is arranged below the platform. Two pneumatic clamping and positioning clamping jaws are arranged in a sliding groove at the bottom of the floating platform. The floating pressing plate compresses the pressure spring when contacting the workpiece, and the pneumatic clamping and positioning clamping jaw synchronously moves inwards to grab the workpiece. The screw is provided with a limit groove for preventing rotation, the inner cavity of the floating platform passes through an electromagnetic valve and the clamping jaw is driven by the air source. The equipment absorbs grabbing impact through the elastic buffer structure and realizes automatic positioning grabbing in cooperation with the photoelectric sensor. The efficient continuous feeding effect can be achieved, the manual operation cost is reduced, and the positioning precision of the throttle valve production line is improved.

Inventors

  • ZHANG QINGQING
  • YAN JIE
  • WANG HUI

Assignees

  • 上海竣荙智能科技有限公司

Dates

Publication Date
20260512
Application Date
20250611

Claims (6)

  1. 1. A manipulator flexible gripping apparatus, comprising: A base (1); the manipulator (2) is arranged at the top of the base (1); The top end of the screw rod (3) penetrates through the manipulator (2) in a sliding manner, a ring with a drive is rotatably arranged in the manipulator (2), a thread groove (7) is formed in the outer wall of the screw rod (3), and the ring is sleeved on the outer wall of the screw rod (3) and is in threaded fit with the thread groove (7); The top of the floating platform (4) is fixedly arranged with the bottom end of the screw rod (3); a floating pressure plate (10) positioned below the floating platform (4); the two pneumatic clamping and positioning clamping jaws (13) are respectively arranged at two sides of the bottom of the floating platform (4), the two pneumatic clamping and positioning clamping jaws (13) are respectively arranged in the two sliding grooves (14) in a sliding manner, and the floating pressing plate (10) is positioned between the two pneumatic clamping and positioning clamping jaws (13); when the floating pressing plate (10) contacts the surface of the workpiece, the pressure spring (9) is compressed to realize flexible clamping, and the pneumatic clamping and positioning clamping jaw (13) moves inwards to grab the workpiece.
  2. 2. The flexible grabbing device of claim 1, wherein a vertical limit groove (6) is formed in the surface of the screw (3), a limit block is fixedly arranged on the inner wall of the manipulator (2), and the limit block is matched with the vertical limit groove (6) to limit the screw (3) to rotate.
  3. 3. The flexible grabbing device of a manipulator according to claim 1, wherein two inner cavities are formed in the floating platform (4), the two inner cavities are respectively communicated with the two sliding grooves (14), two connectors (8) are fixedly arranged on one side of the floating platform (4), one ends of the two connectors (8) are respectively communicated with the two inner cavities, an electromagnetic valve mechanism (5) is arranged on the other side of the floating platform (4), and the other ends of the connectors (8) are connected with an air pump through the electromagnetic valve mechanism (5).
  4. 4. The flexible grabbing device of claim 1, wherein two ends of the floating pressing plate (10) are respectively fixedly provided with a connecting shaft (12), one end of the connecting shaft (12) is slidably arranged in the floating platform (4), a pressure spring (9) is sleeved on the outer wall of the connecting shaft (12), and two ends of the pressure spring (9) are respectively abutted to the top of the floating pressing plate (10) and the bottom of the floating platform (4) through spring seats.
  5. 5. Manipulator flexible gripping device according to claim 1, characterized in that a photoelectric sensor (11) is mounted on one side of the floating platform (4) for detecting a workpiece in-place signal.
  6. 6. Manipulator flexible gripping device according to claim 1, characterized in that the gripping wall of the pneumatic gripping positioning jaw (13) is provided with rubber pads.

Description

Flexible grabbing equipment of manipulator Technical Field The utility model relates to the technical field of throttle valve production, in particular to a flexible grabbing device of a manipulator. Background The throttle valve is one of core components of the automobile engine, the existing production process has the defects of low production efficiency, low feeding speed and incoherence by manual feeding, inaccurate positioning caused by manual placement, easy deviation and higher labor cost; In order to solve the defects, the mechanical arm equipment for flexible grabbing of the throttle valve is provided, the scheme of high efficiency, stability and automatic feeding and discharging in the production process of the throttle valve is provided, and the problems of low production efficiency and high labor cost are solved. Disclosure of utility model The utility model aims to solve the defects of low production efficiency, low feeding speed, incoherence, inaccurate positioning in manual placement, easy deviation and high labor cost existing in the prior art. In order to achieve the above purpose, the present utility model adopts the following technical scheme: the manipulator flexible grabbing device comprises a base; the manipulator is arranged at the top of the base; The top end of the screw rod penetrates through the manipulator in a sliding manner, a ring with a drive is rotationally arranged in the manipulator, a thread groove is formed in the outer wall of the screw rod, and the ring is sleeved on the outer wall of the screw rod and is in threaded fit with the thread groove; The top of the floating platform is fixedly arranged with the bottom end of the screw rod; a floating platen positioned below the floating platform; The two pneumatic clamping and positioning clamping jaws are respectively arranged in the two sliding grooves in a sliding manner, and the floating pressing plate is positioned between the two pneumatic clamping and positioning clamping jaws; When the floating pressing plate contacts the surface of the workpiece, the pressure spring is compressed to realize flexible clamping, and the pneumatic clamping and positioning clamping jaw moves inwards to grab the workpiece. In one possible design, the surface of the screw is provided with a vertical limit groove, the inner wall of the manipulator is fixedly provided with a limit block, and the limit block is matched with the vertical limit groove to limit the screw to rotate. In one possible design, two inner cavities are formed in the floating platform and are respectively communicated with the two sliding grooves, two connectors are fixedly arranged on one side of the floating platform, one ends of the two connectors are respectively communicated with the two inner cavities, an electromagnetic valve mechanism is arranged on the other side of the floating platform, and the other ends of the connectors are connected with the air pump through the electromagnetic valve mechanism. In one possible design, the two ends of the floating pressing plate are respectively fixedly provided with a connecting shaft, one end of the connecting shaft is slidably arranged inside the floating platform, the outer wall of the connecting shaft is sleeved with a pressure spring, and the two ends of the pressure spring are respectively abutted to the top of the floating pressing plate and the bottom of the floating platform through spring seats. In one possible design, a photoelectric sensor is mounted on one side of the floating platform for detecting workpiece in-place signals. In one possible design, the clamping wall of the pneumatic clamping and positioning clamping jaw is provided with a rubber pad. In the application, when the pneumatic clamping and positioning clamping jaw is specifically used, the pneumatic clamping and positioning clamping jaw is moved to the upper part of the conveying belt through the mechanical arm, when a product is conveyed to a designated position through the conveying belt, the photoelectric sensor is touched, the circular ring is driven to rotate at the moment, the circular ring drives the screw rod to move downwards, the screw rod drives the floating platform and corresponding components to synchronously move, the floating pressing plate contacts the surface of the throttle valve, the pressure spring is compressed, then the electromagnetic valve mechanism is started, the air pump sucks inner cavity gas through the connector, so that the pneumatic clamping and positioning clamping jaw moves inwards, a target is grabbed, then the pneumatic clamping and positioning clamping jaw can be moved to the designated target position, and then the pneumatic clamping and positioning clamping jaw is loosened and reset. According to the flexible grabbing device for the manipulator, the elastic buffer structure formed by the floating pressing plate and the pressure spring is adopted, so that the flexible grabbing device can be matched with the