Connecting rod type downward probing manipulator

Abstract

The utility model relates to a connecting rod type downward probing manipulator. The downward probing manipulator comprises a downward probing assembly and a stacking gripper assembly arranged at the bottom of the downward probing assembly. The downward probing assembly is used for driving the stacking gripper assembly to move in the vertical direction. The downward probing assembly comprises a first connecting rod and a second connecting rod which are hinged to each other and can be folded, and a driving piece for driving and controlling the folding angle of the first connecting rod and the second connecting rod. The stacking gripper assembly is driven by the downward probing assembly capable of amplifying the stroke to form the mechanical arm, the steel wire rope is used for direct lifting, the direct-drive transmission efficiency loss is small, the efficiency is high, the stacking speed is greatly increased, and the material stacking efficiency is directly improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of palletizing manipulators, and in particular relates to a connecting rod type downward-reaching manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and its structure and performance combine the advantages of both human and mechanical machines.

[0003] The use of a robot when palletizing materials can improve the palletizing efficiency. However, during the palletizing process, the materials need to be driven to achieve vertical lifting. In a factory with a narrow space, it is easily restricted by the height of the roof. In addition, the ordinary multi-degree-of-freedom control makes the power transmission efficiency of the robot low, affecting the efficiency of palletizing. Utility Model Content

[0004] The purpose of the utility model is to provide a connecting rod type reaching manipulator in order to solve the problems raised in the above background technology.

[0005] The utility model achieves the above-mentioned purpose through the following technical solutions:

[0006] A connecting rod type downward-reaching manipulator comprises a downward-reaching assembly and a palletizing gripper assembly arranged at the bottom of the downward-reaching assembly, wherein the downward-reaching assembly is used to drive the palletizing gripper assembly to move in a vertical direction;

[0007] Wherein, the downward probe assembly includes a No. 1 connecting rod and a No. 2 connecting rod that are hinged and foldable to each other, and a driving member that drives and controls the folding angles of the No. 1 connecting rod and the No. 2 connecting rod.

[0008] Preferably, the driving member comprises a No. 1 driving motor, an output shaft end of the No. 1 driving motor is provided with a rope drum, the rope drum is provided with a connecting rope, and one end of the connecting rope away from the rope drum is provided on the stacking gripper assembly.

[0009] Preferably, the No. 1 connecting rod includes two No. 1 main connecting rods and two No. 1 secondary connecting rods, and the No. 2 connecting rod includes two No. 2 main connecting rods and two No. 2 secondary connecting rods.

[0010] Preferably, a box seat is further provided between the No. 1 connecting rod and the No. 2 connecting rod, and the No. 1 main connecting rod, the No. 1 auxiliary connecting rod, the No. 2 main connecting rod and the No. 2 auxiliary connecting rod are respectively hinged on the box seat.

[0011] Preferably, a No. 4 gear is provided between the two No. 1 main connecting rods, and a No. 5 gear which meshes with the No. 4 gear and has the same appearance as the No. 4 gear is provided between the two No. 2 main connecting rods, and the engagement of the No. 4 gear and the No. 5 gear enables the stacking gripper assembly to move vertically.

[0012] Preferably, the stacking gripper assembly includes an outer shell plate, a second drive motor connected to the downward probe assembly for driving the outer shell plate to rotate is provided on the top of the outer shell plate, two flipping members and a drive module for driving the flipping members to flip are provided on the outer shell plate, and the flipping members are used to receive materials and can generate flipping to make the materials fall downwards.

[0013] Preferably, the driving module comprises a flip motor arranged on the housing plate, a flip reducer connected to the flip motor, a first gear, a second gear and a third gear arranged horizontally in sequence and meshing with each other, two rotating blocks and two connecting rods connected to the two rotating blocks;

[0014] The first gear is connected to the flip reducer, the two rotating blocks are respectively connected to the second gear and the third gear through the connecting shaft, and the end of the connecting rod away from the rotating block is connected to the flip member.

[0015] Preferably, the flap member comprises two limit plates parallel to each other, and a plurality of rollers equidistantly arranged along the length direction of the two limit plates, wherein the rollers are located between the two limit plates.

[0016] The beneficial effects of the utility model are:

[0017] 1. The utility model utilizes a downward probe component with an enlarged stroke to drive the stacking gripper component to form a manipulator, and utilizes a steel wire rope for direct lifting. The direct drive transmission has a small loss of efficiency and high efficiency, and the stacking speed is greatly improved, which directly improves the efficiency of material stacking.

[0018] 2. The utility model can drive the material to realize horizontal movement, vertical movement, and self-rotation, so that the placement of the material is more suitable, the broken package rate of the material stacking is reduced, and the stacking effect and efficiency are improved.

[0019] 3. The utility model has a simple structure, is easy to operate, and has a low manufacturing cost.

[0020] 4. The utility model utilizes a downward-reaching component with an enlarged stroke to drive a stacking gripper component to form a manipulator, which can realize the stacking of materials in a narrow space, thereby improving the application scope of the utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0022] Figure 2 It is a structural schematic diagram of the downward probe component in the utility model;

[0023] Figure 3 It is a structural schematic diagram of the palletizing gripper assembly in the utility model;

[0024] Figure 4 It is a schematic diagram of the positional relationship of the first gear, the second gear and the third gear in the utility model;

[0025] Figure 5 It is a partial structural schematic diagram of the downward probe assembly in the utility model after it is unfolded;

[0026] Figure 6 It is a schematic diagram of the positional relationship between the fourth gear and the fifth gear in the utility model.

[0027] In the figure: 1. Probe assembly; 2. Palletizing gripper assembly; 3. Main mounting seat; 4. Drive motor No. 1; 5. Rope drum; 6. Connecting rope; 7. Main connecting rod No. 1; 8. Auxiliary connecting rod No. 1; 9. Box seat; 10. Main connecting rod No. 2; 11. Auxiliary connecting rod No. 2; 12. Gripper mounting seat; 13. Gear No. 4; 14. Gear No. 5; 15. Shell plate; 16. Drive motor No. 2; 17. Flipping motor; 18. Gear No. 1; 19. Gear No. 2; 20. Gear No. 3; 21. Rotating block; 22. Connecting rod; 23. Limiting plate; 24. Roller. DETAILED DESCRIPTION

[0028] The present application is described in further detail below. It is necessary to point out that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technicians in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0029] Example 1

[0030] like Figure 1-6 As shown, the connecting rod type downward probe manipulator comprises:

[0031] A drop-down assembly 1; and

[0032] The palletizing gripper assembly 2 is arranged at the bottom of the downward probe assembly 1, and the downward probe assembly 1 is used to drive the palletizing gripper assembly 2 to move in the vertical direction.

[0033] The probe assembly 1 includes a first connecting rod and a second connecting rod that are hinged and foldable to each other, and a driving member that drives and controls the folding angles of the first connecting rod and the second connecting rod;

[0034] Specifically, the driving member includes a No. 1 driving motor 4, which is connected to a rope drum 5 through a reducer and a coupling, and a connecting rope 6 is fixed on the rope drum 5, and the No. 1 driving motor 4 is installed on the main mounting seat 3;

[0035] The No. 1 connecting rod includes two No. 1 main connecting rods 7 and two No. 1 secondary connecting rods 8 rotatably arranged on the main mounting seat 3, and the two No. 1 main connecting rods 7 are rotatably connected to the box seat 9 at one end away from the main mounting seat 3, and two No. 2 main connecting rods 10 and two No. 2 secondary connecting rods 11 are rotatably arranged on the box seat 9, and the No. 2 main connecting rods 10 and the No. 2 secondary connecting rods 11 are rotatably connected to the gripper mounting seat 12 at one end away from the box seat 9, and the connecting rope 6 is fixedly arranged on the gripper mounting seat 12 at one end away from the rope drum 5, and the No. 1 main connecting rod 7, the No. 1 secondary connecting rod 8, the No. 2 main connecting rod 10 and the No. 2 secondary connecting rod 11 are used to drive the stacking gripper assembly 2 to achieve lifting.

[0036] Furthermore, a fourth gear 13 is provided between the two No. 1 main connecting rods 7, and a fifth gear 14 is provided between the two No. 2 main connecting rods 10, which is meshed with the fourth gear 13 and has the same appearance. The meshing of the fourth gear 13 and the fifth gear 14 enables the stacking gripper assembly 2 to move vertically. The reduction ratios of the fourth gear 13 and the fifth gear 14 are the same. When they rotate relative to each other, the rotation angles and rotation speeds of the No. 1 main connecting rod 7 and the No. 2 main connecting rod 10 can be the same, so that the gripper mounting seat 12 can be lifted and lowered vertically.

[0037] In the above embodiment, the stacking gripper assembly 2 includes an outer shell plate 15, and a second drive motor 16 connected to the downward probe assembly 1 is provided on the top of the outer shell plate 15 for driving the outer shell plate 15 to rotate. Two flipping members and a drive module for driving the flipping members to flip are provided on the outer shell plate 15. The flipping members are used to receive materials and can flip so that the materials fall downward. The second drive motor 16 drives the outer shell plate 15 and the flipping members and the drive module on the outer shell plate 15 to rotate, thereby realizing the diversion of the materials.

[0038] In the above embodiment, the driving module includes a flip motor 17 disposed on the housing plate 15, a flip reducer connected to the flip motor 17, a first gear 18, a second gear 19 and a third gear 20 arranged horizontally in sequence and meshing with each other, two rotating blocks 21 and two connecting rods 22 connected to the two rotating blocks 21;

[0039] Among them, the No. 1 gear 18 is connected to the flipping reducer, the two rotating blocks 21 are respectively connected to the No. 2 gear 19 and the No. 3 gear 20 through the connecting shaft, and the end of the connecting rod 22 away from the rotating block 21 is connected to the flipping member. The rotation directions of the No. 2 gear 19 and the No. 3 gear 20 are opposite. Driven by the No. 1 gear 18, the No. 2 gear 19 and the No. 3 gear 20 respectively drive the two rotating blocks 21 to rotate in the opposite direction, and the two rotating blocks 21 respectively drive the two connecting rods 22 to control the flipping member, so as to realize the synchronous flipping of the flipping member, and the flipping directions are opposite.

[0040] In the above embodiment, the flipping member includes two limit plates 23 parallel to each other, the limit plates 23 are rotatably mounted on the outer shell plate 15, the connecting rod 22 is rotatably connected to the end of the limit plate 23, and a plurality of rollers 24 are equidistantly arranged along the length direction of the two limit plates 23. The rollers 24 are located between the two limit plates 23. When the connecting rod 22 drives the limit plates 23 to rotate, the rollers 24 are flipped, thereby realizing the downward falling of the material.

[0041] During operation, the material is placed on the roller 24, and the No. 2 driving motor 16 drives the outer shell plate 15 to rotate, which can synchronously drive the roller 24 to rotate, so that the stacking direction of the material changes. After the material stops rotating, the No. 1 driving motor 4 drives the rope drum 5 to rotate, so that the end of the connecting rope 6 connected to the gripper mounting seat 12 moves downward, and the gripper mounting seat 12 moves downward under the action of gravity. During the movement of the gripper mounting seat 12, it is limited by the No. 1 main connecting rod 7, the No. 1 auxiliary connecting rod 8, the No. 2 main connecting rod 10, the No. 2 auxiliary connecting rod 11, the No. 4 gear 13 and the No. 5 gear 14, so that the gripper mounting seat 12 can fall vertically, and the probe assembly 1 is unfolded at this time. After the material drops to the specified height, the flipping motor 17 drives the roller 24 to flip and put the material into the stacking position. After completing a single stacking operation, the first driving motor 4 drives the lowering assembly 1 to be retracted upward, so that the roller 24 moves upward, and the flipping motor 17 drives the roller 24 to flip back for the next stacking operation.

[0042] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model.

Claims

1. A connecting rod type downward probe manipulator, characterized in that: It comprises a downward probe component (1) and a palletizing gripper component (2) arranged at the bottom of the downward probe component (1), wherein the downward probe component (1) is used to drive the palletizing gripper component (2) to move in a vertical direction; Wherein, the downward probe assembly includes a No. 1 connecting rod and a No. 2 connecting rod that are hinged and foldable to each other, and a driving member that drives and controls the folding angles of the No. 1 connecting rod and the No. 2 connecting rod.

2. The connecting rod type downward probe manipulator according to claim 1, characterized in that: The driving member comprises a first driving motor (4), an output shaft end of the first driving motor (4) is provided with a rope drum (5), a connecting rope (6) is provided on the rope drum (5), and an end of the connecting rope (6) away from the rope drum (5) is provided on the stacking gripper assembly (2).

3. The connecting rod type downward probe manipulator according to claim 1, characterized in that: The No. 1 connecting rod comprises two No. 1 main connecting rods (7) and two No. 1 auxiliary connecting rods (8), and the No. 2 connecting rod comprises two No. 2 main connecting rods (10) and two No. 2 auxiliary connecting rods (11).

4. The connecting rod type downward-reaching manipulator according to claim 3, characterized in that: A box seat (9) is also provided between the No. 1 connecting rod and the No. 2 connecting rod, and the No. 1 main connecting rod (7), the No. 1 auxiliary connecting rod (8), the No. 2 main connecting rod (10) and the No. 2 auxiliary connecting rod (11) are respectively hingedly provided on the box seat (9).

5. The connecting rod type downward-reaching manipulator according to claim 4, characterized in that: A fourth gear (13) is provided between the two first main connecting rods (7), and a fifth gear (14) which meshes with the fourth gear (13) and has the same appearance as the fourth gear (13) is provided between the two second main connecting rods (10). The meshing of the fourth gear (13) and the fifth gear (14) enables the stacking gripper assembly (2) to move vertically.

6. The connecting rod type downward-reaching manipulator according to claim 1, characterized in that: The stacking gripper assembly (2) comprises an outer shell plate (15), the top of the outer shell plate (15) is provided with a second drive motor (16) connected to the downward probe assembly (1) and used to drive the outer shell plate (15) to rotate, the outer shell plate (15) is provided with two flipping members and a drive module for driving the flipping members to flip, the flipping members are used to receive materials and can generate flipping so that the materials fall downwards.

7. The connecting rod type downward-reaching manipulator according to claim 6, characterized in that: The driving module comprises a flipping motor (17) arranged on the outer shell plate (15), a flipping reducer connected to the flipping motor (17), a first gear (18), a second gear (19) and a third gear (20) arranged horizontally in sequence and meshing with each other, two rotating blocks (21) and two connecting rods (22) connected to the two rotating blocks (21); The first gear (18) is connected to the flip reducer, the two rotating blocks (21) are respectively connected to the second gear (19) and the third gear (20) through connecting shafts, and the end of the connecting rod (22) away from the rotating block (21) is connected to the flip member.

8. The connecting rod type downward-reaching manipulator according to claim 7, characterized in that: The flapping member comprises two mutually parallel limiting plates (23), and a plurality of rollers (24) respectively arranged at equal distances along the length direction of the two limiting plates (23), wherein the rollers (24) are located between the two limiting plates (23).

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