Walking type corner carrying hand
By designing a walking corner handle, combining the translation mechanism, lifting cylinder, stepping motor and pneumatic gripper, the existing handler has been solved with low integration and low freedom, and efficient identification of workpieces and multi-directional handling. Improve handling efficiency and safety.
Patent Information
- Application Number
- CN202420947139.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-30
- Publication Date
- 2025-02-14
- Estimated Expiration
- 2034-04-30
AI Technical Summary
The existing handler has low integration and low freedom, making it difficult to meet the needs of experimental, practical training projects and industrial sites for object color recognition and horizontal swing handling.
A walking corner handler is designed, including a translation mechanism, lifting cylinder, stepping motor and pneumatic gripper. By setting up color detection sensors and position sensors, the color recognition and multi-directional handling of the workpiece are realized.
It realizes efficient identification and multi-directional handling of workpieces, improves the integration and freedom of the handler, reduces labor costs, and effectively prevents slider impact.
Smart Images
Figure CN222472547U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of workpiece sorting, and in particular relates to a walking corner transporter. Background Art
[0002] In school experiments, practical training projects and some industrial sites, there is often a need to identify the color of objects and carry them by horizontal swinging. However, the existing transporters have low integration and small degrees of freedom, so there is an urgent need for a walking corner transporter. Utility Model Content
[0003] The utility model mainly aims to overcome the deficiencies of the prior art and provides a walking type corner transporting handle.
[0004] The utility model is realized by the following technical solutions:
[0005] A walking corner handling arm comprises: a translation mechanism, a lifting cylinder, a lifting cylinder connecting component, a stepping motor, a gripping cylinder bracket, a square flange and a pneumatic gripper;
[0006] The translation mechanism is fixedly connected to a lifting cylinder via a lifting cylinder connecting component, the stepper motor is fixedly connected to the action end of the lifting cylinder via a stepper motor bracket, and the pneumatic gripper is connected to the output shaft of the stepper motor via a gripper cylinder bracket and a square flange.
[0007] In the above technical scheme, the translation mechanism includes a folding motor slide, a belt guard, a screw, a slider, a folding motor, and a pulley structure; the outer side of the folding motor slide is fixedly connected to the main anchor plate and the strip anchor, and the main anchor plate and the strip anchor can be fixedly connected to the working platform by bolts, thereby fixing the folding motor slide on the working platform.
[0008] In the above technical solution, a screw is rotatably installed on the folding motor slide along the discharge direction, a slider is slidably connected to the screw, a folding motor is arranged on the side of the side plate behind the folding motor slide away from the discharge end, and a pulley structure connected to the folding motor and the screw is arranged on the side of the side plate behind the folding motor slide close to the discharge end; the folding motor is connected to a small pulley of the pulley structure, the small pulley is connected to a large pulley through a belt, and the large pulley is connected to the screw.
[0009] In the above technical scheme, three position sensors are arranged on the outer side of the folding motor slide, and the three position sensors include a first limit position U-shaped sensor, an initial position U-shaped sensor and a second limit position U-shaped sensor; the first limit position U-shaped sensor and the second limit position U-shaped sensor respectively correspond to the limit positions of the forward and backward translation of the slider of the translation mechanism, and the initial position U-shaped sensor corresponds to the initial position of the slider; a sensor baffle is fixedly installed on the outer side of the slider of the translation mechanism, and the sensor baffle can be translated forward and backward with the slider of the translation mechanism, and the sensor baffle bent outward by the slider can shuttle in the cavities of the three position sensors.
[0010] In the above technical solution, the first limit position U-shaped sensor and the initial position U-shaped sensor are fixedly installed on the outside of the folding motor slide through a first sensor bracket, and the second limit position U-shaped sensor is fixedly installed on the outside of the folding motor slide through a second sensor bracket.
[0011] In the above technical scheme, the lifting cylinder connecting components include a cylindrical table, a stepper motor bracket, a lifting cylinder bracket and a slide connecting plate; the cylindrical table is fixedly installed on the slider, a slide connecting plate extending outward is fixedly installed on the cylindrical table, and the lifting cylinder bracket is fixedly installed on the slide connecting plate; the lifting cylinder is installed at the extension of the slide connecting plate through the lifting cylinder bracket, the lifting cylinder bracket is an L-shaped bracket, the horizontal plate of the lifting cylinder bracket is fixedly installed on the slide connecting plate, and the vertical plate of the lifting cylinder bracket is installed on the base of the lifting cylinder.
[0012] In the above technical solution, a protection sensor bracket is fixedly installed above the lifting cylinder, and the two protection sensors are symmetrically fixedly installed on both sides of the lifting cylinder through the protection sensor bracket.
[0013] In the above technical scheme, the stepper motor is fixedly connected to the action end of the lifting cylinder through a stepper motor bracket, so that the lifting cylinder can drive the stepper motor to move up and down, and the stepper motor bracket includes a mounting plate and a base plate. The mounting plate is an L-shaped structure, fixedly connected to the action end of the lifting cylinder, and the base plate is fixedly connected to the bottom end of the mounting plate. The stepper motor is installed on the base plate of the stepper motor bracket; the pneumatic gripper includes a clamping cylinder and a clamping claw for controlling clamping and releasing; the clamping cylinder is fixedly connected to the clamping cylinder bracket, and the clamping cylinder bracket is rotatably connected to the output shaft of the stepper motor through a square flange.
[0014] In the above technical solution, a color detection sensor for identifying the color of the workpiece is provided on the clamping cylinder.
[0015] In the above technical solution, the axis of the stepper motor coincides with the axis of the cylindrical table.
[0016] The advantages and beneficial effects of the utility model are:
[0017] (1) The utility model can effectively identify the color of the workpiece by arranging a color detection sensor on the clamping cylinder, thereby facilitating subsequent classification and reducing labor costs.
[0018] (2) The utility model sets three position sensors. When the sensor baffle connected to the outside of the slider is located in the cavity of the initial position U-shaped sensor, it means that the slider is already in the initial position. When the sensor baffle connected to the outside of the slider is respectively located in the cavity of the first limit position U-shaped sensor and the second limit position U-shaped sensor during the sliding process, it means that the slider is already in the limit position of forward and backward translation. The folding motor of the translation mechanism will immediately decelerate until it stops, which can effectively prevent the slider from hitting the folding motor slide of the translation mechanism.
[0019] (3) The utility model provides a translation mechanism, a lifting cylinder connected to the translation mechanism for lifting, a stepper motor connected to the lifting cylinder, a pneumatic gripper connected to the stepper motor, and a workpiece color detection sensor installed on the pneumatic gripper. The combination of the five enables the handling hand to clamp the workpiece and perform operations such as handling and sorting with greater freedom. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 It is a structural schematic diagram (front view) of the utility model.
[0021] Figure 2 It is a structural schematic diagram (rear view) of the utility model.
[0022] Figure 3 It is a connection diagram of the stepping motor bracket and the lifting cylinder of the utility model.
[0023] In the figure, there are a protective sensor bracket 1, a stepper motor bracket 2, a mounting plate 2.1, a base plate 2.2, a protective sensor 3, a lifting cylinder 4, an actuating end 4.1, a base body 4.2, a lifting cylinder bracket 5, a slide connecting plate 6, a drag chain moving end bracket 7, a main anchor plate 8, a drag chain fixed end bracket 9, a strip anchor 10, a folding motor slide 11, a second sensor bracket 12, a cylindrical table 13, a sensor baffle 14, a first limit position U-shaped sensor 15.1, an initial position U-shaped sensor 15.2, a second limit position U-shaped sensor 15.3, a clamping claw 16, a belt guard 17, a clamping cylinder 18, a clamping cylinder bracket 19, a square flange 20, a stepper motor 21, a screw 22, a slider 23, a first sensor bracket 24, a folding motor 25, a pulley structure 26, and a color detection sensor 27.
[0024] For ordinary technicians in this field, other relevant drawings can be obtained based on the above drawings without any creative work. DETAILED DESCRIPTION
[0025] Embodiment 1
[0026] In order to enable those skilled in the art to better understand the technical solution of the present utility model, the technical solution of the present utility model is further described below in conjunction with specific embodiments.
[0027] A walking corner transporter, see attached Figure 1-3 , including: a translation mechanism, a lifting cylinder 4, a lifting cylinder connecting component, a stepping motor 21, a gripper cylinder bracket 19, a square flange 20 and a pneumatic gripper.
[0028] The translation mechanism is fixedly connected to a lifting cylinder 4 via a lifting cylinder connecting component. The stepper motor 21 is fixedly connected to the action end 4.1 of the lifting cylinder 4 via a stepper motor bracket 2. The pneumatic gripper is connected to the stepper motor 21 via a gripper cylinder bracket 19 and a square flange 20.
[0029] The translation mechanism includes a folding motor slide 11, a belt protection cover 17, a lead screw 22, a slider 23, a folding motor 25, and a pulley structure 26; the outer side of the folding motor slide 11 is fixedly connected to the main anchor plate 8 and the strip anchor 10, and the main anchor plate 8 and the strip anchor 10 can be fixedly connected to the working platform by bolts, so that the folding motor slide 11 is fixedly installed on the working platform, and the folding motor slide 11 is arranged along the discharge direction; a lead screw 22 is rotatably installed on the folding motor slide 11 along the discharge direction, and a slider 23 is slidably connected to the lead screw 22 and is located behind the folding motor slide 11 A folding motor 25 is arranged on the side of the side panel away from the discharge end, and a pulley structure 26 connected to the folding motor 25 and the screw 22 is arranged on the side of the side panel located behind the folding motor slide 11 and close to the discharge end; further, the folding motor 25 is connected to the small pulley of the pulley structure 26, the small pulley is connected to the large pulley through a belt, and the large pulley is connected to the screw 22. When the folding motor 25 is started, the folding motor 25 drives the small pulley of the pulley structure 26 to rotate, the small pulley drives the large pulley to rotate through the belt, and the large pulley drives the screw 22 to rotate, thereby realizing that the slider 23 can translate back and forth on the screw 22.
[0030] Wherein, a belt protection cover 17 is arranged on the pulley structure 26 .
[0031] Three position sensors are arranged on the outer side of the folding and reflecting motor slide 11, and the three position sensors include a first limit position U-shaped sensor 15.1, an initial position U-shaped sensor 15.2 and a second limit position U-shaped sensor 15.3; the first limit position U-shaped sensor 15.1 and the second limit position U-shaped sensor 15.3 correspond to the limit positions of the forward and backward translation of the slider 23 of the translation mechanism respectively, and the initial position U-shaped sensor 15.2 corresponds to the initial position of the slider 23; a sensor baffle 14 is fixedly installed on the outer side of the slider 23 of the translation mechanism, and the sensor baffle 14 can be translated forward and backward with the slider 23 of the translation mechanism, and at the same time, it is slid The sensor baffle 14 bent outward driven by the block 23 can shuttle between the cavities of the three position sensors; that is, when the sensor baffle 14 connected to the outside of the slider 23 is located in the cavity of the initial position U-shaped sensor 15.2, it means that the slider 23 is already in the initial position; when the sensor baffle 14 connected to the outside of the slider 23 is located in the cavity of the first limit position U-shaped sensor 15.1 and the second limit position U-shaped sensor 15.3 respectively during the sliding process, it means that the slider 23 is already in the limit position of forward and backward translation, and the folding motor 25 of the translation mechanism will immediately decelerate until it stops, to prevent the slider 23 from hitting the folding motor slide 11 of the translation mechanism.
[0032] Among them, the first limit position U-shaped sensor 15.1 and the initial position U-shaped sensor 15.2 are fixedly installed on the outside of the folding motor slide 11 through the first sensor bracket 24, and the second limit position U-shaped sensor 15.3 is fixedly installed on the outside of the folding motor slide 11 through the second sensor bracket 12.
[0033] The lifting cylinder connecting components include a cylindrical table 13, a stepper motor bracket 2, a lifting cylinder bracket 5 and a slide connecting plate 6; the cylindrical table 13 is fixedly installed on the slider 23, a slide connecting plate 6 extending outward is fixedly installed on the cylindrical table 13, and the lifting cylinder bracket 5 is fixedly installed on the slide connecting plate 6; the lifting cylinder 4 is installed at the extension of the slide connecting plate 6 through the lifting cylinder bracket 5. Furthermore, the lifting cylinder bracket 5 is an L-shaped bracket, the horizontal plate of the lifting cylinder bracket 5 is fixedly installed on the slide connecting plate 6, and the vertical plate of the lifting cylinder bracket 5 is installed on the base 4.2 of the lifting cylinder 4.
[0034] Among them, a protection sensor bracket 1 is fixedly installed above the lifting cylinder 4, and two protection sensors are symmetrically fixedly installed on both sides of the lifting cylinder 4 through the protection sensor bracket 1 to prevent the equipment from turning out of control.
[0035] See attached Figure 3, the stepper motor 21 is fixedly connected to the action end 4.1 of the lifting cylinder 4 through the stepper motor bracket 2, so that the lifting cylinder 4 can drive the stepper motor 21 to move up and down. Further, the stepper motor bracket 2 includes a mounting plate 2.1 and a base plate 2.2. The mounting plate 2.1 is an L-shaped structure, fixedly connected to the action end 4.1 of the lifting cylinder 4, and the base plate 2.2 is fixedly connected to the bottom of the mounting plate 2.1. The stepper motor 21 is installed on the base plate 2.2 of the stepper motor bracket 2; the pneumatic gripper is connected to the stepper motor 21, so that the stepper motor 21 can drive the pneumatic gripper to rotate, and the pneumatic gripper includes a clamping cylinder 18 and a clamping claw 16 for controlling clamping and releasing; further, the clamping cylinder 18 is fixedly connected to the clamping cylinder bracket 19, and the clamping cylinder bracket 19 is rotatably connected to the output end of the stepper motor 21 through a square flange 20.
[0036] The clamping cylinder 18 is provided with a color detection sensor 27 for identifying the color of the workpiece.
[0037] The axis of the stepper motor 21 coincides with the axis of the cylindrical stage 13 , that is, the clamping jaw 16 rotates around the axis of the stepper motor 21 and the cylindrical stage 13 .
[0038] A drag chain moving end bracket 7 is arranged between the cylindrical platform 13 and the slide connecting plate 6 , and a drag chain fixed end bracket 9 is arranged on the outer side of the folding motor slide 11 .
[0039] Embodiment 2
[0040] Based on the first embodiment, this embodiment provides a feasible working scenario: the rear of the walking corner transporter is a workpiece conveyor belt (not shown in the figure), and the left and right sides and the front end of the folding motor slide 11 are provided with sorting slides (not shown in the figure).
[0041] For the above working scenario, the working process of the walking corner transporter is as follows:
[0042] In the initial state, the slider of the translation mechanism of the walking corner handling arm is located at the rear limit position, the lifting cylinder 4 is at the lowest point in the vertical range of movement, and the stepping motor 21 adjusts the clamping jaw 16 to point to the discharge direction of the conveyor belt, and the clamping jaw 16 is in an open state; when workpieces of various colors are continuously transported from the discharge end, the color detection sensor 27 provided on the clamping cylinder bracket 19 identifies workpieces of different colors, and the clamping cylinder 18 controls the clamping jaw 16 to clamp the workpiece, and then the lifting cylinder 4 rises, thereby driving the clamping jaw 16 that clamps the workpiece to rise, so that the workpiece is separated from the workpiece conveyor belt, and then the workpiece is detected by the color detection sensor 27. Color, the stepper motor 21 can rotate counterclockwise within a range of 270°, that is, the stepper motor 21 can drive the clamping jaw 16 that clamps the workpiece to rotate counterclockwise within a range of 270°, and the bottom of the workpiece can correspond to the left and right sides of the folding motor slide 11 and the top of the sorting slide (not shown in the figure) at the front end, and then the lifting cylinder 4 drops to the lowest position, the clamping jaw 16 releases the workpiece, and the workpiece can fall on the corresponding sorting slide; when there are too many workpieces piled up near the discharging end of the sorting slide (not shown in the figure), the slider can drive the clamping jaw 16 forward to a position away from the discharging end, and then the lifting cylinder 4 drops to the lowest position, and the clamping jaw 16 releases the workpiece.
[0043] For ease of explanation, spatial relative terms such as "upper", "lower", "left", "right" and the like are used in the embodiments to illustrate the relationship of one element or feature shown in the figure relative to another element or feature. It should be understood that, in addition to the orientation shown in the figure, the spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figure is inverted, the element described as being "under" other elements or features will be positioned "on" other elements or features. Therefore, the exemplary term "under" can include both upper and lower orientations. The device can be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used here can be interpreted accordingly.
[0044] Furthermore, relational terms such as “first” and “second” and the like are merely used to distinguish one component from another having the same name, but do not necessarily require or imply any such actual relationship or order between these components.
[0045] The above is an exemplary description of the present invention. It should be noted that, without departing from the core of the present invention, any simple deformation, modification or other equivalent replacement that can be done by other technical personnel in this field without expending creative labor falls within the protection scope of the present invention.
Claims
1. A walking corner transporter, characterized in that: It includes a translation mechanism, a lifting cylinder, a lifting cylinder connecting component, a stepping motor, a gripper cylinder bracket, a square flange and a pneumatic gripper; The translation mechanism is fixedly connected to a lifting cylinder via a lifting cylinder connecting component, the stepper motor is fixedly connected to the action end of the lifting cylinder via a stepper motor bracket, and the pneumatic gripper is connected to the output shaft of the stepper motor via a gripper cylinder bracket and a square flange.
2. The walking corner transporter according to claim 1, characterized in that: The translation mechanism comprises a folding motor slide, a belt protection cover, a lead screw, a slider, a folding motor, and a pulley structure; the outer side of the folding motor slide is fixedly connected to the main anchor plate and the strip anchor.
3. The walking corner transporter according to claim 2, characterized in that: A lead screw is rotatably installed on the folding motor slide along the discharge direction, a slider is slidably connected to the lead screw, a folding motor is arranged on the side of the side plate behind the folding motor slide away from the discharge end, and a pulley structure connected to the folding motor and the lead screw is arranged on the side of the side plate behind the folding motor slide close to the discharge end; the folding motor is connected to a small pulley of the pulley structure, the small pulley is connected to a large pulley through a belt, and the large pulley is connected to the lead screw.
4. The walking corner transporter according to claim 2, characterized in that: Three position sensors are arranged on the outer side of the folding motor slide, and the three position sensors include a first limit position U-shaped sensor, an initial position U-shaped sensor and a second limit position U-shaped sensor; the first limit position U-shaped sensor and the second limit position U-shaped sensor respectively correspond to the limit positions of the forward and backward translation of the slider of the translation mechanism, and the initial position U-shaped sensor corresponds to the initial position of the slider; a sensor baffle is fixedly installed on the outer side of the slider of the translation mechanism.
5. The walking corner transporter according to claim 4 is characterized in that: The first limit position U-shaped sensor and the initial position U-shaped sensor are fixedly mounted on the outer side of the folding motor slide via a first sensor bracket, and the second limit position U-shaped sensor is fixedly mounted on the outer side of the folding motor slide via a second sensor bracket.
6. The walking corner transporter according to claim 1, characterized in that: The lifting cylinder connecting components include a cylindrical table, a stepper motor bracket, a lifting cylinder bracket and a slide connecting plate; the cylindrical table is fixedly installed on the slider, a slide connecting plate extending outward is fixedly installed on the cylindrical table, and the lifting cylinder bracket is fixedly installed on the slide connecting plate; the lifting cylinder is installed at the extension of the slide connecting plate through the lifting cylinder bracket, the lifting cylinder bracket is an L-shaped bracket, the horizontal plate of the lifting cylinder bracket is fixedly installed on the slide connecting plate, and the vertical plate of the lifting cylinder bracket is installed on the base of the lifting cylinder.
7. The walking corner transporter according to claim 1, characterized in that: A protection sensor bracket is fixedly installed above the lifting cylinder, and two protection sensors are symmetrically fixedly installed on both sides of the lifting cylinder through the protection sensor bracket.
8. The walking corner transporter according to claim 1, characterized in that: The stepper motor bracket includes a mounting plate and a base plate. The mounting plate is an L-shaped structure and is fixedly connected to the actuating end of the lifting cylinder. The base plate is fixedly connected to the bottom end of the mounting plate. The stepper motor is mounted on the base plate of the stepper motor bracket. The pneumatic gripper includes a clamping cylinder and a clamping claw for controlling clamping and releasing. The clamping cylinder is fixedly connected to the clamping cylinder bracket, and the clamping cylinder bracket is rotatably connected to the output shaft of the stepper motor through a square flange.
9. The walking corner transporter according to claim 8, characterized in that: The clamping cylinder is provided with a color detection sensor for identifying the color of the workpiece.
10. The walking corner transporter according to claim 6, characterized in that: The axis of the stepping motor coincides with the axis of the cylindrical stage.