A manipulator convenient for grabbing and unloading materials

Abstract

The present invention relates to a manipulator convenient for grasping and unloading materials, comprising: an X-axis conveying pair, a Y-axis conveying pair; a Z-axis conveying pair; a grasping part fixed on the sliding end of the Z-axis conveying pair, the grasping part comprising a grasping cylinder, a positioning head and grasping fingers respectively fixed on the sliding end of the grasping cylinder, the grasping fingers comprising an arc-shaped bonding plate, a probe column integrally arranged on the arc-shaped bonding plate, a triangular column integrally arranged on the probe column, the edge of each triangular column is provided with a plug-in piece mirrored about the edge, the plug-in piece is provided with an arched notch, the positioning head is fixed on the grasping cylinder, the bottom end of the positioning head is provided with two matching chambers upward, and the side wall of the positioning head is adapted to the inner cavity of the part. This manipulator realizes conveying through the X-axis conveying pair, the Y-axis conveying pair and the Z-axis conveying pair, the positioning head on the grasping part is extended into the inner cavity of the part, the grasping finger is extended into the cylindrical cavity to form positioning and fixing, and the arc-shaped bonding plate is attached to achieve the lifting effect.

Description

Technical Field

[0001] The invention relates to electromechanical conveying equipment, in particular to a manipulator which is convenient for grabbing and unloading materials. Background Art

[0002] Application number: CN201720522077.4, discloses a packaging manipulator, including a shell, a base is provided below the shell, support frames are connected to both sides of the base, a support seat is connected to the upper end of the support frame, a storage box is provided above the support seat, a discharge port is provided in front of the storage box, a first cylinder is provided behind the storage box, a push plate is provided in front of the first cylinder, a second cylinder is provided above the shell, a connecting block is provided below the second cylinder, and a first connecting rod is connected below the connecting block. Put the plug cover into the storage box, the first cylinder pushes the push plate to push out the plug cover, the second cylinder drives the first connecting rod to drive the clamp to clamp the plug cover pushed out, the third cylinder presses the pressing plate downward, and the pressing plate presses the plug cover downward, and presses it into the tank body placed on the base. The device is simple in structure relative to the general plug cover packaging device, and can complete automatic feeding, as well as automatic packaging and sealing, bringing better benefits to small enterprises.

[0003] This type of robot can grasp general parts, but it cannot grasp special parts, such as Figure 1 As shown, a part is cylindrical, and a cylindrical cavity is mirrored on the outer wall of the part, a triangular cavity is arranged at the bottom of the cylindrical cavity, and two sheet cavities are mirrored about the edge of each triangular cavity, and a cylindrical head is arranged near the bottom of the cylindrical cavity in each sheet cavity, and the cylindrical head is tangent to the bottom surface of the cylindrical cavity. For this kind of part body, its outer wall is relatively thin, which is easy to cause deformation during the grasping process, resulting in the part becoming a waste;

[0004] Therefore, it is important to be able to provide a manipulator that is compatible with this type of tank. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a robot arm compatible with the parts pointed out in the background technology.

[0006] The technical solution adopted by the present invention to solve the technical problem is: a manipulator convenient for grabbing and unloading materials, comprising:

[0007] X-axis conveyor pair,

[0008] A Y-axis conveying pair, wherein the Y-axis conveying pair is fixed to a sliding end of the X-axis conveying pair;

[0009] A Z-axis conveying pair, wherein the Z-axis conveying pair is fixed to a sliding end of the Y-axis conveying pair;

[0010] A gripping part, wherein the gripping part is fixed on the sliding end of the Z-axis conveying pair, the gripping part includes a gripping cylinder, a positioning head and gripping fingers respectively fixed on the sliding end of the gripping cylinder, the gripping fingers include an arc-shaped fitting plate, a probe column integrally arranged on the arc-shaped fitting plate, a triangular column integrally arranged on the probe column, the edge of each triangular column is provided with two plug-in pieces mirrored with respect to the edge, an arched notch is provided at the end of the plug-in piece, the positioning head is fixed on the gripping cylinder between the two gripping fingers, the positioning head is cylindrical and has two matching chambers mirrored upward from its bottom end, and the side wall of the positioning head is adapted to the inner cavity of the part, wherein

[0011] After the positioning head extends into the inner cavity of the part, the two grasping fingers extend into the cylindrical cavity respectively to grasp the part.

[0012] Preferably, there are two positioning heads, and the end of the grabbing cylinder is slidably provided with two positioning sliders and two return springs. The end of the grabbing cylinder is mirror-imaged with two positioning plates, and each positioning plate is adapted to one positioning slider, one return spring and one positioning head; one end of the return spring is fixedly connected to the positioning slider, and the other end is fixedly connected to the positioning plate.

[0013] Preferably, a double joint is fixed in the middle of the two positioning heads, the double joint is fixed to the end of the grabbing cylinder, and matching heads adapted to the cylindrical cavity are mirror-imaged on both sides of the double joint.

[0014] Preferably, the mating head is integrally provided with two arc-shaped bins which fit in with the outer side wall of the part.

[0015] Preferably, the grabbing part also includes a linkage plate and a rotating part, the rotating part includes a rotating motor, a driving wheel sleeved on the output shaft of the rotating motor, and a driven shaft sleeved with a rotating disk and a driven wheel, the driven wheel is linked to the driving wheel through a conveyor belt, and the rotating disk is rotatably arranged on the linkage plate.

[0016] Preferably, an L-shaped iron sheet is fixed to the side wall of the grabbing cylinder, and three photoelectric switches are fixed to the linkage plate.

[0017] Preferably, the X-axis conveying pair comprises an X-axis cylinder, an X-axis slide rail and an X-axis slider, the X-axis slider is slidably arranged on the X-axis slide rail, and the Y-axis conveying pair is fixed on the X-axis slider, wherein

[0018] The piston rod of the X-axis cylinder is fixedly connected to the X-axis sliding block.

[0019] Preferably, the Y-axis conveying pair comprises a Y-axis cylinder, a Y-axis slide rail and a Y-axis slider, the Y-axis slider is slidably arranged on the Y-axis slide rail, the Z-axis conveying pair is fixed on the Y-axis slider, and the Y-axis slide rail is fixed on the X-axis slider, wherein

[0020] The piston rod of the Y-axis cylinder is fixedly connected to the Y-axis sliding block.

[0021] Preferably, the Z-axis conveying pair comprises a Z-axis cylinder, a Z-axis slide rail and a Z-axis slider, the Z-axis slider is slidably arranged on the Z-axis slide rail, the grabbing portion is fixed on the Z-axis slider, and the Z-axis slide rail is fixed on the Y-axis slider, wherein

[0022] The piston rod of the Z-axis cylinder is fixedly connected to the Z-axis sliding block.

[0023] The beneficial effects of the present invention are:

[0024] This type of robot, which is convenient for grabbing and unloading materials, realizes transportation in the X-axis, Y-axis and Z-axis directions through the cooperation of the X-axis conveying pair, the Y-axis conveying pair and the Z-axis conveying pair. The positioning head on the grasping part extends into the inner cavity of the part, and the grasping fingers extend into the cylindrical cavity to form a positioning and fixing effect, while the arc-shaped bonding plate realizes the attachment effect, thereby achieving the lifting effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0026] Figure 1 It is a structural schematic diagram of the parts to be grasped of the present invention;

[0027] Figure 2 It is a structural schematic diagram of a manipulator convenient for grabbing and unloading materials of the present invention;

[0028] Figure 3 It is a partial structural schematic diagram of the grabbing portion of the present invention;

[0029] Figure 4 It is a partial structural schematic diagram of the grabbing portion of the present invention;

[0030] Figure 5 It is a partial structural schematic diagram of the grabbing portion of the present invention;

[0031] In the figure: X-axis conveying pair 1, X-axis cylinder 101, X-axis slide rail 102, X-axis slider 103, Y-axis conveying pair 2, Y-axis cylinder 201, Y-axis slide rail 202, Y-axis slider 203, Z-axis conveying pair 3, Z-axis cylinder 301, Z-axis slide rail 302, linkage plate 303, grasping part 4, grasping cylinder 401, positioning head 402, return spring 4021, positioning piece 4022, grasping finger 403, arc-shaped fitting plate 4031, probe column 4032, triangular column 4033, plug-in piece 4034, double joint 404, matching head 4041, arc-shaped warehouse 4042, rotating motor 405, driving wheel 406, rotating disk 407, driven wheel 408, driven shaft 409, conveyor belt 410, L-shaped iron sheet 411, photoelectric switch 412. DETAILED DESCRIPTION

[0032] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0033] like Figures 1 to 5 A manipulator convenient for grabbing and unloading materials, comprising: an X-axis conveying pair 1, a Y-axis conveying pair 2, wherein the Y-axis conveying pair 2 is fixed on the sliding end of the X-axis conveying pair 1; a Z-axis conveying pair 3, wherein the Z-axis conveying pair 3 is fixed on the sliding end of the Y-axis conveying pair 2; a grasping portion 4, wherein the grasping portion 4 is fixed on the sliding end of the Z-axis conveying pair 3, the grasping portion 4 comprises a grasping cylinder 401, a positioning head 402 and grasping fingers 403 respectively fixed on the sliding ends of the grasping cylinders 401, the grasping fingers 403 comprise an arc-shaped laminating plate 4031, a probe column 4032 integrally arranged on the arc-shaped laminating plate 4031, a triangular column 4033 integrally arranged on the probe column 4032, and each of the triangular columns 4033 The edge of the part is provided with two plug-in pieces 4034 in a mirror image with respect to the edge, and an arched notch is provided at the end of the plug-in piece 4034. The positioning head 402 is fixed on the grabbing cylinder 401 between the two grabbing fingers 403. The positioning head 402 is cylindrical and has two matching chambers in a mirror image from the bottom end upward, and the side wall of the positioning head 402 is adapted to the inner cavity of the part, wherein

[0034] After the positioning head 402 extends into the inner cavity of the part, the two grasping fingers 403 extend into the cylindrical cavity to grasp the part.

[0035] This type of robot that is convenient for grabbing and unloading materials realizes transportation in the X-axis, Y-axis and Z-axis directions through the cooperation of the X-axis conveying pair 1, the Y-axis conveying pair 2 and the Z-axis conveying pair 3. The positioning head 402 on the grasping part 4 extends into the inner cavity of the part, and the grasping finger 403 extends into the cylindrical cavity to form a positioning and fixing effect, while the arc-shaped bonding plate 4031 realizes the attachment effect, thereby achieving a lifting effect.

[0036] Furthermore, there are two positioning heads 402, and the end of the grabbing cylinder 401 is slidably provided with two positioning sliders and two return springs 4021, and the end of the grabbing cylinder 401 is mirror-imaged with two positioning plates 4022, each of the positioning plates 4022 is adapted to a positioning slider, a return spring 4021 and a positioning head 402; one end of the return spring 4021 is fixedly connected to the positioning slider, and the other end is fixedly connected to the positioning plate 4022.

[0037] Among them, when the positioning head 402 extends into the inner cavity of a part, at this time, the reset spring 4021 has no compression force and extension force. At this time, the grabbing finger 403 is pushed to make the grabbing finger 403 extend into the cylindrical cavity. During the process of continuing to push, the reset spring 4021 is stretched to achieve a good fixing effect.

[0038] Furthermore, a double joint 404 is fixed in the middle of the two positioning heads 402 , and the double joint 404 is fixed to the end of the grabbing cylinder 401 . Matching heads 4041 adapted to the cylindrical cavity are mirror-imaged on both sides of the double joint 404 .

[0039] After the positioning head 402 is inserted into the part, the mating head 4041 is inserted into another cylindrical cavity during the process of the part sliding toward the middle, thereby achieving the grasping of the two parts.

[0040] Furthermore, the mating head 4041 is integrally provided with two arc-shaped bins 4042 that fit with the outer side wall of the part. The arc-shaped bins 4042 and the side wall of the part are adapted to each other, thereby ensuring a good fitting and positioning effect.

[0041] Further, the gripping part 4 further includes a linkage plate 303 and a rotating part, wherein the rotating part includes a rotating motor 405, a driving wheel 406 sleeved on the output shaft of the rotating motor 405, and a driven shaft 409 sleeved with a rotating disk 407 and a driven wheel 408, wherein the driven wheel 408 is linked with the driving wheel 406 through a conveyor belt 410, and the rotating disk 407 is rotatably arranged on the linkage plate 303. The rotating motor 405 rotates to drive the driving wheel 406 to rotate, and the driving wheel 406 rotates to drive the conveyor belt 410 to rotate synchronously and transmit to the driven wheel 408, and the driven wheel 408 drives the rotating disk 407 to rotate synchronously, thereby driving the workpiece to turn.

[0042] Furthermore, an L-shaped iron sheet 411 is fixed to the side wall of the grabbing cylinder 401, and three photoelectric switches 412 are fixed to the linkage plate 303. When rotating to a certain position, 90°, 180°, 270°, the L-shaped iron sheet 411 blocks the photoelectric switch 412 at a certain position, thereby stopping the rotation.

[0043] Furthermore, the specific structures of the X-axis conveying pair 1, the Y-axis conveying pair 2 and the Z-axis conveying pair 3 are as follows:

[0044] The X-axis conveying pair 1 includes an X-axis cylinder 101, an X-axis slide rail 102 and an X-axis slider 103, wherein the X-axis slider 103 is slidably disposed on the X-axis slide rail 102, and the Y-axis conveying pair 2 is fixed on the X-axis slider 103, wherein the piston rod of the X-axis cylinder 101 is fixedly connected to the X-axis slider 103.

[0045] Furthermore, the Y-axis conveying pair 2 includes a Y-axis cylinder 201, a Y-axis slide rail 202 and a Y-axis slider 203, the Y-axis slider 203 is slidably arranged on the Y-axis slide rail 202, the Z-axis conveying pair 3 is fixed on the Y-axis slider 203, the Y-axis slide rail 202 is fixed on the X-axis slider 103, and the piston rod of the Y-axis cylinder 201 is fixedly connected to the Y-axis slider 203.

[0046] Furthermore, the Z-axis conveying pair 3 includes a Z-axis cylinder 301, a Z-axis slide rail 302 and a Z-axis slider, the Z-axis slider is slidably arranged on the Z-axis slide rail 302, the grabbing portion 4 is fixed on the Z-axis slider, the Z-axis slide rail 302 is fixed on the Y-axis slider 203, and the piston rod of the Z-axis cylinder 301 is fixedly connected to the Z-axis slider.

[0047] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A manipulator that is convenient for grabbing and unloading materials, characterized in that: include: The grabbing part includes a grabbing cylinder, a positioning head and grabbing fingers respectively fixed on the sliding ends of the grabbing cylinder, the grabbing fingers include an arc-shaped fitting plate, a probe column integrally arranged on the arc-shaped fitting plate, and a triangular column integrally arranged on the probe column, the edge of each triangular column is provided with two plug-in pieces mirrored with respect to the edge, and an arched groove is provided at the end of the plug-in piece, the positioning head is fixed on the grabbing cylinder between the two grabbing fingers, the positioning head is cylindrical and has two matching chambers mirrored upward from its bottom end, and the side wall of the positioning head is adapted to the inner cavity of the part, wherein After the positioning head is inserted into the inner cavity of the part, the two grasping fingers are respectively inserted into the cylindrical cavity to grasp the part; There are two positioning heads, and two positioning sliders and two return springs are slidably provided at the end of the grabbing cylinder. Two positioning plates are mirror-imaged at the end of the grabbing cylinder, and each positioning plate is adapted to one positioning slider, one return spring and one positioning head; one end of the return spring is fixedly connected to the positioning slider, and the other end is fixedly connected to the positioning plate; A double joint is fixed in the middle of the two positioning heads, the double joint is fixed to the end of the grabbing cylinder, and matching heads adapted to the cylindrical cavity are mirror-imaged on both sides of the double joint; The mating head is integrally provided with two arc-shaped bins that fit with the outer side wall of the part; The grabbing part also includes a linkage plate and a rotating part. An L-shaped iron sheet is fixed to the side wall of the grabbing cylinder, and three photoelectric switches are fixed to the linkage plate. The L-shaped iron sheet blocks the photoelectric switch at a certain position, thereby stopping the rotation.

2. The manipulator for facilitating material grabbing and unloading as claimed in claim 1, characterized in that: include: X-axis conveyor pair, A Y-axis conveying pair, wherein the Y-axis conveying pair is fixed to a sliding end of the X-axis conveying pair; A Z-axis conveying pair, wherein the Z-axis conveying pair is fixed to a sliding end of the Y-axis conveying pair; The gripping part is fixed on the sliding end of the Z-axis conveying pair. The X-axis conveying pair includes an X-axis cylinder, an X-axis slide rail and an X-axis slider, the X-axis slider is slidably arranged on the X-axis slide rail, and the Y-axis conveying pair is fixed on the X-axis slider, wherein The piston rod of the X-axis cylinder is fixedly connected to the X-axis sliding block.

3. The manipulator for facilitating material grabbing and unloading as claimed in claim 2, characterized in that: The Y-axis conveying pair includes a Y-axis cylinder, a Y-axis slide rail and a Y-axis slider, the Y-axis slider is slidably arranged on the Y-axis slide rail, the Z-axis conveying pair is fixed on the Y-axis slider, and the Y-axis slide rail is fixed on the X-axis slider, wherein The piston rod of the Y-axis cylinder is fixedly connected to the Y-axis sliding block.

4. The manipulator for facilitating material grabbing and unloading as claimed in claim 3, characterized in that: The Z-axis conveying pair includes a Z-axis cylinder, a Z-axis slide rail and a linkage plate, the Z-axis slider is slidably arranged on the Z-axis slide rail, the grabbing portion is fixed on the Z-axis slider, and the Z-axis slide rail is fixed on the Y-axis slider, wherein The piston rod of the Z-axis cylinder is fixedly connected to the Z-axis sliding block.

5. The manipulator for facilitating material grabbing and unloading as claimed in claim 1, characterized in that: The rotating part includes a rotating motor, a driving wheel sleeved on the output shaft of the rotating motor, and a driven shaft sleeved with a rotating disk and a driven wheel. The driven wheel is linked to the driving wheel through a transmission belt, and the rotating disk is rotatably arranged on the linkage plate.

Images