An automated loading robot

Abstract

The present invention relates to an automatic loading robot. The purpose is to achieve the function of automatically loading workpieces, including a lifting component, a robotic arm, and a robotic gripper. One end of the robotic arm is mounted on the lifting component, and the other end of the robotic arm is connected to the robotic gripper. The robotic gripper can achieve the functions of grasping and flipping workpieces, and the robotic arm and the lifting component can achieve the lifting function of grasping workpieces. Through the above technical solution, the workpiece can be transferred from one working position to another, thereby realizing the workpiece loading work of the automatic loading robot in one cycle, effectively improving the loading efficiency of the workpiece, and reducing the labor cost.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial robots, and particularly relates to an automatic loading robot. Background Art

[0002] An industrial robot is a multi-joint manipulator or a mechanical device with multiple degrees of freedom for the industrial field. It can automatically perform work and is a machine device that uses its own drive and control to complete various industrial tasks. At present, many factories have a large demand for industrial robots. With the continuous increase in the usage ratio of robots, the emergence of automated robots will drive the improvement of the robot usage density in China, thereby driving the increase in the demand quantity of robots. At present, most of the workpiece loading and handling processes are completed by workers. The popularization level of automated robots is low, the workload is large and has certain dangers, and the efficiency of manual loading is very low. In view of these problems, an automatic loading robot is introduced to meet the development needs of the industrial field. Summary of the Invention

[0003] The purpose of the present invention is to solve the problem of very low efficiency of manual loading and handling, and to propose an automatic loading robot.

[0004] In order to achieve the above purpose, the present invention adopts the following technical scheme: An automatic loading robot includes a lifting assembly, a robotic arm, and a robotic claw; one end of the robotic arm is installed on the lifting assembly, and the other end of the robotic arm is connected to the robotic claw. The robotic claw can realize the functions of grasping and flipping workpieces, and the robotic arm and the lifting assembly can realize the lifting function of the loading robot.

[0005] Further, the lifting assembly includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a radial spherical plain bearing, a cylindrical roller bearing, a positioning copper plate, a lubricating copper plate, a connecting rod support, a welding block, an oil cylinder, a track mounting flange, an oil cylinder support, a base, and a pin shaft. The first connecting rod is connected to the oil cylinder support through a pin shaft, and the other end is connected to the second connecting rod through a pin shaft and a welding block. The second connecting rod is connected to the third connecting rod through a pin shaft and a welding block. The other end of the third connecting rod is connected to the swing arm bottom plate through a pin shaft sleeved with a radial spherical plain bearing. The other end of the second connecting rod is connected to the fourth connecting rod through a pin shaft. The pin shaft is arranged on the connecting rod support and is sleeved with a positioning copper plate, a lubricating copper plate, and a cylindrical roller bearing. The fourth connecting rod is connected to the oil cylinder through a pin shaft and a welding block, and the other end is connected to the swing arm bottom plate through a pin shaft sleeved with a cylindrical roller bearing. The oil cylinder is connected to the oil cylinder support through a pin shaft and a welding block. The oil cylinder support is welded to the base, and the base is connected to the ground through a track mounting flange. The lifting assembly uses two oil cylinders as the drive, and realizes the lifting function of the loading robot through the drive of the oil cylinders.

[0006] Further, the robotic arm includes a swing arm bottom plate, a swing oil cylinder fixing seat, a swing arm shaft, a swing arm connecting rod, a pin shaft, a stop block, a lifting oil cylinder, a GE60ET spherical plain bearing, an outer cover, a GE80ET spherical plain bearing, and a bushing. The swing arm bottom plate is respectively connected to the third connecting rod and the fourth connecting rod through the pin shaft, and is connected to the upper end through the swing arm shaft and the swing arm connecting rod. The swing arm shaft is sleeved with the bushing and the GE80ET spherical plain bearing, and is fixed in the shaft hole of the swing arm bottom plate through the outer cover. The swing arm connecting rod is connected to the piston rod of the lifting oil cylinder through the pin shaft and the stop block. The lifting oil cylinder is arranged on the swing oil cylinder fixing seat through the GE60ET spherical plain bearing. The robotic arm is driven by the lifting oil cylinder, and the movement of the piston rod of the oil cylinder makes the robotic arm move up and down, realizing the lifting function of the loading robot.

[0007] Further, the robotic gripper includes a jaw device, a jaw turning device, and a synchronizing rod. The jaw device and the jaw turning device are connected together, and the two jaw devices are connected together through the synchronizing rod to realize the function of synchronous grasping. The robotic gripper can realize the grasping and loading functions of the robot for the workpiece through the rotation function of the jaw turning device and the grasping function of the jaw device. Description of the Drawings

[0008] Figure 1 is a structural diagram of an automatic loading robot proposed by the present invention;

[0009] Figure 2 is an exploded view of the lifting assembly of an automatic loading robot proposed by the present invention;

[0010] Figure 3 is an exploded view of the robotic arm of an automatic loading robot proposed by the present invention;

[0011] Figure 4 is an exploded view of the robotic gripper of an automatic loading robot proposed by the present invention;

[0012] In the figure: lifting assembly 1, robotic arm 2, robotic gripper 3, workpiece 4, first connecting rod 101, second connecting rod 102, third connecting rod 103, fourth connecting rod 104, radial spherical plain bearing 105, cylindrical roller bearing 106, positioning copper plate 107, lubricating copper plate 108, connecting rod support 109, welding stop block 110, oil cylinder 111, track mounting flange 112, oil cylinder support 113, base 114, pin shaft 115, swing arm bottom plate 201, swing oil cylinder fixing seat 202, swing arm shaft 203, swing arm connecting rod 204, pin shaft 205, stop block 206, lifting oil cylinder 207, GE60ET spherical plain bearing 208, outer cover 209, GE80ET spherical plain bearing 210, bushing 211, jaw device 301, jaw turning device 302, synchronizing rod 303. Detailed implementation mode

[0013] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0014] Refer to Figures 1-4 , an automatic loading robot, including a lifting component 1, a robotic arm 2 and a robotic gripper 3; one end of the robotic arm 2 is installed on the lifting component 1, and the other end of the robotic arm 2 is connected to the robotic gripper 3. The robotic gripper 3 can realize the functions of grasping and flipping workpieces, the robotic arm 2 can realize the lifting function of grasping workpieces, and the lifting component 1 can realize the function of sliding on the track.

[0015] Refer to Figures 1-4 , an automatic loading robot, the lifting component includes a first connecting rod 101, the first connecting rod 101 is connected to the oil cylinder support 113 through a pin shaft 115, and the other end is connected to the second connecting rod 102 through a pin shaft 115 and a welding block 110. The second connecting rod 102 is connected to the third connecting rod 103 through a pin shaft 115 and a welding block 110. The other end of the third connecting rod 103 is connected to the swing arm bottom plate 201 through a pin shaft 115 sleeved with a radial spherical plain bearing 105. The other end of the second connecting rod 102 is connected to the fourth connecting rod 104 through a pin shaft 115. The pin shaft 115 is arranged on the connecting rod support 109 and is sleeved with a positioning copper plate 107, a lubricating copper plate 108 and a cylindrical roller bearing 106. The fourth connecting rod 104 is connected to the oil cylinder 111 through a pin shaft 115 and a welding block 110, and the other end is connected to the swing arm bottom plate 201 through a pin shaft 115 sleeved with a cylindrical roller bearing 106. The oil cylinder 111 is connected to the oil cylinder support 113 through a pin shaft 115 and a welding block 110. The oil cylinder support 113 is welded to the base 114, and the base 114 is connected to the ground through a track mounting flange 112. The lifting component 1 uses two oil cylinders 111 as the drive, and realizes the lifting function of the loading robot through the movement of the oil cylinder piston rod.

[0016] Refer to Figures 1-4, an automatic loading robot. The robotic arm 2 includes a swing arm base plate 201. The lower end of the swing arm base plate 201 is respectively connected to the third connecting rod 103 and the fourth connecting rod 104 through a pin shaft 115, and the upper end is connected through a swing arm shaft 203 and a swing arm connecting rod 204. A bushing 211 and a GE80ET spherical plain bearing 210 are sleeved on the swing arm shaft 203 and are fixed in the shaft hole of the swing arm base plate 201 through an outer cover 209. The swing arm connecting rod 204 is connected to the piston rod of the lifting oil cylinder 207 through a pin shaft 205 and a stop block 206. The lifting oil cylinder 207 is arranged on the swing oil cylinder fixing seat 202 through a GE60ET spherical plain bearing 208. The robotic arm 2 is driven by the lifting oil cylinder 207, and the movement of the oil cylinder piston rod causes the robotic arm 2 to perform lifting movement, realizing the lifting function of the workpiece handling of the robot.

[0017] Referring to Figures 1-4 , an automatic loading robot. The robotic claw 3 includes a jaw device 301, a jaw flipping device 302 and a synchronizing rod 303. The jaw device 301 and the jaw flipping device 302 are connected together, and the two jaw devices 301 are connected together through the synchronizing rod 303 to realize the function of synchronous grasping. The robotic claw 3 can realize the loading and grasping function of the robot for the workpiece through the rotation function of the jaw flipping device 302 and the grasping function of the jaw device 301.

[0018] For the automatic loading robot proposed by the present invention, during use, the oil cylinder 111 in the lifting assembly 1 needs to be connected to the hydraulic control system, the lifting oil cylinder 207 in the robotic arm 2 needs to be connected to the hydraulic control system, the jaw device 301 in the robotic claw 3 needs to be connected to the hydraulic control system, and the jaw flipping device 302 needs to be connected to the electrical control system.

[0019] The above is only the preferred specific implementation manner of the present invention, and the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. An automated loading robot, comprising a lifting assembly, a robotic arm and a robotic gripper; one end of the robotic arm is mounted on the lifting assembly, and the other end of the robotic arm is connected to the robotic gripper; the robotic gripper can realize the functions of grasping and flipping workpieces, the robotic arm can realize the lifting function of grasping workpieces, and the lifting assembly can realize the function of sliding on a track; the lifting assembly includes Link 1, Link 1 is connected to the oil cylinder support by a pin shaft, and the other end is connected to Link 2 by a pin shaft and a welding block, Link 2 is connected to Link 3 by a pin shaft and a welding block, the other end of Link 3 is connected to the swing arm base plate by a pin shaft sleeved with a spherical plain bearing, the other end of Link 2 is connected to Link 4 by a pin shaft, the pin shaft is arranged on the link support and is sleeved with a positioning copper plate, a lubricating copper plate and a cylindrical roller bearing, Link 4 is connected to the oil cylinder by a pin shaft and a welding block, and the other end is connected to the swing arm base plate by a pin shaft sleeved with a cylindrical roller bearing, the oil cylinder is connected to the oil cylinder support by a pin shaft and a welding block, the oil cylinder support is welded to the base, and the base is connected to the ground through a track mounting flange; the robotic arm includes a swing arm base plate, the lower end of the swing arm base plate is respectively connected to Link 3 and Link 4 by pin shafts, and the upper end is connected by a swing arm shaft and a swing arm link, the swing arm shaft is sleeved with a bushing and a GEET spherical plain bearing and is fixed in the shaft hole of the swing arm base plate through an outer cover, the swing arm link is connected to the piston rod of the lifting oil cylinder by a pin shaft and a block, the lifting oil cylinder is arranged on the swing oil cylinder fixing seat through a GE60ET spherical plain bearing; the robotic gripper includes a jaw device, a jaw flipping device and a synchronizing rod, the jaw device and the jaw flipping device are connected together, and the two jaw devices are connected together through the synchronizing rod.

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