Manipulator loading and unloading device

Abstract

The present application relates to the technical field of workpiece conveying, and in particular to a manipulator loading and unloading device. It comprises a manipulator body, a connecting frame is provided on the manipulator body, a mounting plate is provided on the connecting frame, a plurality of fixed plates are provided on the mounting plate, the fixed plates are rotatably connected to the mounting plates, a clamping assembly is provided on each of the fixed plates, an adjusting assembly is provided on the mounting plates, the adjusting assembly is connected to the fixed plates, and the adjusting assembly is used to adjust the angles between the plurality of clamping assemblies. The angles between the plurality of clamping assemblies are adjusted by the adjusting assembly, and when one clamping assembly is grabbing a laptop computer, the other clamping assemblies can give way to avoid interference with other laptop computers as much as possible, thereby protecting the other laptop computers.

Description

Technical Field

[0001] The present application relates to the technical field of workpiece conveying, and in particular to a manipulator loading and unloading device. Background Art

[0002] During the production process of laptops, laptops need to be inspected. Currently, a pallet is usually placed on a conveyor belt, and the laptop is placed in the pallet. The pallet and the laptop are then transported to the position of the robot through the conveyor belt. The gripper on the robot grips the pallet and puts the pallet and the laptop into the inspection device. After the inspection is completed, the pallet and the laptop are taken out of the inspection device by the gripper and placed on the conveyor belt. The above operation is repeated, and the robot grips the next pallet until all laptops are inspected.

[0003] When a laptop computer is being inspected, the robot arm needs to wait for the laptop computer inspection to be completed and take out the laptop computer before it can grab the next laptop computer and put it into the inspection device. To improve work efficiency and reduce waiting time, multiple grippers are usually provided on the robot arm. However, when one of the grippers is clamping, the other grippers will interfere with the laptop computer. Summary of the invention

[0004] In order to solve the problem of low working efficiency of a robot, the present application provides a robot loading and unloading device.

[0005] A robot loading and unloading device provided in the present application adopts the following technical solution: it includes a robot body, a connecting frame is provided on the robot body, a mounting plate is provided on the connecting frame, a plurality of fixed plates are provided on the mounting plate, the fixed plates are rotatably connected to the mounting plates, a clamping assembly is provided on each of the fixed plates, an adjusting assembly is provided on the mounting plate, the adjusting assembly is connected to the fixed plate, and the adjusting assembly is used to adjust the angles between the plurality of groups of the clamping assemblies.

[0006] By adopting the above technical solution and setting adjustment components, the angles between multiple groups of clamping components can be adjusted. When one group of clamping components is grabbing a laptop computer, other clamping components can give way to avoid interference with other laptop computers as much as possible, thereby protecting other laptop computers.

[0007] In a specific feasible implementation, the adjustment assembly includes a driving motor, a driving shaft, and a driving gear. An installation frame is provided on the mounting plate. The driving motor is arranged on the installation frame. The driving shaft is arranged on the installation frame and is connected to the output shaft of the driving motor. The driving gear is arranged on the driving shaft. The mounting plate and the fixing plate are connected by a connecting shaft. A driven gear is arranged on the connecting shaft. The driving gear is in transmission connection with the driven gear.

[0008] By adopting the above technical solution, the driving motor drives the driving shaft to rotate, the driving shaft drives the driving gear to rotate, the driving gear drives the connecting shaft and the driven gear to rotate, thereby driving the fixing plate and the clamping assembly on the fixing plate to rotate, and further enabling the angles between multiple groups of clamping assemblies to be adjusted simultaneously, which helps to improve the adjustment efficiency.

[0009] In a specific feasible implementation, a sliding groove is formed on the mounting plate. The installation frame is slidably installed in the sliding groove. A rack is provided on the installation frame. A rotating motor is provided on the mounting plate. The rotating motor is in transmission connection with the rack. An incomplete gear is further arranged on the driving shaft. A rotating gear is arranged on the connecting shaft. The incomplete gear is in transmission connection with the rotating gear.

[0010] By adopting the above technical solution, the rotating motor drives the rack and the installation frame to move, thereby driving the driving shaft and the incomplete gear on the installation frame to move. When the incomplete gear meshes with the rotating gears on different connecting shafts, it can drive multiple groups of clamping assemblies to rotate respectively, so as to realize the adjustment of a single group of clamping assemblies and make the adjustment more accurate.

[0011] In a specific feasible implementation, a sliding rod is provided on the manipulator body. The sliding rod is arc-shaped. Multiple sliding assemblies are slidably installed on the sliding rod. The clamping assembly is arranged on the sliding assembly.

[0012] By adopting the above technical solution, the clamping assembly and the sliding assembly slide on the sliding rod, which is convenient for adjusting the angles between multiple groups of clamping assemblies and the adjustment is convenient.

[0013] In a specific feasible implementation, a sliding frame is provided on the connecting frame. The sliding assembly includes a pulley, a guide wheel, and a positioning wheel installed on the sliding frame. The pulley and the guide wheel are both in contact with the outer wall of the sliding rod. The pulley and the guide wheel are used to prevent the sliding frame from falling off the sliding rod.

[0014] By adopting the above technical solution, by setting the pulley and the guide wheel, the pulley and the guide wheel can slide on the sliding rod and can also prevent the sliding frame from falling off the sliding rod, so that the movement of the clamping assembly on the sliding rod remains stable.

[0015] In a specific feasible implementation, a driving plate is provided on the sliding carriage, and a driving assembly is provided on the driving plate, and the driving assembly is used to drive the sliding carriage to move.

[0016] By adopting the above technical solution, by providing the driving assembly, it is convenient to drive the sliding assembly to slide on the sliding rod, and it is convenient to adjust the distance and angle between multiple groups of clamping assemblies.

[0017] In a specific feasible implementation, the driving assembly includes a sliding motor, a sliding gear and a sliding tooth ring. The sliding motor is arranged on the sliding carriage, the sliding tooth ring is arranged on the sliding rod, the sliding gear is arranged on the output shaft of the sliding motor, and the sliding gear meshes with the sliding tooth ring.

[0018] By adopting the above technical solution, the sliding motor drives the sliding gear to rotate. Since the sliding gear meshes with the sliding tooth ring, it can drive the sliding carriage to slide along the tooth ring, thereby driving the clamping assembly to slide on the sliding rod, adjusting the angle between multiple groups of clamping assemblies, and the adjustment is accurate.

[0019] In a specific feasible implementation, a limiting block is provided in the middle of the sliding rod, a buffer pad is provided on the side wall of the limiting block, and the limiting block is arranged between multiple groups of the clamping assemblies.

[0020] By adopting the above technical solution, by providing the limiting block, it can prevent multiple groups of clamping assemblies from colliding. By providing the buffer pad, it can play a protective role for the clamping assemblies and try to avoid damage to the clamping assemblies caused by impact.

[0021] In a specific feasible implementation, blocking blocks are provided at both ends of the sliding rod.

[0022] By adopting the above technical solution, by providing the blocking blocks, the blocking blocks can prevent the sliding carriage from sliding out of the sliding rod and also facilitate the installation of the sliding rod on the connecting frame.

[0023] In a specific feasible implementation, a buffer rod is provided on the fixed plate, an extension rod is slidably mounted on the buffer rod, and a buffer head is mounted on the extension rod.

[0024] By adopting the above technical solution, by providing the buffer head, before the clamping assembly clamps the tray, the buffer head contacts the tray first, which can play a buffering role for the tray, and try to avoid a large impact force generated by the clamping assembly on the tray, which helps to play a protective role for the tray.

[0025] In summary, the present application includes at least one of the following beneficial technical effects:

[0026] 1. The adjustment component adjusts the angle between multiple groups of clamping components. When one group of clamping components grabs a laptop, the other clamping components can make way, minimizing interference with other laptops and protecting them.

[0027] 2. The adjustment component can adjust the angles between multiple groups of clamping components together or individually adjust the position of each group of clamping components, offering convenient and flexible operation.

[0028] 3. The sliding gear meshes with the sliding gear ring, driving the sliding frame to slide along the gear ring, which in turn drives the clamping components to slide on the sliding rod, accurately adjusting the angle between multiple groups of clamping components. Description of the Drawings

[0029] Figure 1 It is a schematic structural diagram of Embodiment 1 of the present application.

[0030] Figure 2 It is a schematic diagram of the positional relationship between two groups of clamping components in Embodiment 1 of the present application.

[0031] Figure 3 It is a schematic structural diagram of the clamping component in Embodiment 1 of the present application.

[0032] Figure 4 It is a top view structural diagram of the adjustment component in Embodiment 1 of the present application.

[0033] Figure 5 It is a bottom view structural diagram of the adjustment component in Embodiment 1 of the present application.

[0034] Figure 6 It is a schematic diagram of the position of the limit component in Embodiment 1 of the present application.

[0035] Figure 7 It is Figure 5 an enlarged view of part A in

[0036] Figure 8 It is the front view of Embodiment 2 of the present application.

[0037] Figure 9 It is a schematic structural diagram of Embodiment 2 of the present application.

[0038] Figure 10 It is a schematic structural diagram of the sliding component and the driving component in Embodiment 2 of the present application.

[0039] Description of the Reference Numerals:

[0040] 1. Manipulator body; 11. Connecting frame; 12. Mounting plate; 121. Slide; 122. Limiting groove; 13. Rotating shaft; 14. Connecting plate; 15. Fixed plate; 2. Clamping assembly; 21. Finger cylinder; 22. Clamping rod; 23. Clamping claw; 24. Transition block; 25. Buffer rod; 26. Extension rod; 27. Mounting rod; 28. Buffer block; 29. Buffer head; 3. Adjustment assembly; 31. Driving motor; 32. Driving shaft; 33. Driving gear; 34. Incomplete gear; 35. Transmission plate; 36. Transmission shaft; 37. First transmission gear; 38. Second transmission gear; 39. Driven gear; 40. Rotating gear; 41. Rack; 42. Rotating gear The present invention comprises the following steps: a first drive motor; a second drive motor; a third drive gear; a fourth drive gear; a fifth ... DETAILED DESCRIPTION

[0041] The present application is further described in detail below in conjunction with the accompanying drawings.

[0042] Embodiment 1:

[0043] The present application discloses a robot loading and unloading device, referring to Figure 1 and Figure 2 The manipulator loading and unloading device includes a manipulator body 1 and a connecting frame 11 installed on the manipulator body 1. A mounting plate 12 is fixed on the connecting frame 11. Both ends of the mounting plate 12 are rotatably connected with a rotating shaft 13. The rotating shaft 13 penetrates the mounting plate 12. Both ends of the rotating shaft 13 are fixed with connecting plates 14. A fixing plate 15 is fixed between the two connecting plates 14. The fixing plate 15 is L-shaped. A clamping assembly 2 is fixed on the bottom wall of the fixing plate 15. An adjusting assembly 3 for adjusting the angle between the two groups of clamping assemblies 2 is provided on the mounting plate 12. When one group of clamping assemblies 2 is grabbing a laptop computer, the other group of clamping assemblies 2 can give way to avoid interference with other laptop computers as much as possible, thereby protecting other laptop computers.

[0044] Reference Figure 3, the clamping assembly 2 includes a finger cylinder 21, two clamping rods 22 and two jaws 23. The finger cylinder 21 is fixed on the bottom wall of the fixed plate 15. The clamping rods 22 are slidably mounted at the bottom of the finger cylinder 21. The two jaws 23 are respectively slidably mounted at one end of the clamping rods 22 away from the finger cylinder 21. The finger cylinder 21 is used to move the two jaws 23 closer to or away from each other. A transition block 24 is also fixed on the bottom wall of the fixed plate 15. A buffer rod 25 is fixed on the bottom wall of the transition block 24. The buffer rod 25 is arranged parallel to the clamping rods 22. Extension rods 26 are slidably mounted at both ends of the buffer rod 25. An installation rod 27 is fixed on the extension rod 26. The installation rod 27 is arranged perpendicular to the buffer rod 25. Buffer blocks 28 are slidably mounted at both ends of the installation rod 27. A buffer head 29 is fixed on the buffer block 28.

[0045] Refer to Figure 3 , the manipulator body 1 drives the fixed plate 15 to move to the position of the tray. The finger cylinder 21 first drives the two jaws 23 to move away from each other. When the buffer head 29 contacts the tray, the finger cylinder 21 then drives the two jaws 23 to move closer to each other to clamp and carry the tray.

[0046] Refer to Figure 4 and Figure 5 , a chute 121 is formed in the middle of the mounting plate 12. A limiting groove 122 is formed on the inner wall of the chute 121. A mounting frame 71 is slidably mounted in the chute 121. A slider (not shown in the figure) is fixed on the side wall of the mounting frame 71. The slider is arranged in the limiting groove 122. The limiting groove 122 can limit the movement of the slider and the mounting frame 71 in the vertical direction. The adjusting assembly 3 includes a driving motor 31, a driving shaft 32 and a driving gear 33. The driving motor 31 is fixed on the side wall of the mounting frame 71. The driving shaft 32 is rotatably connected to the mounting frame 71. The driving shaft 32 is coaxially fixed with the output shaft of the driving motor 31. The driving gear 33 is coaxially fixed on the driving shaft 32. An incomplete gear 34 is also coaxially fixed on the driving shaft 32. Two transmission plates 35 are fixed on the bottom walls on both sides of the mounting plate 12. A transmission shaft 36 is rotatably connected between the two transmission plates 35. A first transmission gear 37 and a second transmission gear 38 are coaxially fixed on the transmission shaft 36. The driving gear 33 is arranged on one side of the first transmission gear 37 away from the second transmission gear 38. The incomplete gear 34 is arranged on one side of the second transmission gear 38 away from the first transmission gear 37. A driven gear 39 and a rotating gear 40 are coaxially fixed on the rotating shaft 13. The first transmission gear 37 meshes with the driven gear 39. The second transmission gear 38 meshes with the rotating gear 40. A rack 41 is fixed on the top wall of the mounting frame 71. A rotating motor 42 is fixed on the top wall of the mounting plate 12. A pushing gear 43 is coaxially fixed on the output shaft of the rotating motor 42. The pushing gear 43 meshes with the rack 41.

[0047] Refer to Figure 4 and Figure 5, the rotation motor 42 drives the driving gear 43 to rotate, the driving gear 43 drives the rack 41 to slide in the chute 121. When the driving gear 33 meshes with the first transmission gears 37 on both sides, the incomplete gear 34 does not mesh with the second transmission gear 38. Thus, the driving motor 31 drives the driving gear 33 to rotate, the driving gear 33 drives the two first transmission gears 37 to rotate, the two first transmission gears 37 respectively drive the driven gears 39 on both sides to rotate, and the driven gears 39 drive the transmission shaft 36 to rotate. Combining Figure 2 , it can drive the two clamping assemblies 2 to rotate simultaneously, facilitating the adjustment of the angle between the two clamping assemblies 2.

[0048] Refer to Figure 4 and Figure 5 , the rotation motor 42 rotates in the reverse direction, driving the driving gear 43 to rotate in the reverse direction. The driving gear 43 drives the rack 41 to slide in the chute 121. The driving motor 31 drives the incomplete gear 34 to rotate. When the incomplete gear 34 meshes with the second transmission gear 38 on one side, the driving gear 33 does not mesh with the first transmission gear 37. Combining Figure 2 , the incomplete gear 34 can drive the clamping assembly 2 on one side to rotate; when the incomplete gear 34 meshes with the second transmission gear 38 on the other side, it can drive the clamping assembly 2 on the other side to rotate. Thus, the angles of the two clamping assemblies 2 can be adjusted separately, and the adjustment is convenient and flexible.

[0049] Refer to Figure 6 and Figure 7 , an installation strip 81 is fixed on the side wall of the installation plate 12, and the installation strip 81 is arranged between the two clamping assemblies 2. A relief groove 82 is formed on the installation frame 71, enabling the installation frame 71 to make way for the installation strip 81 when moving. A cavity 83 is formed in the installation strip 81, and a limiting component 8 is arranged in the cavity 83. The limiting component 8 includes a first spring 85 and a first limiting plate 92. A limiting piece 84 is slidably installed in the cavity 83, and the side wall of the limiting piece 84 contacts the inner wall of the cavity 83. One end of the first spring 85 contacts the limiting piece 84, and the other end contacts the first limiting plate 92. The first limiting plate 92 is slidably installed in the cavity 83, and a first limiting rod 86 is fixed to the end of the first limiting plate 92 away from the first spring 85. A first gasket 87 is fixed to the end of the first limiting rod 86 away from the first spring 85. A second spring 88 and a second limiting plate 89 are also arranged in the cavity 83. One end of the second spring 88 contacts the limiting piece 84, and the other end contacts the second limiting plate 89. The second limiting plate 89 is slidably installed in the cavity 83, and a second limiting rod 90 is fixed to the end of the second limiting plate 89 away from the second spring 88. A second gasket 91 is fixed to the end of the second limiting rod 90 away from the second spring 88.

[0050] Refer to Figure 5 and Figure 7, when the driving gear 33 meshes with the two first transmission gears 37, it drives the connecting plates 14 on both sides to rotate around the rotating shaft 13. When the connecting plates 14 on both sides approach each other, one connecting plate 14 exerts a thrust on the first gasket 87 toward the limiting piece 84, and at the same time, the other connecting plate 14 also exerts a thrust on the second gasket 91 toward the limiting piece 84. When the first limiting plate and the second limiting plate 89 move to the extreme position, they limit the two connecting plates 14, making the two connecting plates 14 unable to approach each other further. Thus, when the driving motor 31 fails or the drive shaft 32 is not controlled in time, combined with Figure 2 , it limits the two clamping assemblies 2, and tries to avoid the collision between the two clamping assemblies 2, playing a protective role for the product.

[0051] The implementation principle of the embodiment of the present application is as follows: First, the angle between the two clamping assemblies 2 is adjusted through the adjusting assembly 3 to make the two clamping assemblies 2 move away from each other. Then, the manipulator body 1 drives one clamping assembly 2 to clamp the tray. After clamping, the manipulator body 1 drives the manipulator to rotate, so that the other clamping assembly 2 clamps the tray, which helps to improve the working efficiency.

[0052] Embodiment 2:

[0053] Referring to Figure 8 , the difference between the embodiment of the present application and Embodiment 1 is that a sliding block 75 is fixed to the bottom of the connecting frame 11, a blocking block 74 is fixed to the sliding block 75, and two sliding rods 51 are fixed to the blocking block 74. The two sliding rods 51 are arranged in parallel, and both sliding rods 51 are arc-shaped. A sliding frame 52 is slidably installed at both ends of each sliding rod 51, and the clamping assembly 2 is fixed to the bottom of the sliding frame 52.

[0054] Referring to Figure 9 and Figure 10 , two sets of sliding assemblies 5 are provided on the sliding frame 52, and the two sets of sliding assemblies 5 are respectively slidably matched with the two sliding rods 51. The sliding assembly 5 includes a pulley 53, a guide wheel 54 and a positioning wheel 55 installed on the sliding frame 52. The pulley 53 is installed on the top wall of the sliding frame 52, the guide wheel 54 is installed on the bottom wall of the sliding frame 52, and the positioning wheel 55 is installed on the side wall of the sliding frame 52. The pulley 53, the guide wheel 54 and the positioning wheel 55 are all in contact with the side wall of the sliding rod 51. The pulley 53 and the guide wheel 54 can support and guide the sliding frame 52 while the two positioning wheels 55 are respectively in contact with the side walls of the two sliding rods 51, and the positioning wheel 55 can position the sliding frame 52, trying to avoid the sliding frame 52 from tilting or shifting on the sliding rod 51, making the movement of the sliding frame 52 and the clamping assembly 2 more stable.

[0055] Referring to Figure 10A driving plate 61 is mounted on the sliding frame 52, and a driving assembly 6 is disposed on the driving plate 61. The driving assembly 6 includes a sliding motor 62, a sliding gear 63 and a sliding gear ring 64. The sliding motor 62 is fixed on the top wall of the driving plate 61, the sliding gear 63 is coaxially fixed on the output shaft of the sliding motor 62, and the sliding gear ring 64 is fixed on a sliding rod 51, and the sliding gear 63 meshes with the sliding gear ring 64.

[0056] Reference Figure 9 and Figure 10 The sliding motor 62 drives the sliding gear 63 to rotate, and the sliding gear 63 drives the mounting frame 71 to slide along the sliding rod 51, so that the position of the clamping assembly 2 can be adjusted, and it is also convenient to adjust the distance and angle between the two groups of clamping assemblies 2. The sliding gear 63 is engaged with the sliding gear ring 64, which helps to improve the adjustment accuracy.

[0057] Reference Figure 9 A limit block 72 is fixed on the sliding rod 51 between the two sets of sliding components 5, and a buffer pad 73 is fixed on the side wall of the limit block 72 close to the sliding component 5. By setting the limit block 72, it is possible to prevent the two sets of clamping components 2 from colliding with each other during the sliding process, and by setting the buffer pad 73, the buffer pad 73 can protect the clamping component 2 and try to avoid damage caused by collision.

[0058] The implementation principle of the embodiment of the present application is as follows: the sliding component 5 drives the clamping component 2 to slide on the sliding rod 51. When one group of clamping components 2 clamps the pallet, the other group of clamping components 2 moves toward the side away from the limit block 72. After one group of clamping components 2 completes the clamping action, it drives the pallet to move toward the side away from the limit block 72, and the other group of clamping components 2 clamps other pallets, which helps to improve work efficiency and at the same time try to avoid interference between one group of clamping components 2 and the pallet when the other group of clamping components 2 clamps the pallet.

[0059] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A manipulator loading and unloading device, comprising a manipulator body (1), characterized in that: A connecting frame (11) is provided on the manipulator body (1). An installation plate (12) is provided on the connecting frame (11). A plurality of fixing plates (15) are provided on the installation plate (12). The fixing plates (15) are rotatably connected to the installation plate (12). A clamping assembly (2) is provided on each of the fixing plates (15). An adjusting assembly (3) is provided on the installation plate (12). The adjusting assembly (3) is connected to the fixing plates (15). The adjusting assembly (3) is used for adjusting the angle between multiple groups of the clamping assemblies (2); The adjusting assembly (3) includes a driving motor (31), a driving shaft (32) and a driving gear (33). An installation frame (71) is provided on the installation plate (12). The driving motor (31) is arranged on the installation frame (71). The driving shaft (32) is arranged on the installation frame (71) and is connected to the output shaft of the driving motor (31). The driving gear (33) is arranged on the driving shaft (32). The installation plate (12) and the fixing plate (15) are connected by a rotating shaft (13). A driven gear (39) is provided on the rotating shaft (13). The driving gear (33) is in transmission connection with the driven gear (39); A sliding groove (121) is formed in the installation plate (12). The installation frame (71) is slidably installed in the sliding groove (121). A rack (41) is provided on the installation frame (71). A rotating motor (42) is provided on the installation plate (12). The rotating motor (42) is in transmission connection with the rack (41). An incomplete gear (34) is further provided on the driving shaft (32). A rotating gear (40) is provided on the rotating shaft (13). The incomplete gear (34) is in transmission connection with the rotating gear (40); A mounting strip (81) is fixed on the side wall of the mounting plate (12), and the mounting strip (81) is arranged between the two groups of clamping components (2); a clearance groove (82) is provided on the mounting frame (71), a cavity (83) is provided in the mounting strip (81), a limiting component (8) is provided in the cavity (83), and the limiting component (8) comprises a first spring (85) and a first limiting plate (92); a limiting piece (84) is slidably installed in the cavity (83), the side wall of the limiting piece (84) contacts the inner wall of the cavity (83), one end of the first spring (85) contacts the limiting piece (84), and the other end contacts the first limiting plate (92); the first limiting plate (92) is slidably installed in the cavity (83) A first limiting plate (92) is fixed with a first limiting rod (86) at one end away from the first spring (85), and a first gasket (87) is fixed with the first limiting rod (86) at one end away from the first spring (85); a second spring (88) and a second limiting plate (89) are also arranged in the cavity (83), one end of the second spring (88) contacts the limiting plate (84), and the other end contacts the second limiting plate (89); the second limiting plate (89) is slidably installed in the cavity (83), a second limiting rod (90) is fixed with one end of the second limiting plate (89) away from the second spring (88), and a second gasket (91) is fixed with the second limiting rod (90) at one end away from the second spring (88).

2. The manipulator loading and unloading device according to claim 1, wherein: The fixing plate (15) is provided with a buffer rod (25), an extension rod (26) is slidably mounted on the buffer rod (25), and a buffer head (29) is mounted on the extension rod (26).

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