An industrial handling robot

Abstract

The present invention discloses an industrial handling robot, which specifically relates to the field of manipulator technology, and includes a motor mounting seat on which a motor is mounted, wherein the output shaft of the motor is drivingly connected to a connecting seat; a conveyor belt mounting frame connected to the connecting seat, wherein a conveyor belt is mounted on the conveyor belt mounting frame; two fixed arms fixed to one end of the conveyor belt mounting frame, wherein the two fixed arms are respectively arranged on both sides of the conveyor belt mounting frame; a clamping arm arranged on the fixed arm, wherein the fixed arm is provided with a clamping driving device for driving the clamping arm to move. The clamping driving device drives the two clamping arms to clamp a packaging box, and at the same time, the packaging box can be clamped and transferred to the feeding end of the conveyor belt, and then the packaging box is transported by the conveyor belt, and the conveyor belt mounting frame is driven to rotate by a motor, so that the discharging end of the conveyor belt can be rotated to different processes or workstations, thereby facilitating the corresponding transportation of products of different models to different processes or workstations.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and more specifically, to an industrial handling robot. Background Art

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

[0003] After the products are packaged and produced in the workshop, half of them need to use conveying devices or robots to transport the packaging boxes (such as cartons, etc.) containing the products to the next process. Because different types of products are mixed and conveyed, different types of products cannot be accurately conveyed to appropriate different processes. Therefore, robots are needed to grab different types of products and put them on different conveying devices, and then different conveying devices transport the products to the corresponding processes, which leads to a substantial increase in costs. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides an industrial handling robot. The technical problem to be solved by the present invention is that the existing conveying device cannot meet the demand of conveying products of different models to different processes.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An industrial handling robot, comprising:

[0007] A motor mounting seat is provided with a motor, wherein the output shaft of the motor is drivingly connected to the connecting seat;

[0008] A conveyor belt mounting frame connected to the connecting seat, wherein a conveyor belt is mounted on the conveyor belt mounting frame;

[0009] Two fixed arms fixedly connected to one end of the conveyor belt mounting frame, the two fixed arms are respectively arranged on both sides of the conveyor belt mounting frame;

[0010] A clamping arm is arranged on the fixed arm, and the fixed arm is provided with a clamping driving device for driving the clamping arm to move.

[0011] Furthermore, the clamping drive device includes a translation cylinder horizontally installed on the fixed arm, the cylinder rod of the translation cylinder is connected to a movable seat, the movable seat is horizontally slidably connected to a sliding seat, the sliding seat is vertically slidably connected to a floating seat, a connecting rod is horizontally fixed to the outer wall of the floating seat, one end of the connecting rod away from the floating seat is fixed to the clamping arm, and the fixed arm is provided with a lifting unit for driving the vertical movement of the floating seat and a translation unit for driving the horizontal movement of the sliding seat.

[0012] Furthermore, the lifting unit includes a lifting rod vertically penetrated on the sliding seat, the lifting rod slides vertically and freely on the sliding seat, the floating seat is fixed to the upper end of the lifting rod, the lower end of the fixed arm is connected to a special-shaped plate, the longitudinal section of the special-shaped plate is Z-shaped, and the lower end of the lifting rod is connected to the upper surface of the special-shaped plate.

[0013] Furthermore, the lower end of the lifting rod is rotatably connected to a roller, and the roller is rollingly connected to the upper surface of the special-shaped plate.

[0014] Furthermore, a locking ring is fixedly sleeved on the lifting rod, and a spring is sleeved on the lifting rod, and two ends of the spring in the direction of elastic force elastically press against the locking ring and the sliding seat one by one.

[0015] Furthermore, the translation unit includes a special-shaped hole opened on the fixed arm, and the special-shaped hole includes a first inclined groove, a straight groove and a second inclined groove in sequence in the direction away from the conveyor belt, and the lifting rod is inserted into the special-shaped hole.

[0016] Furthermore, the conveyor belt mounting frame is hinged to the upper end of the connecting seat, and the connecting seat is provided with a swinging device for driving the conveyor belt mounting frame to swing along the hinge with the connecting seat when the connecting seat rotates.

[0017] Furthermore, the swing device includes a rotating column vertically rotatably connected to the connecting seat, the upper end of the rotating column is provided with a threaded portion, a threaded sleeve is threadedly sleeved on the threaded portion, the upper end of the threaded sleeve is hinged to the bottom of the conveyor belt mounting frame, and the rotating column is driven to rotate by a rotating unit.

[0018] Furthermore, the rotating unit includes a rotating part rotatably connected to the connecting seat, the rotating part is provided with a gear segment, the rotating column is provided with a rack portion meshing with the gear segment, a connecting arm is fixedly connected to the periphery of the rotating part, the connecting seat is provided with a clearance groove for the connecting arm to swing freely through, and a counterweight ball is fixedly connected to the end of the connecting arm away from the rotating part.

[0019] Furthermore, a fixing sleeve is fixedly connected to the upper surface of the connecting seat, a spiral spring is installed in the fixing sleeve, the spiral spring is wrapped around the rotating column, and two ends thereof are fixedly connected to the inner wall of the fixing sleeve and the periphery of the rotating column respectively and one by one.

[0020] Technical effects and advantages of the present invention:

[0021] 1. The two clamping arms are driven by the clamping drive device to clamp the packaging box, and at the same time, the packaging box can be clamped and transferred to the feeding end of the conveyor belt, and then the packaging box is transported by the conveyor belt, and the conveyor belt mounting frame is driven by the motor to rotate, so that the discharging end of the conveyor belt can be rotated to different processes or stations, thereby facilitating the corresponding transportation of products of different models to different processes or stations;

[0022] 2. By shortening the cylinder rod of the translation cylinder, the lifting rod slides in the second inclined groove, the straight groove and the first inclined groove in sequence, so that the lifting rod drives the sliding seat to move toward the middle side of the two clamping arms, so that the two clamping arms can clamp the packaging box. At the same time, the roller at the lower end of the lifting rod rolls on the upper surface of the special-shaped plate, so that the lifting rod can be driven to move upward, so that the clamping arm can lift the packaging box, so as to avoid the bottom of the packaging box being scratched with the surface of the conveyor belt when the packaging box is transferred to the feeding end of the conveyor belt, thereby affecting the smooth transportation of the packaging box to the feeding end of the conveyor belt;

[0023] 3. When the connecting seat rotates, the connecting seat will rotate relative to the connecting arm due to the inertia, so that the gear section of the rotating column and the rack portion of the rotating column mesh and rotate, so that the threaded portion on the rotating column and the threaded sleeve are threadedly engaged. When the threads are engaged, the threaded sleeve will drive the conveyor belt mounting frame to swing up and down, so that the conveyor belt mounting frame will tilt slightly. Then, when the connecting seat rotates, the centrifugal force at the feeding end of the conveyor belt mounting frame is relatively large, thereby preventing the packaging boxes transported at the feeding end of the conveyor belt from being thrown out of the feeding end due to the centrifugal force. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of an industrial handling robot in the present invention;

[0025] Figure 2 for Figure 1 A magnified schematic diagram of the local structure at point A;

[0026] Figure 3 for Figure 1 Schematic diagram of the structure at an upward viewing angle;

[0027] Figure 4 for Figure 3 A magnified schematic diagram of the local structure at B in the middle;

[0028] Figure 5 for Figure 1 A schematic diagram of the structure from a front view angle;

[0029] Figure 6 for Figure 5 A schematic diagram of the structure from a top-down angle;

[0030] Figure 7 for Figure 6 A schematic cross-sectional view of the middle structure;

[0031] Figure 8 for Figure 7 An enlarged schematic diagram of the local structure at point C in the middle.

[0032] The accompanying drawings are marked as follows: 1. motor mounting seat; 2. counterweight ball; 3. connecting arm; 4. connecting seat; 5. translation cylinder; 6. conveyor belt; 7. first inclined groove; 8. straight groove; 9. clamping arm; 10. fixed arm; 11. special-shaped plate; 12. conveyor belt mounting frame; 13. connecting rod; 14. movable seat; 15. spring; 16. locking ring; 17. lifting rod; 18. roller; 19. second inclined groove; 20. sliding seat; 21. floating seat; 22. motor; 23. locking pin; 24. waist-shaped hole; 25. block; 26. sliding groove; 27. threaded sleeve; 28. volute spring; 29. ​​rotating part; 30. rack part; 31. rotating column; 32. threaded part. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] like Figure 1-Figure 8 As shown, the present embodiment discloses: an industrial handling robot, comprising a motor mounting seat 1 installed on the floor of a workshop, the motor mounting seat 1 is hollowed out and a motor 22 is vertically installed, the output shaft of the motor 22 passes through the motor mounting seat 1 and is drivingly connected to a connecting seat 4, so that the motor 22 drives the connecting seat 4 to rotate, a conveyor belt mounting frame 12 is hingedly connected to the upper surface of the connecting seat 4, a conveyor belt 6 is horizontally installed on the conveyor belt mounting frame 12, the conveyor belt 6 is a common structure in the prior art, and its working principle and structure are not repeatedly described, and the conveyor belt 6 is driven by an external driving motor to run, and the opposite sides of one end of the conveyor belt mounting frame 12 are respectively fixedly connected to fixed arms 10;

[0035] A translation cylinder 5 is horizontally mounted on the fixed arm 10, and a cylinder rod of the translation cylinder 5 is connected to a movable seat 14, and a hollow portion is provided on the movable seat 14, and a sliding seat 20 is horizontally slidably connected to the movable seat 14. Specifically, a clamping block 25 is fixedly connected to the outer walls of the two opposite sides of the sliding seat 20, and a sliding groove 26 for the clamping block 25 to engage is provided on the inner wall of the hollow portion of the movable seat 14, and the clamping block 25 slides freely horizontally in the sliding groove 26, and a floating seat 21 is vertically slidably connected to the sliding seat 20, and a connecting rod 13 is horizontally fixedly connected to the outer wall of the floating seat 21, and one end of the connecting rod 13 away from the floating seat 21 is fixedly connected to the clamping arm 9;

[0036] A lifting rod 17 is vertically penetrated on the sliding seat 20, and the lifting rod 17 slides freely vertically on the sliding seat 20. A locking pin 23 is horizontally penetrated on the sliding seat 20, and a waist-shaped hole 24 for the locking pin 23 to be inserted is opened on the lifting rod 17. The locking pin 23 slides freely up and down in the waist-shaped hole 24. The floating seat 21 is fixedly connected to the upper end of the lifting rod 17, and the lower end of the fixed arm 10 is connected to the special-shaped plate 11. The longitudinal section of the special-shaped plate 11 is Z-shaped. The lower end of the lifting rod 17 is rotatably connected to the roller 18, and the roller 18 is rollingly connected to the upper surface of the special-shaped plate 11. The lifting rod 17 is fixedly sleeved with a locking ring. 16, a spring 15 is sleeved on the lifting rod 17, and the two ends of the spring 15 in the elastic force direction elastically press against the locking ring 16 and the sliding seat 20 one by one. A special-shaped hole is opened on the fixed arm 10, and the special-shaped hole includes a first inclined groove 7, a straight groove 8 and a second inclined groove 19 in the direction away from the conveyor belt 6. The lifting rod 17 is inserted into the special-shaped hole, and the first inclined groove 7, the straight groove 8 and the second inclined groove 19 are connected in sequence, and the end of the first inclined groove 7 away from the straight groove 8 extends obliquely toward the outer side of the conveyor belt 6, and the second inclined groove 19 and the first inclined groove 7 are symmetrically arranged along the mid-perpendicular line of the length direction of the straight groove 8;

[0037] When clamping the packaging box containing the product, the translation cylinder 5 is started, the cylinder rod of the translation cylinder 5 is shortened, and then the movable seat 14 is driven to move in the direction of the conveyor belt 6, so that the lifting rod 17 slides from the second inclined groove 19 and the straight groove 8 to the first inclined groove 7 in sequence, and then the lifting rod 17 can drive the sliding seat 20 to move in the inner direction of the conveyor belt 6 first, so that the two clamping arms 9 can move close to each other, and the two clamping arms 9 clamp the packaging box together, and as the sliding seat 20 moves in the direction of the conveyor belt 6, the roller The wheel 18 rolls from the lower surface of the special-shaped plate 11 to the inclined surface of the special-shaped plate, and then the roller 18 lifts the lifting rod 17, and then drives the floating seat 21 to move upward, so that the two clamping arms 9 can lift the packaging box after clamping it, and then the packaging box is clamped and transported to the feeding end of the conveyor belt 6, and the lifting rod 17 slides from the straight groove 8 to the second inclined groove 19, so that the two clamping arms 9 slowly release the packaging box, so that the packaging box will fall into the feeding end of the conveyor belt 6, and the conveyor belt 6 runs and drives the packaging box to be transported and transported;

[0038] The connecting seat 4 is suitable for mounting a bearing and vertically rotatingly connected with a rotating column 31. A threaded portion 32 is provided at the upper end of the rotating column 31. A threaded sleeve 27 is threadedly sleeved on the threaded portion 32. The upper end of the threaded sleeve 27 is hinged to the bottom of the conveyor belt mounting frame 12. A rotating portion 29 is rotatably connected to the connecting seat 4. A gear segment is provided on the rotating portion 29. A rack portion 30 meshing with the gear segment is provided on the rotating column 31. A connecting arm 3 is fixedly connected to the periphery of the rotating portion 29. The connecting seat 4 is provided with an air avoidance groove for the connecting arm 3 to swing freely through. The rotating portion 29 is installed in the air avoidance groove. A counterweight ball 2 is fixedly connected to the end of the connecting arm 3 away from the rotating portion 29. A fixed sleeve is fixedly connected to the upper surface of the connecting seat 4. A volute spring 28 is installed in the fixed sleeve. The volute spring 28 is sleeved around the rotating column 31, and its two ends are fixedly connected to the inner wall of the fixed sleeve and the periphery of the rotating column 31 in a one-to-one correspondence.

[0039] In the initial state, the volute spring 28 does not accumulate elastic potential energy, and the conveyor belt mounting frame 12 does not rotate at this time. When the connecting seat 4 rotates at a certain angular velocity, the centrifugal force at the feeding end of the conveyor belt 6 is relatively large because the feeding end of the conveyor belt 6 is far away from the connecting seat 4. At this time, the counterweight ball 2 will cause the connecting arm 3 and the connecting seat 4 to swing relative to each other under the action of inertia, so that the gear section on the rotating part 29 will mesh with the rack part 30 of the rotating column 31 and rotate, so that the rotating column 31 rotates and drives the threaded part 32 to mesh with the threaded sleeve 27, so that the threaded sleeve 27 moves along the axial direction of the rotating column 31. The movement of the threaded sleeve 27 will drive the conveyor belt mounting frame 12 to swing along the hinge with the connecting seat 4, causing the conveyor belt mounting frame 12 to tilt. The direction of the tilt is to ensure that the packaging box on the conveyor belt 6 is subjected to resistance toward the inner side of the rotation center of the conveyor belt 6, so as to prevent the packaging box from falling off the conveyor belt 6. At the same time, when the rotating column 31 rotates, the vortex spring 28 will begin to accumulate elastic potential energy, and then when the connecting seat 4 stops rotating, the elastic potential energy of the vortex spring 28 is released, thereby driving the rotating column 31 to rotate in the opposite direction, and driving the rotating part 29 to rotate in the opposite direction, so that the counterweight ball 2 and the connecting arm 3 are reset.

[0040] The working principle of the present invention is as follows: when clamping the packaging box containing the product, the translation cylinder 5 is started, the cylinder rod of the translation cylinder 5 is shortened, and then the movable seat 14 is driven to move in the direction of the conveyor belt 6, so that the lifting rod 17 slides from the second inclined groove 19 and the straight groove 8 to the first inclined groove 7 in sequence, and then the lifting rod 17 can drive the sliding seat 20 to move in the inner direction of the conveyor belt 6 first, so that the two clamping arms 9 can move close to each other, and the two clamping arms 9 clamp the packaging box together, and as the sliding seat 20 moves in the direction of the conveyor belt 6 When the conveyor belt 6 is in motion, the roller 18 rolls from the lower surface of the special-shaped plate 11 to the inclined surface of the special-shaped plate, and then the roller 18 lifts the lifting rod 17, and then drives the floating seat 21 to move upward, so that the two clamping arms 9 can lift the packaging box after clamping it, and then the packaging box is clamped and transported to the feeding end of the conveyor belt 6, and the lifting rod 17 will slide from the straight groove 8 to the second inclined groove 19, so that the two clamping arms 9 slowly release the packaging box, so that the packaging box will fall into the feeding end of the conveyor belt 6, and the conveyor belt 6 will run and drive the packaging box to be transported and transported;

[0041] The motor 22 is started, which drives the connecting seat 4 to rotate, and drives the conveyor belt mounting frame 12 to rotate. When the connecting seat 4 rotates at a certain angular velocity, the centrifugal force at the feeding end of the conveyor belt 6 is relatively large because the feeding end of the conveyor belt 6 is far away from the connecting seat 4. At this time, the counterweight ball 2 will cause the connecting arm 3 and the connecting seat 4 to swing relative to each other under the action of inertia, so that the gear segment on the rotating part 29 will mesh and rotate with the rack part 30 of the rotating column 31, so that the rotating column 31 rotates and drives the threaded part 32 to mesh with the threaded sleeve 27, so that the threaded sleeve 27 moves along the axial direction of the rotating column 31. The movement of the threaded sleeve 27 will drive the conveyor belt mounting frame 12 to swing along the hinge with the connecting seat 4, so that the conveyor belt mounting frame 12 is tilted, and the tilting direction is to ensure the packaging The box on the conveyor belt 6 is subjected to resistance toward the inner side of the rotation center of the conveyor belt 6 to prevent the packaging box from falling off the conveyor belt 6. At the same time, when the rotating column 31 rotates, the volute spring 28 will begin to accumulate elastic potential energy, so that when the connecting seat 4 stops rotating, the elastic potential energy of the volute spring 28 is released, thereby driving the rotating column 31 to rotate in the opposite direction, and driving the rotating part 29 to rotate in the opposite direction, so that the counterweight ball 2 and the connecting arm 3 are reset, and the conveyor belt mounting frame 12 is reset at the same time. In this embodiment, the conveyor belt mounting frame 12, the conveyor belt 6, the fixed arm 10, the special-shaped plate 11 and other components are all sheet metal parts to reduce the overall weight of the device, so that when the elastic potential energy of the volute spring 28 is released, it can drive the rotating column 31 to rotate, so as to drive the conveyor belt mounting frame 12 to swing and reset.

[0042] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two components, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change;

[0043] Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

[0044] Finally: The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An industrial handling robot, characterized in that: include: A motor mounting seat (1) having a motor (22) mounted thereon, wherein the output shaft of the motor (22) is drivingly connected to a connecting seat (4); A conveyor belt mounting frame (12) connected to the connecting seat (4), wherein a conveyor belt (6) is mounted on the conveyor belt mounting frame (12); Two fixed arms (10) fixedly connected to one end of the conveyor belt mounting frame (12), the two fixed arms (10) being respectively arranged on both sides of the conveyor belt mounting frame (12); A clamping arm (9) is arranged on the fixed arm (10), and the fixed arm (10) is provided with a clamping drive device for driving the clamping arm (9) to move. The clamping drive device includes a translation cylinder (5) horizontally installed on the fixed arm (10), the cylinder rod of the translation cylinder (5) is connected to a movable seat (14), the movable seat (14) is horizontally slidably connected to a sliding seat (20), the sliding seat (20) is vertically slidably connected to a floating seat (21), the outer wall of the floating seat (21) is horizontally fixed with a connecting rod (13), one end of the connecting rod (13) away from the floating seat (21) is fixed to the clamping arm (9), and the fixed arm (10) is provided with a lifting unit for driving the floating seat (21) to move vertically and a translation unit for driving the sliding seat (20) to move horizontally; The lifting unit comprises a lifting rod (17) vertically penetrated on the sliding seat (20), the lifting rod (17) slides vertically and freely on the sliding seat (20), the floating seat (21) is fixedly connected to the upper end of the lifting rod (17), the lower end of the fixed arm (10) is connected with a special-shaped plate (11), the longitudinal section of the special-shaped plate (11) is Z-shaped, the lower end of the lifting rod (17) is abutted against the upper surface of the special-shaped plate (11), the lower end of the lifting rod (17) is rotatably connected with a roller (18), the roller (18) is rollingly connected to the upper surface of the special-shaped plate (11), a locking ring (16) is fixedly sleeved on the lifting rod (17), a spring (15) is sleeved on the lifting rod (17), and the two ends of the spring (15) in the direction of elastic force respectively elastically press against the locking ring (16) and the sliding seat (20) in a one-to-one corresponding manner; The translation unit comprises a special-shaped hole formed on the fixed arm (10), wherein the special-shaped hole comprises a first inclined groove (7), a straight groove (8) and a second inclined groove (19) in sequence in a direction away from the conveyor belt (6), and the lifting rod (17) is inserted into the special-shaped hole.

2. The industrial handling robot according to claim 1, characterized in that: The conveyor belt mounting frame (12) is hinged to the upper end of the connecting seat (4), and the connecting seat (4) is provided with a swinging device for driving the conveyor belt mounting frame (12) to swing along the hinge with the connecting seat (4) when the connecting seat (4) rotates.

3. The industrial handling robot according to claim 2, characterized in that: The swing device comprises a rotating column (31) vertically rotatably connected to the connecting seat (4); a threaded portion (32) is provided at the upper end of the rotating column (31); a threaded sleeve (27) is threadedly sleeved on the threaded portion (32); the upper end of the threaded sleeve (27) is hinged to the bottom of the conveyor belt mounting frame (12); and the rotating column (31) is driven to rotate by a rotating unit.

4. The industrial handling robot according to claim 3, characterized in that: The rotating unit comprises a rotating part (29) rotatably connected to the connecting seat (4), the rotating part (29) being provided with a gear segment, the rotating column (31) being provided with a rack part (30) meshing with the gear segment, the rotating part (29) being fixedly connected to a connecting arm (3) at its periphery, the connecting seat (4) being provided with a clearance groove for the connecting arm (3) to swing freely through, and a counterweight ball (2) being fixedly connected to one end of the connecting arm (3) away from the rotating part (29).

5. The industrial handling robot according to claim 4, characterized in that: A fixing sleeve is fixedly connected to the upper surface of the connecting seat (4), a spiral spring (28) is installed in the fixing sleeve, the spiral spring (28) is wrapped around the rotating column (31), and its two ends are fixedly connected to the inner wall of the fixing sleeve and the periphery of the rotating column (31) in a one-to-one correspondence.

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