A three-axis rotating automatic material taking mechanism

Abstract

The present invention discloses a three-axis belt rotating automatic material picking mechanism, which belongs to the technical field of automatic material picking. The following scheme is now proposed. The present invention continuously applies pressure to two positioning mechanisms through a docking component, so that relative movement occurs between the sealing shell and the first piston, and the guide bead controls the rotation of the rotating shaft through the arc surface of the spiral groove, so that an extrusion movement occurs between two adjacent three-bead plates, and cooperates with the first spring to enable the second arc plate to knock and vibrate the workpiece, thereby facilitating the shaking off of dust attached to the workpiece. At the same time, it can play a dust removal role in cooperation with the dust suction component to prevent dust adhesion from affecting the subsequent clamping of the workpiece by the vacuum suction cup. When the vacuum suction cup is loosened, it is pushed through the sealing shell until the connecting frame passes the vertical point after the second spring is compressed. At this time, the second spring is reset to realize the recovery of the vacuum suction cup into the sealing shell, and at the same time, the shell door is closed by the spring hinge, so that the purpose of automatic protection of the vacuum suction cup can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic material taking, and in particular to an automatic material taking mechanism with three-axis rotation. Background Art

[0002] The automatic material handling robot arm refers to a high-precision, multi-input, multi-output, highly nonlinear, and strongly coupled automatic material handling mechanism. Due to its unique operational flexibility, it has been used in industrial assembly, safety and explosion-proof and other fields. It is generally composed of a power arm connected by three main axes and can achieve horizontal rotation, thereby completing the handling and transfer of materials at different positions.

[0003] At present, the common automatic material picking robot arms in the prior art generally only have the functions of grabbing and releasing, which is not convenient for cleaning and surface inspection of the material during the material transfer process, resulting in certain impurities or dust on the surface of some materials. In addition, for some structures fixed by suction cups, when there is dust on the clamping surface, it will greatly affect the clamping effect of the suction cup on the material, causing the material to fall easily during the transfer process, and when dust or impurities are sucked into the vacuum suction cup, it is easy to cause damage to the vacuum suction cup.

[0004] In view of the above problems, the present invention document proposes an automatic material taking mechanism with three-axis rotation. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that the common automatic material picking robot arms in the prior art generally only have grabbing and releasing functions, which is not convenient for cleaning and surface inspection of the material during the material transfer process, resulting in certain impurities or dust on the surface of some materials, and for some structures fixed by suction cups, when there is dust on the clamping surface, it will greatly affect the clamping effect of the suction cup on the material, resulting in the material easily falling off during the transfer process, and the dust or impurities are easily damaged when being sucked into the vacuum suction cup. A three-axis belt rotating automatic material picking mechanism is proposed.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A three-axis rotating automatic material taking mechanism comprises a mechanical arm, one end of which is provided with a driving mechanism, and two positioning mechanisms are provided below the driving mechanism;

[0008] The driving mechanism comprises a docking assembly, a dust removal assembly is arranged on the docking assembly, and a workpiece is arranged below the dust removal assembly;

[0009] The positioning mechanism includes a hydraulic drive and flip component, one side of the hydraulic drive and flip component is transmitted to the bottom of the drive component, a retractable positioning component is provided inside the hydraulic drive and flip component, one end of the retractable positioning component is provided with two push door components, one side of the two push door components are provided with a shell door, a vibration component is penetrated through the hydraulic drive and flip component, and the two vibration components are respectively provided on both sides of the workpiece.

[0010] Preferably, the docking assembly comprises a fixing frame, a mounting seat is fixedly connected to the top of the fixing frame, the mounting seat is fixedly mounted on the mechanical arm, and a monitor is fixedly mounted in front of the fixing frame;

[0011] A double-axis motor is fixedly mounted on the top wall of the fixed frame, and two output shafts of the double-axis motor are fixedly connected with screws, and the threads of the two screws are arranged oppositely. The screws are rotatably mounted on the fixed plate and the fixed frame respectively through two bearings, and the fixed plate is fixedly connected to the fixed frame. A nut is threadedly connected to the screw, and a movable seat is fixedly mounted outside the nut, and the movable seat is slidably connected to the fixed frame.

[0012] Preferably, the dust removal assembly includes a dust suction device, which is fixedly mounted above the fixed frame, the dust suction device is connected to a dust inlet pipe, the dust inlet pipe extends downward to be connected to a dust suction head, the dust suction head is mounted below two fixed plates, and brushes are mounted on both the front and rear sides of the dust suction head, and the brushes overlap the workpiece.

[0013] Preferably, the hydraulic drive and flipping assembly includes a support seat and a fixed plate, the support seat is fixedly connected to the bottom of the movable seat, the fixed plate is rotatably installed on the support seat through a bearing, a sealing shell is installed through the fixed plate, one side of the sealing shell is fixedly connected to a support shaft, and one end of the support shaft is fixedly connected to a gear.

[0014] Preferably, the interior of the sealing shell is divided into three cavities, the ends of the three cavities are connected, and two first pistons are arranged in two of the cavities, and a second piston is arranged in the middle cavity;

[0015] The other side of the sealing shell is hinged to the two shell doors respectively through two spring hinges.

[0016] Preferably, the driving assembly includes a support bar, the support bar is fixedly connected to the support seat, an electric push rod is fixedly mounted on the support bar, a gear rod is fixedly connected to the bottom end of the electric push rod, and the gear rod is meshed with the gear.

[0017] Preferably, the vibration assembly includes two rotating shafts and a first arc plate, both ends of the rotating shaft are rotatably mounted on the first arc plate and the first piston respectively through bearings, the rotating shaft passes through a sealing shell, and a spiral groove is opened on the rotating shaft, the spiral groove is slidably connected to the guide bead, and the guide bead is fixedly connected to the inner wall of the sealing shell.

[0018] Preferably, a plurality of sliding sleeves are fixedly mounted on the first arc plate, a sliding rod is slidably connected inside the sliding sleeve, one end of the sliding rod is fixedly connected to a connecting block, one side of the connecting block is fixedly connected to a first spring, one end of the first spring is fixedly connected to the sliding sleeve, and the other ends of the plurality of sliding rods are fixedly connected to a second arc plate, the second arc plate is arranged on one side of the workpiece, both sides of the second arc plate and one end of the two screw rods are fixedly connected to three-bead plates, and two adjacent three-bead plates are overlapped.

[0019] Preferably, the telescopic positioning assembly includes a support column and four connecting parts, one end of the support column is fixedly connected to the second piston, the other end of the support column is fixedly connected to the vacuum suction cup, the support column is fixedly connected to a support, the two sides of the support are hinged to two of the connecting parts through pins, and the other two connecting parts are hinged to two connecting frames through pins, the two connecting frames are fixedly connected to the inner wall of the sealing shell, and a telescopic rod and a second spring are fixedly connected between the two connecting parts.

[0020] Preferably, the push door assembly includes a support sleeve, which is fixedly connected to the inner wall of the sealing shell, and a movable rod is slidably connected inside the support sleeve, one end of the movable rod is fixedly connected to a connecting strip, one end of the connecting strip overlaps with one side of the vacuum suction cup, a third spring is fixedly connected between the connecting strip and the support sleeve, the third spring sleeve is arranged outside the movable rod, and the other end of the movable rod is fixedly connected to a pulley, and the pulley overlaps with the shell door.

[0021] Compared with the prior art, the present invention provides a three-axis rotating automatic material taking mechanism, which has the following beneficial effects:

[0022] 1. The three-axis rotating automatic material-retrieving mechanism docks the two positioning mechanisms with the workpiece through a docking assembly. Since the position of the second arc plate is fixed, the sealing shell and the first piston are caused to move relative to each other through continuous pressure, so that the guide bead controls the rotation of the rotating shaft through the arc surface of the spiral groove, so that an extrusion movement is generated between the two adjacent three-bead plates, and the second arc plate is used in conjunction with the first spring to knock and vibrate the workpiece, thereby facilitating the shaking off of dust attached to the workpiece. At the same time, the dust removal assembly can be used to remove dust, so that the clamping surface corresponding to the vacuum suction cup is kept clean to prevent dust adhesion from affecting the subsequent clamping of the workpiece by the vacuum suction cup. When the vacuum suction cup is loosened, it is pushed through the sealing shell until the connecting frame passes the vertical point after the second spring is compressed. At this time, the second spring is reset to realize the recovery of the vacuum suction cup into the sealing shell, and the shell door is closed by the spring hinge, so that the vacuum suction cup can be automatically protected.

[0023] 2. The three-axis rotating automatic material-grabbing mechanism drives two positioning mechanisms to dock the workpiece through the docking assembly, and through continuous pressure, the positioning mechanism can pre-position the workpiece to maintain the stability of the workpiece. At this time, the electric push rod is used to control the movement of the gear rod to make the gear rod and the gear transmission, and the sealing shell is driven to rotate through the support shaft, so that the vibration assembly drives the workpiece to rotate. After the workpiece rotates, the workpiece rotates around the brush, so that the brush can clean the rest of the workpiece. At the same time, the dust removal assembly can perform dust suction operations to avoid the spread of dust, so that the workpiece can be automatically cleaned. Secondly, after cleaning, the workpiece can be detected in conjunction with the monitor.

[0024] 3. The three-axis rotating automatic material-picking mechanism clamps the two positioning mechanisms on the workpiece through the docking assembly, and through continuous advancement, the sealing shell and the vibration assembly move relative to each other, so that the vibration assembly can realize the vibration operation of the workpiece, which is convenient for removing dust on the surface of the workpiece, thereby facilitating subsequent cleaning operations. Secondly, during dismantling, the sealing shell continues to be pushed forward to keep the workpiece vibrating. At the same time, the sealing shell drives the connecting frame to cross the vertical point after the second spring is contracted, so that the retractable positioning assembly retracts to achieve the purpose of positioning the dismantled workpiece, and the vibration of the workpiece can assist the operation of dismantling the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A three-dimensional view of a three-axis rotating automatic material-retrieving mechanism proposed by the present invention;

[0026] Figure 2 This is a view showing the connection between the driving mechanism and the positioning mechanism of a three-axis rotating automatic material taking mechanism proposed by the present invention;

[0027] Figure 3 This is a view of the connection between the docking assembly and the brush of a three-axis rotating automatic material taking mechanism proposed by the present invention;

[0028] Figure 4 A three-dimensional view of a docking assembly of a three-axis rotating automatic material-retrieving mechanism proposed by the present invention;

[0029] Figure 5 This is a view of the connection between the vibration component of the three-axis rotating automatic material picking mechanism proposed by the present invention and the workpiece;

[0030] Figure 6 This is a view of the connection between the driving component of the three-axis rotating automatic material-retrieving mechanism proposed by the present invention and the hydraulic driving and flipping components;

[0031] Figure 7 A three-dimensional view of a sealed shell section of a three-axis rotating automatic material taking mechanism proposed by the present invention;

[0032] Figure 8 This is a view of a sealing shell of a three-axis rotating automatic material taking mechanism proposed by the present invention being cut open and connected to a push door assembly;

[0033] Fig. 9 For the present invention Figure 8 A magnified view of point A;

[0034] Fig.10 A three-dimensional view of a driving assembly of a three-axis rotating automatic material-retrieving mechanism proposed by the present invention;

[0035] Fig.11 A three-dimensional view of a retractable positioning component of a three-axis rotating automatic material-retrieving mechanism proposed by the present invention;

[0036] Fig.12 A three-dimensional view of a vibration component of a three-axis rotating automatic material-retrieving mechanism proposed by the present invention;

[0037] Fig.13 For the present invention Fig.12 A magnified view of point B;

[0038] Fig.14 A three-dimensional view of a door push assembly of a three-axis rotating automatic material taking mechanism proposed by the present invention.

[0039] In the figure: 100, robot arm; 200, driving mechanism; 201, docking assembly; 2011, fixing frame; 2012, dual-axis motor; 2013, nut; 2014, mounting seat; 2015, screw; 2016, fixing plate; 2017, movable seat; 202, dust removal assembly; 2021, dust suction device; 2022, dust inlet pipe; 2023, dust suction head; 2024, brush; 203, monitor; 204, workpiece; 300, positioning mechanism; 301, driving assembly; 3011, electric push rod; 3012, gear rod; 3013, support bar; 302, vibration assembly; 3021, rotating shaft; 3022, spiral groove; 3023, guide bead; 3024, first arc plate; 3025, second arc plate; 3026 , slide bar; 3027, first spring; 3028, sleeve; 3029, connecting block; 30210, three-bead plate; 303, hydraulic drive and flip assembly; 3031, sealing shell; 3032, first piston; 3033, gear; 3034, support shaft; 3035, fixed plate; 3036, support seat; 3037, second piston; 304, telescopic positioning assembly; 3041, vacuum suction cup; 3042, support column; 3043, support seat; 3044, telescopic rod; 3045, second spring; 3046, connecting frame; 3047, connecting piece; 305, push door assembly; 3051, support sleeve; 3052, third spring; 3053, connecting strip; 3054, movable rod; 3055, pulley; 306, shell door. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0041] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0042] Example 1: Reference Figure 1-14 A three-axis rotating automatic material taking mechanism includes a mechanical arm 100, a driving mechanism 200 is arranged at one end of the mechanical arm 100, and two positioning mechanisms 300 are arranged below the driving mechanism 200;

[0043] The driving mechanism 200 includes a docking assembly 201, and the docking assembly 201 includes a fixed frame 2011. A mounting seat 2014 is fixedly connected to the top of the fixed frame 2011. The mounting seat 2014 is fixedly installed on the robot arm 100. The robot arm 100 has the characteristics of multi-axis movement, so as to meet the material picking of the workpiece 204. A monitor 203 is fixedly installed in front of the fixed frame 2011, and the workpiece 204 can be detected by the monitor 203. A double-axis motor 2012 is fixedly installed on the top wall of the fixed frame 2011. The two output shafts of the double-axis motor 2012 are fixedly connected to screws 2015. The threads of the two screws 2015 are set oppositely. By setting the threads of the two screws 2015 oppositely, the rotation of the screws 2015 can drive the two nuts 2013 to move away from or close to each other, so that The movable seat 2017 is driven to move, so that the hydraulic drive and flip assembly 303 can drive the vibration assembly 302 to dock with the workpiece 204, so that the subsequent vibration operation of the workpiece 204 can be smoothly realized. The screw 2015 is rotatably installed on the fixed plate 2016 and the fixed frame 2011 through two bearings respectively. The fixed plate 2016 is fixedly connected to the fixed frame 2011. The screw 2015 is threadedly connected with a nut 2013. The movable seat 2017 is fixedly installed outside the nut 2013. The movable seat 2017 is slidably connected to the fixed frame 2011. The movable seat 2017 can be guided by the movable frame so that the movable seat 2017 can move smoothly along the movable frame, so that the support seat 3036 can maintain stable movement. The docking assembly 201 is provided with a dust removal assembly 202, and the workpiece 204 is provided below the dust removal assembly 202;

[0044] The positioning mechanism 300 includes a hydraulic drive and flip assembly 303, which includes a support seat 3036 and a fixed plate 3035. The support seat 3036 is fixedly connected to the bottom of the movable seat 2017. The fixed plate 3035 is rotatably installed on the support seat 3036 through a bearing. The fixed plate 3035 can be connected to the support seat 3036 through a bearing, thereby fixing the fixed plate 3035. At the same time, the fixed plate 3035 can also maintain stable rotational motion through the bearing. A sealing shell 3031 is installed through the fixed plate 3035. A support shaft 3034 is fixedly connected to one side of the sealing shell 3031. A gear 3033 is fixedly connected to one end of the support shaft 3034. The interior of the sealing shell 3031 is divided into three cavities. The three cavities The sealing shell 3031 is independently established and stores liquid inside, so that the sealing shell 3031 moves, and the first piston 3032 and the sealing shell 3031 can move relative to each other, so that the second piston 3037 can be driven by hydraulic pressure to move, so that the retractable positioning component 304 extends out of the sealing shell 3031, so that the retractable positioning component 304 can smoothly clamp and position the workpiece 204, the ends of the three cavities are connected, and two first pistons 3032 are provided in two of the cavities, and the second piston 3037 is provided in the middle cavity, and the other side of the sealing shell 3031 is hinged to the two shell doors 306 through two spring hinges respectively, and the shell door 306 can smoothly perform the flipping operation through the spring hinge, and the spring hinge has an elastic reset force, so that the spring hinge can be reset and can drive the shell door 30 6 is automatically closed, one side of the hydraulic drive and flip assembly 303 is transmitted to the bottom of the drive assembly 301, and a retractable positioning assembly 304 is arranged inside the hydraulic drive and flip assembly 303. The retractable positioning assembly 304 includes a support column 3042 and four connecting pieces 3047. One end of the support column 3042 is fixedly connected to the second piston 3037, and the other end of the support column 3042 is fixedly connected to a vacuum suction cup 3041. The vacuum suction cup 3041 can clamp the workpiece 204 through negative pressure, thereby preventing the workpiece 204 from falling off. A support 3043 is fixedly connected to the support column 3042. The two sides of the support 3043 are hinged to two of the connecting pieces 3047 through pins, and the other two connecting pieces 3047 are connected to two through pins. The connecting frame 3046 is hinged, and the connecting piece 3047 can be turned by a pin shaft, so that the telescopic rod 3044 and the second spring 3045 can be turned smoothly, and the support column 3042 can be kept moving smoothly. The two connecting frames 3046 are fixedly connected to the inner wall of the sealing shell 3031, and the telescopic rod 3044 and the second spring 3045 are fixedly connected between the two connecting pieces 3047. The second spring 3045 can be kept stably extended and retracted by the telescopic rod 3044. When the connecting frame 3046 moves, the connecting frame 3046 and the telescopic rod 3044 are kept vertical, and the connecting frame 3046 passes the vertical point, and the second spring 3045 can be smoothly reset at this time, so that the second spring 3045 can drive the support column 3042 and the second piston 3037 to be smoothly reset.Furthermore, the elastic force of the second spring 3045 is greater than the restoring force of the third spring 3052, and the vacuum suction cup 3041 can overcome the restoring force of the third spring 3052 through the connecting strip 3053, thereby smoothly driving the pulley 3055 to reset, so that the shell door 306 can be smoothly turned over;

[0045] One end of the retractable positioning assembly 304 is provided with two push-door assemblies 305, and the push-door assembly 305 includes a support sleeve 3051, and the support sleeve 3051 is fixedly connected to the inner wall of the sealing shell 3031, and the support sleeve 3051 is slidably connected to the inside of the movable rod 3054, and one end of the movable rod 3054 is fixedly connected to a connecting strip 3053, and one end of the connecting strip 3053 overlaps with one side of the vacuum suction cup 3041, and a third spring 3052 is fixedly connected between the connecting strip 3053 and the support sleeve 3051. When the vacuum suction cup 3041 moves to loosen the resistance to the connecting strip 3053, since the elastic force of the third spring 3052 is greater than the elastic force of the spring hinge, the third spring 3052 can move the shell door 306 through the pulley 3055. Push open, the third spring 3052 is sleeved on the outside of the movable rod 3054, the other end of the movable rod 3054 is fixedly connected with a pulley 3055, the pulley 3055 is overlapped with the shell door 306, one side of the two push door components 305 is overlapped with the shell door 306, the hydraulic drive and flip component 303 is penetrated by a vibration component 302, the vibration component 302 includes two rotating shafts 3021 and a first arc plate 3024, both ends of the rotating shaft 3021 are rotatably mounted on the first arc plate 3024 and the first piston 3032 through bearings, the rotating shaft 3021 is penetrated by a sealing shell 3031, and a spiral groove 3022 is opened on the rotating shaft 3021, the spiral groove 3022 is slidably connected with the guide bead 3023, and the spiral arc surface of the spiral groove 3022 The arrangement enables the column to control the rotating shaft 3021 to smoothly realize the rotation movement through the arc surface of the spiral groove 3022, the guide bead 3023 is fixedly connected to the inner wall of the sealing shell 3031, and a plurality of sliding sleeves 3028 are fixedly installed on the first arc plate 3024. The sliding sleeve 3028 is internally slidably connected with a sliding rod 3026, one end of the sliding rod 3026 is fixedly connected with a connecting block 3029, and one side of the connecting block 3029 is fixedly connected with a first spring 3027. The reset force of the first spring 3027 can drive the second arc plate 3025 to reset. When the three bead plates 30210 are squeezed and moved again, the second arc plate 3025 can move again and drive the first spring 3027 to deform, so that the three bead plates 30210 can cooperate with the first spring 3027 to The second arc plate 3025 is driven to knock the workpiece 204 to achieve vibration, thereby facilitating the dust to fall off the workpiece 204. One end of the first spring 3027 is fixedly connected to the sliding sleeve 3028, and the other end of the plurality of sliding rods 3026 is fixedly connected to the second arc plate 3025. The second arc plate 3025 is arranged on one side of the workpiece 204. Both sides of the second arc plate 3025 and one end of the two screws 2015 are fixedly connected with three-bead plates 30210. The two adjacent three-bead plates 30210 are overlapped, and a plurality of balls are arranged on the three-bead plates 30210. When one of the three-bead plates 30210 rotates, the balls can squeeze each other, and reduce friction resistance, thereby improving operation fluency. The two vibration components 302 are respectively arranged on both sides of the workpiece 204.

[0046] In this embodiment, the two positioning mechanisms 300 are docked with the workpiece 204 through the docking assembly 201. Since the position of the second arc plate 3025 is fixed, the sealing shell 3031 and the first piston 3032 are caused to move relative to each other by continuous pressure, so that the guide bead 3023 controls the rotation of the rotating shaft 3021 through the arc surface of the spiral groove 3022, so that an extrusion movement is generated between the two adjacent three-bead plates 30210, and the second arc plate 3025 can knock and vibrate the workpiece 204 in cooperation with the first spring 3027, so as to facilitate the shaking off of dust attached to both sides of the workpiece 204. The dust suction component can be used to remove dust, so that the clamping surface corresponding to the vacuum suction cup 3041 remains clean, and dust adhesion is prevented from affecting the subsequent clamping of the workpiece 204 by the vacuum suction cup 3041. When the vacuum suction cup 3041 is loosened, it is pushed through the sealing shell 3031 until the connecting frame 3046 passes the vertical point after the second spring 3045 is compressed. At this time, the second spring 3045 is reset to realize the recovery of the vacuum suction cup 3041 into the sealing shell 3031. At the same time, the shell door 306 is closed by the spring hinge, so that the vacuum suction cup 3041 can be automatically protected.

[0047] Example 2: Reference Figure 2-4 and Figure 7-10 A three-axis rotating automatic material taking mechanism includes a driving mechanism 200, the driving mechanism 200 includes a docking assembly 201, a dust removal assembly 202 is arranged on the docking assembly 201, and a workpiece 204 is arranged below the dust removal assembly 202;

[0048] The dust removal assembly 202 includes a dust collection device 2021, which is fixedly installed above the fixed frame 2011. The dust collection device 2021 is connected to the dust inlet pipe 2022. The dust collection device 2021 can perform dust collection operations through the dust collection head 2023, and the sucked dust enters the dust collecting chamber of the dust collection device 2021 for collection operations. Secondly, the dust inlet pipe 2022 can play a role in dust transportation. The dust inlet pipe 2022 extends downward and is connected to the dust collection head 2023. The dust collection head 2023 is installed below the two fixed plates 2016. Brushes 2024 are installed on both the front and rear sides of the dust collection head 2023, and the brushes 2024 overlap the workpiece 204.

[0049] The driving assembly 301 includes a support bar 3013, which is fixedly connected to a support seat 3036. An electric push rod 3011 is fixedly installed on the support bar 3013. A gear rod 3012 is fixedly connected to the bottom end of the electric push rod 3011. The gear rod 3012 is meshed with a gear 3033. The gear rod 3012 is controlled to move by the electric push rod 3011, so that the gear rod 3012 and the gear 3033 are transmitted, thereby driving the sealing shell 3031 to perform a flipping operation through the support shaft 3034.

[0050] The hydraulic drive and flip assembly 303 includes a support seat 3036 and a fixed plate 3035. The support seat 3036 is fixedly connected to the bottom of the movable seat 2017. The fixed plate 3035 is rotatably installed on the support seat 3036 through a bearing. A sealing shell 3031 is installed through the fixed plate 3035. A support shaft 3034 is fixedly connected to one side of the sealing shell 3031. A gear 3033 is fixedly connected to one end of the support shaft 3034.

[0051] In this embodiment: the two positioning mechanisms 300 are driven to dock the workpiece 204 through the docking component 201, and by continuously applying pressure, the positioning mechanism 300 can pre-position the workpiece 204 to maintain the stability of the workpiece 204. At this time, the electric push rod 3011 controls the movement of the gear rod 3012 to transmit the gear rod 3012 and the gear 3033. The sealing shell 3031 is driven to rotate through the support shaft 3034, so that the vibration component 302 drives the workpiece 204 to rotate. After the workpiece 204 rotates, the workpiece 204 rotates around the brush 2024, so that the brush 2024 can clean the remaining surfaces of the workpiece 204. At the same time, the dust removal component 202 can perform dust suction operations to avoid the spread of dust, so that the workpiece 204 can be automatically cleaned. Secondly, after cleaning, the workpiece 204 can be detected in cooperation with the monitor 203.

[0052] Example 3: Reference Figure 2-8 A three-axis rotating automatic material taking mechanism includes a driving mechanism 200, the driving mechanism 200 includes a docking assembly 201, a dust removal assembly 202 is arranged on the docking assembly 201, and a workpiece 204 is arranged below the dust removal assembly 202;

[0053] The positioning mechanism 300 includes a hydraulic drive and flip component 303, one side of the hydraulic drive and flip component 303 is transmitted to the bottom of the drive component 301, a retractable positioning component 304 is provided inside the hydraulic drive and flip component 303, one end of the retractable positioning component 304 is provided with two push door components 305, one side of the two push door components 305 are provided with a shell door 306, a vibration component 302 is penetrated by the hydraulic drive and flip component 303, and the two vibration components 302 are respectively arranged on both sides of the workpiece 204.

[0054] In this embodiment: the two positioning mechanisms 300 are clamped on the workpiece 204 through the docking assembly 201, and through continuous advancement, the sealing shell 3031 and the vibration assembly 302 are caused to move relative to each other, so that the vibration assembly 302 can realize the vibration operation of the workpiece 204, which is convenient for removing dust on the surface of the workpiece 204, thereby facilitating subsequent cleaning operations. Secondly, during dismantling, the sealing shell 3031 is continued to be pushed forward to keep the workpiece 204 vibrating. At the same time, the sealing shell 3031 drives the connecting frame 3046 to cross the vertical point after the second spring 3045 is contracted, so that the retractable positioning assembly 304 is retracted to achieve the purpose of positioning the dismantling workpiece 204, and the vibration of the workpiece 204 can assist the operation of dismantling the workpiece 204.

[0055] Working principle: When taking materials, the positioning mechanism 300 is placed at the position of the workpiece 204 through the multi-axis motion operation of the robot arm 100, and then the dual-axis motor 2012 is controlled to drive the screw 2015 to rotate, so that the screw 2015 drives the two nuts 2013 to approach each other, and the nut 2013 drives the movable seat 2017 to move, so that the support seat 3036 drives the sealing shell 3031 to move, so that the two second arc plates 3025 are close to each other and contact the workpiece 204. At this time, the sealing shell 3031 is continuously pushed forward, and the second arc plate 3025 is fixed, so that the sealing shell 3031 and the first piston 3032 move relative to each other, so that the guide bead 3023 moves and controls the rotation of the shaft 3021 through the arc surface of the spiral groove 3022, and the shaft 3021 drives The three-bead plate 30210 rotates, and the two adjacent three-bead plates 30210 reciprocate to produce an extrusion motion, and the second arc plate 3025 moves. The second arc plate 3025 drives the first spring 3027 to deform through the slide bar 3026 and the connecting block 3029. When the balls between the three-bead plates 30210 are misaligned, the first spring 3027 drives the second arc plate 3025 to reset until the three-bead plates 30210 perform an extrusion motion again, so that the first spring 3027 cooperates with the three-bead plates 30210 to realize the reciprocating motion of the second arc plate 3025, so that the reciprocating motion of the second arc plate 3025 can knock and vibrate the workpiece 204, so that the dust attached to the workpiece 204 can fall off, and at the same time, the dust collection device 2021 performs a dust collection operation through the dust collection head 2023;

[0056] Secondly, the electric push rod 3011 is controlled to drive the gear rod 3012 to move, so that the gear rod 3012 is meshed with the gear 3033, and the gear 3033 drives the sealing shell 3031 to rotate through the support shaft 3034, so that the vibration component 302 drives the workpiece 204 to rotate, and the workpiece 204 rotates to pass through the brush 2024, so that the brush 2024 can clean the workpiece 204, and then cooperate with the dust collection device 2021 to perform dust collection operations, and at the same time, the monitor 203 can perform detection operations on the workpiece 204;

[0057] When the sealing shell 3031 moves, the first piston 3032 presses the liquid into the middle cavity, and the second piston 3037 is hydraulically controlled to drive the support column 3042 to move, so that the support column 3042 drives the vacuum suction cup 3041 to move. At this time, the reset force of the third spring 3052 drives the connecting strip 3053 and the movable rod 3054 to reset, so that the pulley 3055 pushes the shell door 306 open. At this time, the vacuum suction cup 3041 can be smoothly removed from the sealing shell 3031, so that the vacuum suction cup 3041 contacts the workpiece 204 and clamps and positions the workpiece 204. At this time, the robot arm 100 can perform a material picking operation on the workpiece 204;

[0058] When removing the workpiece 204, the sealing shell 3031 is continuously controlled to advance, so that the guide bead 3023 still cooperates with the spiral groove 3022 to drive the rotating shaft 3021 to rotate, so that the three-bead plate 30210 cooperates with the first spring 3027 to make the second arc plate 3025 still keep knocking and vibrating the workpiece 204, and the sealing shell 3031 moves, which can drive the connecting frame 3046 to move, so that the second spring 3045 is deformed and drives the telescopic rod 3044 to turn. When the telescopic rod 3044 and the second spring 3045 are contracted and kept perpendicular to the connecting frame 3046 and the support 3043, the connecting frame 3046 continues to move, so that the elasticity of the second spring 3045 The force can be released, and then the positioning of the workpiece 204 can be smoothly removed through the vibration of the workpiece 204 and the reset force of the second spring 3045, so that the vacuum suction cup 3041 can be retracted to drive the connecting strip 3053 to move, and the connecting strip 3053 drives the movable rod 3054 and the pulley 3055 to retract, so that the pulley 3055 is away from the shell door 306. When the vacuum suction cup 3041 retracts into the sealing shell 3031, the shell door 306 is automatically closed by the spring hinge. Secondly, after the second piston 3037 is reset, the first piston 3032 can be reset by hydraulic control to reset the vibration assembly 302. At this time, the robot arm 100 can carry out the next round of material picking operation.

[0059] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A three-axis rotating automatic material-retrieving mechanism, comprising a robotic arm (100), characterized in that: A driving mechanism (200) is provided at one end of the mechanical arm (100), and two positioning mechanisms (300) are provided below the driving mechanism (200); The driving mechanism (200) comprises a docking assembly (201), a dust removal assembly (202) is arranged on the docking assembly (201), and a workpiece (204) is arranged below the dust removal assembly (202); The positioning mechanism (300) comprises a hydraulic drive and flip assembly (303), one side of the hydraulic drive and flip assembly (303) is in transmission with the lower part of the drive assembly (301), a retractable positioning assembly (304) is provided inside the hydraulic drive and flip assembly (303), one end of the retractable positioning assembly (304) is provided with two push door assemblies (305), one side of the two push door assemblies (305) are provided with a shell door (306), a vibration assembly (302) is provided through the hydraulic drive and flip assembly (303), and the two vibration assemblies (302) are respectively provided on two sides of the workpiece (204); the docking assembly (201) comprises a fixed frame (2011), the upper part of the fixed frame (2011) is fixedly connected with a mounting seat (2014), the mounting seat (2014) is fixedly mounted on the mechanical arm (100), and the front of the fixed frame (2011) is fixedly mounted with a monitor (203); A dual-axis motor (2012) is fixedly mounted on the top wall of the fixing frame (2011); two output shafts of the dual-axis motor (2012) are fixedly connected to screw rods (2015); the threads of the two screw rods (2015) are arranged opposite to each other; the screw rods (2015) are rotatably mounted on a fixing plate (2016) and a fixing frame (2011) respectively via two bearings; the fixing plate (2016) is fixedly connected to the fixing frame (2011); a nut (2013) is threadedly connected to the screw rods (2015); a movable seat (2017) is fixedly mounted outside the nut (2013); and the movable seat (2017) is slidably connected to the fixing frame (2011); The dust removal component (202) comprises a dust collection device (2021), the dust collection device (2021) is fixedly mounted above the fixing frame (2011), the dust collection device (2021) is connected to a dust inlet pipe (2022), the dust inlet pipe (2022) extends downward to be connected to a dust collection head (2023), the dust collection head (2023) is mounted below the two fixing plates (2016), and brushes (2024) are mounted on both the front and rear sides of the dust collection head (2023), and the brushes (2024) overlap the workpiece (204); The hydraulic drive and flip assembly (303) comprises a support seat (3036) and a fixed plate (3035), wherein the support seat (3036) is fixedly connected to the bottom of the movable seat (2017), and the fixed plate (3035) is rotatably mounted on the support seat (3036) via a bearing, and a sealing shell (3031) is installed through the fixed plate (3035), and a support shaft (3034) is fixedly connected to one side of the sealing shell (3031), and a gear (3033) is fixedly connected to one end of the support shaft (3034); The interior of the sealing shell (3031) is divided into three cavities, the ends of the three cavities are connected, two first pistons (3032) are provided in two of the cavities, and a second piston (3037) is provided in the middle cavity; The other side of the sealing shell (3031) is hinged to the two shell doors (306) respectively via two spring hinges; The driving assembly (301) comprises a support bar (3013), the support bar (3013) being fixedly connected to a support seat (3036), an electric push rod (3011) being fixedly mounted on the support bar (3013), a gear rod (3012) being fixedly connected to the bottom end of the electric push rod (3011), and the gear rod (3012) being meshed with a gear (3033); The vibration component (302) comprises two rotating shafts (3021) and a first arc plate (3024); both ends of the rotating shaft (3021) are rotatably mounted on the first arc plate (3024) and the first piston (3032) via bearings; the rotating shaft (3021) penetrates a sealing shell (3031); a spiral groove (3022) is provided on the rotating shaft (3021); the spiral groove (3022) is slidably connected to a guide bead (3023); and the guide bead (3023) is fixedly connected to the inner wall of the sealing shell (3031); A plurality of sliding sleeves (3028) are fixedly mounted on the first arc plate (3024), a sliding rod (3026) is slidably connected inside the sliding sleeve (3028), one end of the sliding rod (3026) is fixedly connected to a connecting block (3029), one side of the connecting block (3029) is fixedly connected to a first spring (3027), one end of the first spring (3027) is fixedly connected to the sliding sleeve (3028), and the other ends of the plurality of sliding rods (3026) are fixedly connected to a second arc plate (3025), the second arc plate (3025) is arranged on one side of the workpiece (204), and both sides of the second arc plate (3025) and one end of the two screw rods (2015) are fixedly connected to three bead plates (30210), and two adjacent three bead plates (30210) are overlapped.

2. The three-axis rotating automatic material taking mechanism according to claim 1 is characterized in that: The telescopic positioning assembly (304) comprises a support column (3042) and four connecting members (3047); one end of the support column (3042) is fixedly connected to the second piston (3037); the other end of the support column (3042) is fixedly connected to a vacuum suction cup (3041); a support (3043) is fixedly connected to the support column (3042); two sides of the support (3043) are hinged to two of the connecting members (3047) via pins; the other two connecting members (3047) are hinged to two connecting frames (3046) via pins; the two connecting frames (3046) are fixedly connected to the inner wall of the sealing shell (3031); and a telescopic rod (3044) and a second spring (3045) are fixedly connected between the two connecting members (3047).

3. The three-axis rotating automatic material taking mechanism according to claim 2 is characterized in that: The door push assembly (305) comprises a support sleeve (3051), the support sleeve (3051) being fixedly connected to the inner wall of the sealing shell (3031), a movable rod (3054) being slidably connected inside the support sleeve (3051), one end of the movable rod (3054) being fixedly connected to a connecting strip (3053), one end of the connecting strip (3053) being overlapped with one side of the vacuum suction cup (3041), a third spring (3052) being fixedly connected between the connecting strip (3053) and the support sleeve (3051), the third spring (3052) being sleeved outside the movable rod (3054), the other end of the movable rod (3054) being fixedly connected to a pulley (3055), and the pulley (3055) being overlapped with the shell door (306).

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