Multi-stage rotary manipulator and blanking device

Abstract

The invention discloses a multi-stage rotating mechanical arm and a discharging device, the multi-stage rotating mechanical arm comprises a mechanical arm body and a moving mechanism, the mechanical arm body comprises a plurality of transmission assemblies and a plurality of rotatable clamping jaws, and the clamping jaws are linked through the transmission assemblies so as to rotate synchronously; the moving mechanism is connected to the manipulator body, and the moving mechanism body is used for driving the manipulator body to rotate and move integrally. The multiple clamping jaws of the mechanical arm body can clamp the adapters, all the clamping jaws rotate synchronously through the transmission assembly, all the adapters are rotated to the same placing direction, and therefore the conveying requirement is met; the manipulator body integrally rotates through the moving mechanism and moves to all the conveying lines, it is guaranteed that all the adapters can reach target positions in the conveying process, and therefore the conveying process is completed.

Description

Technical Field

[0001] The present application relates to the technical field of conveying equipment, and in particular to a multi-stage rotating manipulator and a material discharge device. Background Art

[0002] In the production line of adapters, the requirement for the unloading robot is that the unloading robot can convey several adapters in the production device to multiple conveyor lines of subsequent equipment in the same placement direction. However, the current robot can only adjust the placement direction of the adapter on a single conveyor line and is difficult to adapt to multiple conveyor lines.

[0003] In addition, the current manipulator is suitable for adjusting the placement direction of a single adapter, and it is difficult to adjust the directions of multiple adapters at the same time. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a multi-stage rotary manipulator, which can transport several adapters to multiple conveyor lines in the same placement direction through the synchronous rotation of each clamping claw and the overall rotation of the manipulator body.

[0005] The present application also proposes a material unloading device having the above-mentioned multi-stage rotating manipulator.

[0006] According to the multi-stage rotating manipulator of the first aspect embodiment of the present application, the multi-stage rotating manipulator includes a manipulator body and a moving mechanism, the manipulator body includes a plurality of transmission components and a plurality of rotatable jaws, and the jaws are linked by the transmission components to rotate synchronously; the moving mechanism is connected to the manipulator body, and the moving mechanism body is used to drive the manipulator body to rotate and move as a whole.

[0007] The multi-stage rotating manipulator according to the embodiment of the present application has at least the following beneficial effects: the several jaws of the manipulator body can clamp the adapter, and the jaws rotate synchronously through the transmission assembly to rotate the adapters to the same placement direction, thereby meeting the conveying requirements; the manipulator body rotates as a whole through the moving mechanism and moves to each conveying line to ensure that each adapter can reach the target position of the conveying process, thereby completing the conveying process.

[0008] According to some embodiments of the present application, adjacent jaws are transmission connected via the transmission assembly.

[0009] According to some embodiments of the present application, the transmission assembly includes a flexible transmission component and a transmission wheel fixedly connected to the clamping jaws, and the transmission wheels on adjacent clamping jaws are connected via the flexible transmission component.

[0010] According to some embodiments of the present application, the robot body includes a rotation driver, and the rotation driver drives the other jaws to rotate synchronously by driving a single jaw to rotate.

[0011] According to some embodiments of the present application, the manipulator body includes a tensioning component, and the tensioning component is in rolling contact with the flexible transmission component to tension the flexible transmission component.

[0012] According to some embodiments of the present application, the moving mechanism includes a rotating component connected to the manipulator body, and the rotating component is used to drive the manipulator body to rotate as a whole.

[0013] According to some embodiments of the present application, the moving mechanism includes a height adjustment component, the rotating component is arranged on the height adjustment component, and the height adjustment component is used to adjust the height of the manipulator body.

[0014] According to some embodiments of the present application, the moving mechanism includes a first horizontal moving component, the height adjustment component is arranged on the first horizontal moving component, and the first horizontal moving component is used to adjust the horizontal position of the manipulator body.

[0015] According to some embodiments of the present application, the moving mechanism includes a second horizontal moving component, which is arranged on the first horizontal moving component, and the second horizontal moving component and the first horizontal moving component guide the movement direction of the manipulator body to be at an angle.

[0016] According to the unloading device of the second aspect embodiment of the present application, the unloading device includes the above-mentioned multi-stage rotating manipulator.

[0017] According to the unloading device of the embodiment of the present application, there are at least the following beneficial effects: the unloading device includes the multi-stage rotating manipulator of the first aspect embodiment of the present application, the multi-stage rotating manipulator includes a manipulator body and a moving mechanism, several jaws of the manipulator body can clamp the adapter, and each jaw rotates synchronously through the transmission assembly to rotate each adapter to the same placement direction, thereby meeting the conveying requirements; the manipulator body rotates as a whole through the moving mechanism and moves to each conveying line, ensuring that each adapter can reach the target position of the conveying process, thereby completing the conveying process.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present application is further illustrated below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments embodied in the following drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0020] Figure 1 It is a schematic diagram of the structure of a multi-stage rotary manipulator according to an embodiment of the present application;

[0021] Figure 2 is a top view of a multi-stage rotary manipulator according to an embodiment of the present application;

[0022] Figure 3 It is a structural schematic diagram of a manipulator body in a multi-stage rotating manipulator in an embodiment of the present application;

[0023] Figure 4 It is a schematic diagram of the structure of the gripper in the multi-stage rotary manipulator of the embodiment of the present application;

[0024] Figure 5 It is a structural schematic diagram of a tensioning component in a multi-stage rotary manipulator in an embodiment of the present application;

[0025] Figure 6 It is a schematic diagram of the structure of the rotating component in the multi-stage rotating manipulator in the embodiment of the present application.

[0026] Reference numerals:

[0027] Conveying line 10; conveying position 20;

[0028] Manipulator body 100; support plate 101; clamping claw 102; clamping portion 1021; flexible transmission component 103; transmission wheel 104; rotation driver 105; tensioning component 106;

[0029] Moving mechanism 200 ; rotating support part 201 ; height adjustment support part 202 ; first horizontal moving support part 203 ; second horizontal moving support part 204 . DETAILED DESCRIPTION

[0030] The embodiments of the present application are described in detail below in conjunction with the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0031] In the description of the present application, it should be understood that the terms "center", "middle", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0032] In the description of this application, "several" means more than one, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0033] In the description of this application, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] In the description of the present application, if there is a description with reference to the terms "one embodiment", "some embodiments", "an embodiment", "some examples", "some embodiments", "illustrative embodiment", "example", "specific example", "some examples", etc., it means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0035] like Figure 1 and Figure 2As shown, the embodiment of the present application provides a multi-stage rotary manipulator, which includes a manipulator body 100 and a moving mechanism 200. The manipulator body 100 can clamp several adapters at the same time and adjust each adapter to the same placement direction. At the same time, the manipulator body 100 is rotated as a whole through the moving mechanism 200, so that the multi-stage rotary manipulator can place each adapter on a different conveyor line 10, meeting the user's conveying needs for the multi-stage rotary manipulator.

[0036] The adapters arrive at the conveying position 20 after the manufacturing and testing process, and then the adapters at the conveying position 20 are conveyed to the two conveying lines 10 by a multi-stage rotating manipulator.

[0037] In some examples, such as Figure 3 As shown, the manipulator body 100 includes a support plate 101, a transmission assembly and a clamp 102, and the clamp 102 is used to clamp the adapter. It can be understood that in order to ensure that the multi-stage rotary manipulator can simultaneously transport multiple adapters, multiple clamps 102 are provided, and each clamp 102 is arranged in parallel on the support plate 101.

[0038] Among them, the clamping jaw 102 includes an opening and closing movement component and two clamping parts 1021. The opening and closing movement component includes a guide rail corresponding to the clamping part 1021. The two clamping parts 1021 slide on the guide rail here to achieve opening and closing movement of approaching or moving away from each other, thereby ensuring the clamping process of the adapter.

[0039] Furthermore, each clamping jaw 102 can rotate on the support plate 101 , and each clamping jaw 102 adjusts the placement direction of the clamped adapter by rotating relative to the support plate 101 .

[0040] It is understandable that, although each adapter in a single clamping process is not adjusted to the desired placement direction, the placement directions of each adapter are consistent. Therefore, in order to ensure that each adapter is adjusted to the desired placement direction, the rotation amplitude and rotation direction of each clamping jaw 102 are consistent, and each clamping jaw 102 can complete the adjustment process of the adapter placement direction by synchronously rotating through linkage. Specifically, each clamping jaw 102 is linked through a transmission assembly to perform synchronous rotation.

[0041] In some examples, adjacent clamping jaws 102 are connected by a transmission assembly, thereby ensuring that the clamping jaws 102 are linked.

[0042] Specifically, the clamping portion 1021 of the clamping jaw 102 is located at the bottom of the support plate 101 , and at the same time, the clamping jaw 102 is connected to the transmission assembly at the top of the support plate 101 .

[0043] In some examples, such as Figure 4As shown, the transmission assembly includes a flexible transmission component 103 and a transmission wheel 104. The transmission wheel 104 is fixedly connected to the clamping jaw 102. As the transmission wheel 104 rotates, the clamping jaw 102 also rotates, thereby driving the adapter to rotate to the desired placement direction.

[0044] The transmission wheels 104 on the adjacent clamping jaws 102 are connected by a flexible transmission component 103. Specifically, the transmission wheel 104 is a synchronous pulley, and the flexible transmission component 103 is a synchronous belt. Therefore, the adjacent clamping jaws 102 are synchronously rotated by belt transmission.

[0045] In belt transmission, a single synchronous pulley can only be connected to one synchronous belt. To ensure that each pair of adjacent jaws 102 can achieve transmission connection, the jaws 102 at non-edge positions are provided with two synchronous pulleys. Similarly, the jaws 102 at non-edge positions are connected to two synchronous belts.

[0046] In some examples, in order to realize the rotation of the gripper 102 , the robot body 100 includes a rotation driver 105 . Specifically, the rotation driver 105 may be a motor.

[0047] The rotary driver 105 is connected to a single clamping jaw 102, and the clamping jaw 102 rotates under the driving action of the rotary driver 105. Since the adjacent clamping jaws 102 are connected by belt transmission, the rotation of a single clamping jaw 102 can drive all the clamping jaws 102 to rotate synchronously, thereby realizing the linkage of all the clamping jaws 102 and ensuring that each adapter rotates synchronously to the required placement direction.

[0048] Therefore, a single rotary driver 105 can drive all the grippers 102 to rotate, and there is no need to set up multiple rotary drivers 105, thereby reducing production costs. At the same time, the rotary driver 105 requires a certain amount of installation space, and only setting up a single rotary driver 105 is also conducive to the miniaturization of the multi-stage rotary manipulator and saves installation space.

[0049] In some examples, such as Figure 5 As shown, the manipulator body 100 includes a tensioning component 106, specifically, the tensioning component 106 is a tensioning wheel. The tensioning component 106 is located outside the flexible transmission component 103 and forms a rolling contact with the flexible transmission component 103. The tensioning component 106 can tension the flexible transmission component 103 without affecting the movement of the flexible transmission component 103, ensuring the precise matching of the transmission wheel 104 and the flexible transmission component 103, thereby improving the movement consistency of each clamping jaw 102.

[0050] In some examples, the conveying mechanism is connected to the manipulator body 100. On the one hand, the conveying mechanism is used to drive the manipulator body 100 to rotate as a whole, so as to facilitate the conveying of several adapters clamped by the manipulator body 100 to different conveying lines 10; on the other hand, the conveying mechanism also facilitates the transfer of the multi-stage rotary manipulator between the conveying position 20 and the working position, thereby improving the conveying process of the adapters.

[0051] In some examples, Figure 6 As shown, the conveying mechanism includes a rotating assembly, which is connected to a support plate 101 of the robot body 100 .

[0052] The rotating assembly includes a rotating support portion 201 and a driver for driving the rotating assembly to rotate, and the driver is connected to the rotating support portion 201. It can be understood that when the driver is started, the support plate 101 rotates relative to the rotating support portion 201, thereby driving each clamping jaw 102 to rotate around the rotating support portion 201 as a whole.

[0053] In some examples, the conveying mechanism includes a height adjustment assembly, and the rotating support portion 201 in the rotating assembly is disposed in the height adjustment assembly.

[0054] The height adjustment assembly includes a height adjustment support portion 202, and the height adjustment support portion 202 is provided with a corresponding guide rail, and the rotating support portion 201 is slidably connected to the guide rail here. It can be understood that the guide rail here extends in the vertical direction. When the rotating support portion 201 slides along the guide rail, the height of the rotating support portion 201 changes, thereby driving the support plate 101 to adjust its height.

[0055] In some examples, the conveying mechanism includes a first horizontal moving assembly, and the height adjustment support portion 202 in the height adjustment assembly is disposed in the first horizontal moving assembly.

[0056] The first horizontal movement component includes a first horizontal movement support 203, which can guide the horizontal movement of the height adjustment component while supporting the height adjustment component. It can be understood that the first horizontal movement support 203 is also used to bear the weight of the rotating component and the manipulator body 100.

[0057] Furthermore, the first horizontal movable support part 203 is provided with a corresponding guide rail, and the height adjustment support part 202 is slidably connected to the guide rail here. It can be understood that the guide rail here extends in the horizontal direction. When the height adjustment support part 202 slides along the guide rail here, the horizontal position of the height adjustment support part 202 changes, thereby driving the support plate 101 to adjust the horizontal position.

[0058] In some examples, the conveying mechanism further includes a second horizontal moving assembly, and the first horizontal moving support portion 203 in the first horizontal moving assembly is disposed in the second horizontal moving assembly.

[0059] The second horizontal movement assembly includes a second horizontal movement support portion 204, which can guide the horizontal movement of the first horizontal movement assembly under the premise of supporting the first horizontal movement assembly. It can be understood that the second horizontal movement support portion 204 is also used to bear the weight of the height adjustment assembly, the rotating assembly and the manipulator body 100.

[0060] Further, the second horizontal movable support part 204 is provided with a corresponding guide rail, and the first horizontal movable support part 203 is slidably connected to the guide rail here. It can be understood that the guide rail here also extends in the horizontal direction, but the guide rail on the second horizontal movable support part 204 and the guide rail on the first horizontal movable support part 203 are angled in the extension direction. Specifically, the guide rail on the second horizontal movable support cloth and the guide rail on the first horizontal movable support cloth are 90° in the extension direction.

[0061] When the first horizontal movement support part 203 slides along the guide rail there, the horizontal position of the first horizontal movement support part 203 changes.

[0062] It can be understood that the rotating assembly provides rotational freedom for the entire robot body 100, while the height adjustment assembly, the first horizontal movement assembly and the second horizontal movement assembly provide three degrees of freedom for the robot body 100, thereby improving the position movement flexibility of the multi-stage rotating robot.

[0063] An embodiment of the present application provides a material unloading device, which includes the above-mentioned multi-stage rotating manipulator.

[0064] In the actual implementation process, the manipulator body 100 is moved and rotated as a whole through the moving mechanism 200, so that each clamping claw 102 on the manipulator body 100 reaches the conveying position 20 and grabs each adapter at the conveying position 20. Since each adapter is distributed in a straight line at the grabbing position, and the straight line is 90° with the extension direction of the conveying line 10, the moving mechanism 200 drives the manipulator body 100 to rotate 90° in the positive direction as a whole during the above process. Further, the manipulator body 100 conveys each adapter to a conveying line 10 by moving and rotating, and at the same time, each clamping claw 102 realizes synchronous rotation through the transmission assembly, so that the placement direction of each adapter is uniformly adjusted to the placement direction required by the conveying line 10 here. Further, when the manipulator body 100 needs to convey each adapter to another conveying line 10, the manipulator body 100 grabs the adapter through the clamping claw 102, and then rotates 90° in the opposite direction, so that each adapter can be driven to reach another conveying line 10, completing the conveying process of the multi-stage rotating manipulator.

[0065] The above is a detailed description of the implementation methods of the present application in conjunction with the accompanying drawings, but the present application is not limited to the above implementation methods. Various changes can be made within the knowledge of ordinary technicians in the technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. A multi-stage rotary manipulator, characterized in that: include: A manipulator body, the manipulator body comprising a plurality of transmission components and a plurality of rotatable clamping jaws, each of the clamping jaws being linked by the transmission components to perform synchronous rotation; A moving mechanism is connected to the manipulator body, and the moving mechanism body is used to drive the manipulator body to rotate and move as a whole.

2. The multi-stage rotary manipulator according to claim 1, characterized in that: The adjacent clamping jaws are transmission connected via the transmission assembly.

3. The multi-stage rotary manipulator according to claim 2, characterized in that: The transmission assembly comprises a flexible transmission component and a transmission wheel fixedly connected to the clamping jaws, and the transmission wheels on adjacent clamping jaws are connected via the flexible transmission component.

4. The multi-stage rotary manipulator according to claim 2, characterized in that: The robot body comprises a rotary driver, and the rotary driver drives the other clamping jaws to rotate synchronously by driving a single clamping jaw to rotate.

5. The multi-stage rotary manipulator according to claim 3, characterized in that: The robot body comprises a tensioning component, and the tensioning component is in rolling contact with the flexible transmission component to tension the flexible transmission component.

6. The multi-stage rotary manipulator according to claim 1, characterized in that: The moving mechanism includes a rotating assembly connected to the robot body, and the rotating assembly is used to drive the robot body to rotate as a whole.

7. The multi-stage rotary manipulator according to claim 6, characterized in that: The moving mechanism comprises a height adjustment component, the rotating component is arranged on the height adjustment component, and the height adjustment component is used to adjust the height of the manipulator body.

8. The multi-stage rotary manipulator according to claim 7, characterized in that: The moving mechanism includes a first horizontal moving component, the height adjustment component is arranged on the first horizontal moving component, and the first horizontal moving component is used to adjust the horizontal position of the manipulator body.

9. The multi-stage rotary manipulator according to claim 8, characterized in that: The moving mechanism includes a second horizontal moving component, which is arranged on the first horizontal moving component, and the second horizontal moving component and the first horizontal moving component guide the movement direction of the manipulator body to form an angle.

10. A feeding device, characterized in that: It comprises a multi-stage rotating manipulator as described in any one of claims 1 to 9.

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