Automatic turn-over manipulator

Abstract

The invention provides an automatic turn-over manipulator, which relates to the field of industrial robots and comprises a mechanical arm and a second ring sleeve rigidly connected with the tail end of the mechanical arm, a sleeve is arranged in the center of the second ring sleeve and moves in the axis direction of the second ring sleeve, and a cavity is formed in the sleeve and is a workpiece accommodating cavity; and a plurality of second through grooves are formed in the periphery of the sleeve, and after the sleeve moves towards one side relative to the second ring sleeve to the maximum movement amount, all the second through grooves leave the second ring sleeve. Functional innovation is achieved through telescopic movement of the rocker assemblies installed on the second ring sleeve in the sleeve, when the rocker assemblies are screwed into the sleeve along with the sleeve relative to the second ring sleeve in a sliding mode, extrusion contact can be implemented from multiple directions according to the peripheral shape of a workpiece, and the uniform and effective three-dimensional clamping effect is achieved; and clamping of the workpiece can be relieved through reverse movement of the sleeve relative to the second ring sleeve, so that the releasing function is achieved.

Description

Technical Field

[0001] The present invention relates to the field of industrial robots, and in particular to an automatic flipping robot. Background Art

[0002] For workpieces with irregular outer surfaces, such as those with irregular protrusions or depressions on the outer surface, using traditional U-shaped clamps for bidirectional clamping is particularly prone to obvious indentations on the workpiece surface due to factors such as limited contact area and uncertain contact position. After reducing the clamping force to reduce the risk of indentations, it is difficult to overcome the centrifugal force during the 180° rotation and flipping process, and the probability of the workpiece falling is significantly increased. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic flipping robot to solve the above technical problems.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] An automatic flipping robot comprises a robot arm, a second ring sleeve rigidly connected to the end of the robot arm, a sleeve in the center of the second ring sleeve, the sleeve moves in the direction of the axis of the second ring sleeve, a cavity is formed in the sleeve, and the cavity is a workpiece accommodating cavity;

[0006] The outer periphery of the sleeve is provided with a plurality of second through grooves. When the sleeve moves relative to the second ring sleeve to a maximum movement toward one side, all the second through grooves leave the second ring sleeve. When the sleeve moves relative to the second ring sleeve toward the other side, the second through grooves enter the second ring sleeve.

[0007] The outer periphery of the second ring sleeve has a plurality of first through grooves corresponding to the second through grooves, and the rocker assembly is installed in the first through grooves. The rocker assembly contacts the sleeve and extends from the second through groove into the accommodating cavity to squeeze the workpiece when the sleeve moves toward the other side relative to the second ring sleeve.

[0008] There are also locking structures on both sides of the sleeve, which lock the sleeve and the second ring sleeve after the sleeve moves to the maximum movement relative to the second ring sleeve.

[0009] Preferably, at least four inserting pieces are installed in the first through slots, and the inserting pieces form two opposite openings in the first through slots, and the openings cooperate with the locking structure.

[0010] Preferably, there are baffles at both ends of the sleeve to prevent the sleeve from slipping off the second ring sleeve. The baffles are also provided with an extension frame corresponding to the position of the insert, wherein the extension frame is installed with a universal ball, and the inner side of the extension frame is a locking structure, which enters the opening when the sleeve moves to the maximum movement relative to the second ring sleeve.

[0011] Preferably, the locking structure is a protrusion.

[0012] Preferably, the rocker assembly includes a tension spring seat, which is installed in all first through slots except for the one where the insert is set. The relative position of the tension spring seat is the first rod, which is rotatably set in the first through slot. Both sides of the first rod extend outward from the first through slot, and the side extending toward the sleeve is provided with a rubber head, and the other side is the first rod seat. The first rod seat and the tension spring seat are connected by a tension spring.

[0013] Preferably, after the second through groove enters the second ring sleeve, the first rod will be screwed into the accommodating cavity from the second through groove and squeeze the workpiece through the rubber head.

[0014] Preferably, when the second through groove enters the second ring sleeve and the sleeve moves to the maximum movement relative to the second ring sleeve, all the first rods will maintain a state of squeezing the workpiece.

[0015] Preferably, when the second through groove moves from the second ring sleeve to completely leave the second ring sleeve, all the first rods release the squeeze on the workpiece under the push of the second through groove and lock the sleeve and the second ring sleeve again in the opposite direction.

[0016] Preferably, it further comprises a first ring sleeve, the first ring sleeve covers the second ring sleeve, the insert further extends outward, and the outward extending portion is connected to the first ring sleeve.

[0017] The beneficial effects of the present invention are:

[0018] 1. The flipping robot proposed in the present invention is based on the sliding fit mechanism between the sleeve and the second ring sleeve, and realizes functional innovation through the telescopic movement of a plurality of rocker assemblies installed in the second ring sleeve inside the sleeve. When the rocker assemblies slide and screw into the sleeve relative to the second ring sleeve, they can implement extrusion contact from multiple directions according to the outer shape of the workpiece to form a uniform and effective three-dimensional clamping effect. After the workpiece is flipped, the workpiece can be released by the reverse movement of the sleeve relative to the second ring sleeve to release the clamping of the workpiece.

[0019] 2. The present invention provides a locking structure at the end of the sliding path between the sleeve and the second ring sleeve. The locking structure can not only solidify the clamping state by maintaining the relative position between the components, but also ensure that the sleeve retains sufficient travel space after flipping and resetting to maintain the continuous working ability of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of an automatic flipping robot;

[0021] Figure 2 for Figure 1 A front view of the automatic flipping robot shown;

[0022] Figure 3 Schematic diagram of the structure of the flip mechanism;

[0023] Figure 4 for Figure 3 a cross-sectional view of the mechanism shown;

[0024] Figure 5 for Figure 3 A schematic diagram of the structure of the mechanism shown after removing the fixed structure;

[0025] Figure 6 for Figure 5 A cross-sectional view of the mechanism shown before clamping the workpiece;

[0026] Figure 7 for Figure 5 A cross-sectional view of the structure shown after clamping the workpiece.

[0027] Figure numerals: 1, robotic arm; 2, first ring sleeve; 3, sleeve; 4, first baffle; 5, first extension frame; 6, first universal ball; 7, second ring sleeve; 8, first through-groove; 9, rocker assembly; 10, insert; 11, second baffle; 12, second extension frame; 13, second universal ball; 14, second through-groove; 15, first protrusion; 16, second protrusion; 901, first rod; 902, first rod seat; 903, tension spring; 904, tension spring seat; 905, rubber head. DETAILED DESCRIPTION

[0028] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0030] Specific embodiments of the present invention are described below with reference to the accompanying drawings.

[0031] Example 1

[0032] In this embodiment, an automatic flipping robot is proposed. Figure 1-Figure 7The automatic flipping robot includes a robot arm 1 with six degrees of freedom. The robot arm 1 is installed at the side of the conveyor belt. The workpiece described in this article is transported by the conveyor belt. It should be noted that the operating radius of the robot arm 1 overlaps with the moving path of the workpiece. Specifically, the robot arm 1 can flip the workpiece in the overlapping area with the help of the flipping mechanism to be proposed in this embodiment. In addition, the robot arm 1 is equipped with a visual recognition system, which can assist the flipping mechanism in putting the workpiece on the frame.

[0033] See also Figure 3-Figure 7 The flipping mechanism mentioned above includes a first ring 2 connected to the end of the robot arm 1, and a second ring 7 in the first ring 2 that coincides with the axis of the first ring 2. The second ring 7 and the first ring 2 form a sandwich. Figure 3-Figure 5 There are 36 first through grooves 8 on the side wall of the second ring sleeve 7, among which the inserts 10 need to be installed in the four first through grooves 8 located in the cross direction of the second ring sleeve 7, and the inserts 10 also need to extend outward from the interlayer to connect with the first ring sleeve 2. It should be noted that the insert 10 also forms two opposite openings in the first through grooves 8.

[0034] Please continue reading Figure 3-Figure 5 Except for the above four first through slots 8, all other first through slots 8 are provided with rocker assemblies 9. For rocker assemblies 9, please refer to Figure 5-Figure 7 It includes a tension spring seat 904 axially connected to the bottom of the first through slot 8. Above the tension spring seat 904 is a first rod 901 that penetrates the first through slot 8. The first rod 901 is screwed into the first through slot 8. The first rod 901 extends to both sides relative to the first through slot 8. A rubber head 905 is installed on the inner side, and the outer side is movably connected to the first rod seat 902. In addition, a tension spring 903 is used to connect the first rod seat 902 and the tension spring seat 904. Figure 6 and Figure 7 , the second ring sleeve 7 has annular cover plates at both ends, and the second ring sleeve 7 also has a sleeve 3 that coincides with its axis. The sleeve 3 extends outward from the center of the annular cover plate, and the outwardly extending parts respectively have a first baffle 4 and a second baffle 11. The first baffle 4 and the second baffle 11 can prevent the sleeve 3 from escaping from the second ring sleeve 7. It is further explained that the inner side of the sleeve 3 is a cavity, which is a accommodating cavity for the workpiece described in this article. In addition, the sleeve 3 can perform linear motion / slide relative to the second ring sleeve 7 under the constraint of the annular cover plate. It is further explained that there are 36 second through-grooves 14 on the side wall of the sleeve 3 corresponding to the position of the first through-grooves 8. Unlike the first through-grooves 8, the length of the second through-grooves 14 corresponds to the maximum extending length of the sleeve 3 relative to the second ring sleeve 7 (excluding the annular cover plate). Please refer to Figure 6, the sleeve 3 extends downward relative to the second ring 7. After extending, the portion of the sleeve 3 inside the second ring 7 is a solid wall. At this time, the rubber head 905 on the end of the first rod 901 contacts the wall of the sleeve 3. In this embodiment, after the sleeve 3 frames the workpiece (based on the visual recognition system to identify the position of the workpiece on the conveyor belt, the sleeve 3 is used to frame the workpiece), the robot arm 1 will move vertically downward to transition the sleeve 3 to Figure 7 In the state shown (the workpiece will completely enter the sleeve 3), during the transition period, when the first rod 901 enters the range of the second through groove 14, the tension spring 903 releases the tension force, pulling the first rod 901 in Figure 6 Rotate upward from the perspective shown, so that the first rod 901 is screwed into the second through groove 14 and the workpiece is squeezed based on the rubber head 905. It is further explained that since each first rod 901 has a corresponding tension spring 903 for traction, the first rod 901 can apply pressure in accordance with the outer shape of the workpiece and clamp the workpiece from multiple directions around the workpiece. In addition, as described above, each first rod 901 has a corresponding tension spring 903 for traction. Therefore, in this embodiment, each first rod 901 will adapt to the outer shape of the workpiece for extrusion.

[0035] In this embodiment, clamping is the first step, the second step is flipping, and after flipping, it is also necessary to release. Figure 6 and Figure 7 , a first extension frame 5 is provided on the periphery of the first baffle 4 at a position corresponding to the insert 10. The first extension frame 5 is an L-shaped bracket, which is a fixing structure of the first universal ball 6. A first protrusion 15 is further provided on the inner side of the first extension frame 5. The first protrusion 15 can enter the above-mentioned opening (the opening closest to the first protrusion 15) when the sleeve 3 slides relative to the second ring 7, so that the sleeve 3 is locked in the second ring 7 (such as Figure 6 As shown). Consistent with the first baffle 4, a second extension frame 12 is provided on the periphery of the second baffle 11 corresponding to the position of the insert 10. The second extension frame 12 is also an L-shaped frame. The frame is a fixing structure for the second universal ball 13. A protrusion is also provided on the inner side of the second extension frame 12. The protrusion is a second protrusion 16. When the sleeve 3 slides relative to the second ring 7, the second protrusion 16 can enter another opening, so that the sleeve 3 is locked in the second ring 7 (as shown in FIG. Figure 7 As shown). Further explanation, the second baffle 11 is Figure 6 The state shown transitions to Figure 7 In the state shown, the structure in contact with the conveyor belt is the second universal ball 13. In addition, the locking state of the sleeve 3 and the second ring 7 is not firm. Specifically, the locking is achieved based on a snap connection. Figure 6For example, when the robot arm 1 continuously applies vertical pressure, the first protrusion 15 can be disengaged from the corresponding opening. To further illustrate, by means of the protrusion being locked into the opening, the sleeve 3 and the second ring 7 are kept in a locked state, and the multiple first rods 901 press the workpiece from multiple directions around the workpiece to form an effective and uniform clamping state, the robot arm 1 can be used to rotate the workpiece 180 degrees to complete the flip. In addition, Figure 7 After the structure shown rotates 180 degrees, the vertical pressure process of the robot arm 1 can be repeated, and the first universal ball 6 contacts the conveyor belt, so that the second protrusion 16 is disengaged from the corresponding opening. After disengagement, the sleeve 3 transitions to the second ring sleeve 7. Figure 6 In the style after rotating 180°, during the transition period, the end side of the second through groove 14 will push the first rod 901 to rotate in the opposite direction, so that the rubber head 905 will be separated from the workpiece surface, releasing the extrusion contact on the workpiece, and allowing the workpiece to fall back into the conveyor belt after turning over.

[0036] The flipping mechanism proposed in this embodiment can also grind or polish the end face of the workpiece. Specifically, in the process when the sleeve 3 frames the workpiece until it is flipped over and in the process after the sleeve 3 releases the workpiece, the two end faces of the workpiece rub against the conveyor belt. Therefore, the conveyor belt can be replaced with a material with a high friction coefficient, that is, the end face of the workpiece can be ground or polished during the process of flipping the workpiece. Of course, it is best to grind or polish the workpiece on a metal material.

[0037] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0038] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. An automatic flipping robot, characterized by: It includes a robotic arm, a second ring sleeve rigidly connected to the end of the robotic arm, a sleeve in the center of the second ring sleeve, the sleeve moves in the axis direction of the second ring sleeve, and a cavity is formed in the sleeve, which is a receiving cavity for the workpiece; The outer periphery of the sleeve is provided with a plurality of second through grooves. When the sleeve moves relative to the second ring sleeve to a maximum movement toward one side, all the second through grooves leave the second ring sleeve. When the sleeve moves relative to the second ring sleeve toward the other side, the second through grooves enter the second ring sleeve. The outer periphery of the second ring sleeve has a plurality of first through grooves corresponding to the second through grooves, and the rocker assembly is installed in the first through grooves. The rocker assembly contacts the sleeve and extends from the second through groove into the accommodating cavity to squeeze the workpiece when the sleeve moves toward the other side relative to the second ring sleeve. There are also locking structures on both sides of the sleeve, which lock the sleeve and the second ring sleeve after the sleeve moves to the maximum movement relative to the second ring sleeve.

2. The automatic flipping robot according to claim 1, characterized in that: Inserts are installed in at least four first through slots, and the inserts form two opposite openings in the first through slots, and the openings cooperate with the locking structure.

3. The automatic flipping robot according to claim 2, characterized in that: There are baffles at both ends of the sleeve to prevent the sleeve from slipping off the second ring sleeve. The baffles are also equipped with an extension frame corresponding to the position of the insert. The extension frame is installed with a universal ball, and the inside of the extension frame is a locking structure. When the sleeve moves to the maximum movement relative to the second ring sleeve, the locking structure enters the opening.

4. The automatic flipping robot according to claim 3, characterized in that: The locking structure is a projection.

5. The automatic flipping robot according to claim 3, characterized in that: The rocker assembly includes a tension spring seat, which is installed in all first through slots except for the insert. The relative position of the tension spring seat is the first rod, and the first rod is rotatably set in the first through slot. Both sides of the first rod extend outward from the first through slot, and the side extending toward the sleeve is provided with a rubber head, and the other side is the first rod seat. The first rod seat and the tension spring seat are connected by a tension spring.

6. The automatic flipping robot according to claim 5, characterized in that: After the second through groove enters the second ring sleeve, the first rod will be screwed into the accommodating cavity from the second through groove and squeeze the workpiece through the rubber head.

7. The automatic flipping robot according to claim 6, characterized in that: When the second through groove enters the second ring sleeve and the sleeve moves to the maximum movement relative to the second ring sleeve, all the first rods will maintain the state of squeezing the workpiece.

8. The automatic flipping robot according to claim 7, characterized in that: When the second through slot moves from the second ring sleeve to completely leave the second ring sleeve, all the first rods release the squeeze on the workpiece under the push of the second through slot and lock the sleeve and the second ring sleeve again in the opposite direction.

9. The automatic flipping robot according to claim 2, characterized in that: It also includes a first ring sleeve, which covers the second ring sleeve. The insert also extends outward, and the outward extending portion is connected to the first ring sleeve.

Images