Robot sorting manipulator

Abstract

The utility model relates to the technical field of manipulators, in particular to a robot sorting manipulator which comprises an assembly frame body, a clamping structure is arranged outside the assembly frame body, the clamping structure comprises a mechanical clamping arm, one end of the mechanical clamping arm is hinged to an outer hinged support, and an auxiliary structure is arranged at the other end of the mechanical clamping arm. The outer hinged seat is assembled on the outer wall of the right side of the assembling frame body, an inner hinged rod is hinged to the middle of the inner side wall of the mechanical clamping arm, a supporting plate is hinged to the end, away from the mechanical clamping arm, of the inner hinged rod, and a control rod is fixed to the inner side of the supporting plate and inserted into the right side wall of the assembling frame body in a penetrating mode; and a control plate is fixed to the side, away from the supporting plate, of the control rod, the control plate is clamped in the mechanical clamping arm, an armature block is assembled on the left side wall of the control plate, and an electromagnetic assembly corresponding to the armature block is arranged on the left side of the armature block. According to the utility model, rapid assembly and clamping control can be conveniently carried out according to needs, so that the operation is more convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a robot sorting manipulator. Background Art

[0002] With the continuous development of science and technology, the emergence of robots has greatly facilitated people's production work and reduced the workload. The use of robots for gripping and sorting on the production line makes it easier to hand over repetitive and boring work to the machine. The robot needs to use a manipulator to grip and pick up during operation. Most of the existing manipulators require components such as drives or cylinders for control and operation, which is inconvenient to quickly assemble on the robot arm, affecting the efficiency of operation. For example, the Chinese utility model authorized by announcement number CN215240920U discloses a soft gripper for a sorting robot that is integrated with a gripper and a suction device. The invention discloses a manipulator device, comprising: a chassis, a flange and a grasping mechanism; the flange is fixedly connected to the top surface of the chassis, and a plurality of grasping mechanisms are arranged and arranged at equal intervals on the bottom surface of the chassis in the circumferential direction; the grasping mechanism comprises an articulated block, which is arranged at the bottom of the chassis, an air suction component is arranged in the chassis, a limit component is arranged on the bottom surface of the chassis, the articulated block is slidably connected to the limit component, a spherical cavity is opened at the bottom of the articulated block, the spherical cavity is connected to the air suction component, a hemispherical shell is slidably connected in the spherical cavity, the top surface of the hemispherical shell is open, and the bottom of the hemispherical shell is connected to the grasping component. The hemispherical shell body cooperates with the spherical cavity to increase the range of movement of the grasping component, so that the grasping component has stronger adaptability when grasping objects, makes active adjustments for objects of different shapes, always keeps the effective adsorption area with the object at the maximum value, and enhances the grasping efficiency. Therefore, it can be seen that the current manipulator device basically meets people's needs, but there are still some problems.

[0003] Existing devices: Most of them require components such as drives or cylinders for control operations, which are inconvenient to quickly assemble on the robot arm, affecting the efficiency of operation. Therefore, a robot sorting manipulator is urgently needed to solve the above problems. Utility Model Content

[0004] The purpose of the utility model is to provide a robot sorting manipulator to solve the problem that the existing devices proposed in the above background technology mostly require components such as drives or cylinders for control operations, are inconvenient to be quickly assembled on the robot arm, and affect the operating efficiency.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot sorting manipulator comprises an assembly frame, a clamping structure is arranged on the outside of the assembly frame, the clamping structure comprises a mechanical clamping arm, one end of the mechanical clamping arm is hinged with an external hinge seat, and the other end of the mechanical clamping arm is provided with an auxiliary structure, the external hinge seat is mounted on the right outer wall of the assembly frame, the middle part of the inner wall of the mechanical clamping arm is hinged with an inner hinge rod, the end of the inner hinge rod away from the mechanical clamping arm is hinged with a support plate, a control rod is fixed on the inside of the support plate, the control rod is inserted through the right wall of the assembly frame, a control plate is fixed on the side of the control rod away from the support plate, the control plate is clamped inside the mechanical clamping arm, the left wall of the control plate is equipped with an armature block, and an electromagnetic component corresponding to it is arranged on the left side of the armature block, and the electromagnetic component is mounted on the left side wall of the assembly frame.

[0006] Preferably, a connecting wire is assembled and connected inside the left side of the electromagnetic component, and an assembly foot is fixed to the left outer wall of the assembly frame, and an assembly hole is opened inside the assembly foot.

[0007] Preferably, a limit pin is integrally provided on one side of the armature block close to the control panel, the limit pin is clamped inside the control panel, a limit slider is fixed to the side end of the control panel, the limit slider is clamped inside the side wall of the assembly frame, and a limit slot corresponding to the limit slider is opened inside the side wall of the assembly frame.

[0008] Preferably, a limiting slide rod is inserted through the side edge of the right side wall of the assembly frame, one end of the limiting slide rod is fixed to the surface of the support plate, and the other end of the limiting slide rod is fixed to the surface of the control plate. A rebound spring is sleeved on the surface of the control rod, and the rebound spring is located between the right side of the assembly frame and the support plate.

[0009] Preferably, the auxiliary structure includes an auxiliary splint, which is integrally arranged with the mechanical clamping arm, an assembly slide column is inserted inside the auxiliary splint, a clamping inner plate is fixed to the inner end of the assembly slide column, an auxiliary spring is sleeved on the surface of the assembly slide column, the auxiliary spring is located between the auxiliary splint and the clamping inner plate, and the outer end of the assembly slide column is assembled with an auxiliary outer plate through an assembly nut.

[0010] Preferably, an adjusting screw is threadedly connected to the middle portion of the auxiliary outer plate, the inner end of the adjusting screw abuts against the outer wall of the auxiliary clamping plate, the inner wall of the clamping inner plate is arc-shaped, and a frosted inner pad is glued to the inner wall of the clamping inner plate.

[0011] Compared with the prior art, the beneficial effects of the utility model are:

[0012] 1. The robot sorting manipulator is provided with a clamping structure. Under the setting of the mechanical clamping arm, it is convenient to hinge the outer hinge seat and the inner hinge rod through the electromagnetic adsorption of the armature block and the electromagnetic assembly, and it is convenient to drive the control rod to be inserted and pulled through the control panel, so that the control rod drives the support plate to move, so that the mechanical clamping arm is convenient to clamp objects. When assembling, it is sufficient to connect the circuit control circuit. Through this design, the convenience and practicality of the robot sorting manipulator are improved.

[0013] 2. The robot sorting manipulator is provided with an auxiliary structure. With the setting of the auxiliary clamping plate and the assembly sliding column, it is convenient to assist the assembly of the clamping inner plate, so that the clamping inner plate can cooperate with the mechanical clamping arm and the auxiliary clamping plate to assist in buffering and clamping the items, making the operation more convenient. Through this design, the convenience and practicality of the robot sorting manipulator are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of a top view cross section of the structure of the utility model;

[0015] Figure 2 It is a schematic diagram of the structure of the utility model;

[0016] Figure 3 For this utility model Figure 1 A schematic diagram of the structure enlargement in the middle;

[0017] Figure 4 For this utility model Figure 1 A magnified schematic diagram of the structure at B in the middle;

[0018] Figure 5 For this utility model Figure 1 A magnified schematic diagram of the structure at C in the middle;

[0019] In the figure: 111, assembly frame; 2, clamping structure; 211, mechanical clamping arm; 212, outer hinge seat; 213, inner hinge rod; 214, support plate; 215, control rod; 216, control board; 217, armature block; 218, electromagnetic assembly; 219, connecting wire; 220, assembly foot; 221, assembly hole; 222, limit clamping foot; 223, limit slider; 224, limit slide groove; 225, limit slide rod; 226, rebound spring; 3, auxiliary structure; 311, auxiliary clamping plate; 312, assembly slide column; 313, clamping inner plate; 314, auxiliary spring; 315, auxiliary outer plate; 316, assembly nut; 317, adjusting screw; 318, frosted inner pad. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] See also Figure 1-5 , an embodiment provided by the utility model:

[0022] A robot sorting manipulator includes an assembly frame 111, a clamping structure 2 is arranged outside the assembly frame 111, the clamping structure 2 includes a mechanical clamping arm 211, one end of the mechanical clamping arm 211 is hinged with an external hinge seat 212, the other end of the mechanical clamping arm 211 is provided with an auxiliary structure 3, the external hinge seat 212 is assembled on the right outer wall of the assembly frame 111, the middle part of the inner side wall of the mechanical clamping arm 211 is hinged with an inner hinge rod 213, and the end of the inner hinge rod 213 away from the mechanical clamping arm 211 is hinged with an A support plate 214, a control rod 215 is fixed inside the support plate 214, the control rod 215 penetrates and is inserted into the right side wall of the assembly frame 111, a control plate 216 is fixed on the side of the control rod 215 away from the support plate 214, the control plate 216 is clamped inside the mechanical clamp arm 211, an armature block 217 is installed on the left side wall of the control plate 216, an electromagnetic assembly 218 corresponding to the armature block 217 is arranged on the left side of the armature block 217, and the electromagnetic assembly 218 is installed on the left side wall of the assembly frame 111;

[0023] A connecting wire 219 is assembled and connected inside the left side of the electromagnetic assembly 218, and an assembly foot 220 is fixed to the left outer wall of the assembly frame 111. An assembly hole 221 is opened inside the assembly foot 220. Through this design, it is easy to assemble and connect the assembly frame 111, making subsequent operations more convenient;

[0024] A limit clamping foot 222 is integrally provided on one side of the armature block 217 close to the control plate 216. The limit clamping foot 222 is clamped inside the control plate 216. A limit slider 223 is fixed to the side end of the control plate 216. The limit slider 223 is clamped inside the side wall of the assembly frame 111. A limit sliding groove 224 corresponding to the limit slider 223 is provided inside the side wall of the assembly frame 111. This design facilitates the auxiliary limit sliding of the control plate 216 and the armature block 217, making it more convenient to use.

[0025] A limit slide bar 225 is inserted through the side of the right side wall of the assembly frame 111, one end of the limit slide bar 225 is fixed to the surface of the support plate 214, and the other end of the limit slide bar 225 is fixed to the surface of the control plate 216. A rebound spring 226 is sleeved on the surface of the control rod 215, and the rebound spring 226 is located between the right side of the assembly frame 111 and the support plate 214. Through this design, it is convenient to operate the limit sliding of the control plate 216 and the support plate 214, making the operation more convenient and stable;

[0026] The auxiliary structure 3 includes an auxiliary clamping plate 311, and the auxiliary clamping plate 311 and the mechanical clamping arm 211 are integrally arranged. An assembly slide post 312 is inserted inside the auxiliary clamping plate 311, and a clamping inner plate 313 is fixed to the inner end of the assembly slide post 312. An auxiliary spring 314 is sleeved on the surface of the assembly slide post 312, and the auxiliary spring 314 is located between the auxiliary clamping plate 311 and the clamping inner plate 313. The outer end of the assembly slide post 312 is assembled with an auxiliary outer plate 315 through an assembly nut 316. Through this design, it is convenient to assist in the clamping and buffering of the object, making the clamping operation more convenient;

[0027] An adjusting screw 317 is threadedly connected to the middle part of the auxiliary outer plate 315, and the inner end of the adjusting screw 317 abuts against the outer wall of the auxiliary clamping plate 311. The inner wall of the clamping inner plate 313 is arc-shaped, and a frosted inner pad 318 is glued to the inner wall of the clamping inner plate 313. Through this design, it is convenient to provide limited support and auxiliary clamping for the clamping inner plate 313.

[0028] Working principle: When the robot arm needs to be assembled and used, the connecting wire 219 is connected to the control circuit to control the on and off of the circuit. With the cooperation of the assembly hole 221, the assembly frame 111 is assembled on the robot arm through the assembly foot 220. When the power is turned on, the electromagnetic component 218 absorbs the armature block 217, which is convenient for driving the control panel 216 to pull the control rod 215 to move, and the control rod 215 drives the support plate 214 to move, so that the support plate 214 pulls the inner hinge rod 213 to drive the middle part of the mechanical clamping arm 211 to move, so that the mechanical clamping arm 211 is tightened and clamped with the cooperation of the outer hinge seat 212. When the power is turned off, the electromagnetic component 218 no longer absorbs the armature block 217, which is convenient for releasing the pull on the support plate 214. When the object is released, with the cooperation of the rebound spring 226, the support plate 214 can rebound quickly under the action of the elastic force to support the inner hinge rod 213 and the mechanical clamping arm 211 to open, making the operation and control more convenient. Furthermore, when clamping the object, the assembly slide column 312 is assembled under the elastic force of the auxiliary spring 314, which is convenient for the auxiliary resistance of the clamping inner plate 313. When clamping, the clamping inner plate 313 can initially clamp and buffer the object without clamping it all at once, which is convenient for maintenance. When the auxiliary outer plate 315 is assembled, it is convenient to pull the clamping inner plate 313 by adjusting the assembly of the screw 317, thereby adjusting the auxiliary buffer gap, making subsequent use more convenient. The operation ends here.

[0029] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. A robot sorting manipulator, comprising an assembly frame (111), characterized in that: The assembly frame (111) is provided with a clamping structure (2) on the outside, the clamping structure (2) comprising a mechanical clamping arm (211), one end of the mechanical clamping arm (211) being hingedly connected to an external hinge seat (212), the other end of the mechanical clamping arm (211) being provided with an auxiliary structure (3), the external hinge seat (212) being mounted on the right outer wall of the assembly frame (111), the middle part of the inner wall of the mechanical clamping arm (211) being hingedly connected to an inner hinge rod (213), the end of the inner hinge rod (213) away from the mechanical clamping arm (211) being hingedly connected to a support plate (214), the support plate (215) being hingedly connected to the inner wall of the mechanical clamping arm (211). A control rod (215) is fixed on the inner side of the plate (214), and the control rod (215) is inserted through the right side wall of the assembly frame (111). A control plate (216) is fixed on the side of the control rod (215) away from the support plate (214), and the control plate (216) is clamped inside the mechanical clamp arm (211). An armature block (217) is installed on the left side wall of the control plate (216), and an electromagnetic assembly (218) corresponding to the armature block (217) is arranged on the left side of the armature block (217), and the electromagnetic assembly (218) is installed on the left side wall of the assembly frame (111).

2. A robot sorting manipulator according to claim 1, characterized in that: A connecting wire (219) is assembled and connected inside the left side of the electromagnetic component (218), and an assembly foot (220) is fixed to the left side outer wall of the assembly frame (111), and an assembly hole (221) is opened inside the assembly foot (220).

3. A robot sorting manipulator according to claim 1, characterized in that: A limiting clamping foot (222) is integrally provided on one side of the armature block (217) close to the control panel (216); the limiting clamping foot (222) is clamped inside the control panel (216); a limiting slider (223) is fixed to the side end of the control panel (216); the limiting slider (223) is clamped inside the side wall of the assembly frame (111); and a limiting sliding groove (224) corresponding to the limiting slider (223) is provided inside the side wall of the assembly frame (111).

4. A robot sorting manipulator according to claim 1, characterized in that: A limiting slide bar (225) is inserted through the side edge of the right side wall of the assembly frame (111), one end of the limiting slide bar (225) is fixed to the surface of the support plate (214), and the other end of the limiting slide bar (225) is fixed to the surface of the control plate (216). A rebound spring (226) is sleeved on the surface of the control rod (215), and the rebound spring (226) is located between the right side of the assembly frame (111) and the support plate (214).

5. A robot sorting manipulator according to claim 1, characterized in that: The auxiliary structure (3) comprises an auxiliary clamping plate (311), wherein the auxiliary clamping plate (311) and the mechanical clamping arm (211) are integrally arranged, wherein an assembly slide post (312) is inserted inside the auxiliary clamping plate (311), wherein an inner clamping inner plate (313) is fixed to the inner end of the assembly slide post (312), wherein an auxiliary spring (314) is sleeved on the surface of the assembly slide post (312), wherein the auxiliary spring (314) is located between the auxiliary clamping plate (311) and the clamping inner plate (313), and wherein an outer end of the assembly slide post (312) is assembled with an auxiliary outer plate (315) via an assembly nut (316).

6. A robot sorting manipulator according to claim 5, characterized in that: The middle part of the auxiliary outer plate (315) is threadedly connected with an adjusting screw (317), the inner end of the adjusting screw (317) abuts against the outer wall of the auxiliary clamping plate (311), the inner wall of the clamping inner plate (313) is arc-shaped, and a frosted inner pad (318) is glued to the inner wall of the clamping inner plate (313).

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