Telescopic downward probing manipulator

Abstract

The utility model relates to a telescopic downward probing manipulator. The downward probing manipulator comprises a downward probing assembly and a stacking gripper assembly arranged at the bottom of the downward probing assembly. The downward probing assembly is used for driving the stacking gripper assembly to move in the vertical direction. Wherein the downward detection assembly comprises a plurality of stages of moving plates which are arranged in sequence, rotating wheels are arranged on the moving plates which are not arranged at the head stage and the tail stage, transmission belts are arranged on the rotating wheels, one end of each transmission belt is connected to the moving plate at the previous stage, and the other end of each transmission belt is connected to the moving plate at the next stage; the first-stage moving plate is further provided with a driving piece used for driving the next-stage moving plate to vertically move. The stacking gripper assembly is driven by the downward probing assembly capable of amplifying the stroke to form the mechanical arm, material stacking can be achieved in a narrow space, the stacking speed is greatly increased, and the material stacking efficiency is directly improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of palletizing manipulators, and in particular relates to a telescopic downward-reaching manipulator. Background Art

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

[0003] The use of a robot when palletizing materials can improve the palletizing efficiency. However, during the palletizing process, the materials need to be driven to achieve vertical lifting. In a factory with narrow space, it is easily restricted by the roof height. In addition, the lifting speed of ordinary palletizing robots is slow, which affects the palletizing efficiency. Utility Model Content

[0004] The purpose of the utility model is to provide a telescopic reaching manipulator in order to solve the problems raised in the above background technology.

[0005] The utility model achieves the above-mentioned purpose through the following technical solutions:

[0006] A telescopic downward-reaching manipulator comprises a downward-reaching assembly and a palletizing gripper assembly arranged at the bottom of the downward-reaching assembly, wherein the downward-reaching assembly is used to drive the palletizing gripper assembly to move in a vertical direction;

[0007] Among them, the downward exploration component includes several levels of movable plates arranged in sequence, and rotating wheels are provided on the movable plates other than the first and last levels, and transmission belts are provided on the rotating wheels. One end of the transmission belt is connected to the upper level movable plate, and the other end is connected to the lower level movable plate. A driving member for driving the lower level movable plate to move vertically is also provided on the first level movable plate.

[0008] Preferably, the two plate surfaces of the movable plate other than the first and last stages are respectively provided with a plurality of guide wheels and guide bars, and the guide wheels and guide bars on adjacent movable plates cooperate with each other to ensure that each movable plate can only move vertically.

[0009] Preferably, the guide wheels and guide strips on the same movable plate are respectively divided into two groups and each group is arranged vertically, and the two groups of guide wheels sandwich the two groups of guide strips.

[0010] Preferably, the driving member comprises a No. 2 driving motor, a No. 4 gear is disposed at the output shaft end of the No. 2 driving motor, and a rack meshing with the No. 4 gear is disposed on the next-level moving plate of the moving plate.

[0011] Preferably, the rotating wheel and the transmission belt are a combination of a roller and a belt or a combination of a gear and a chain belt.

[0012] Preferably, the stacking gripper assembly includes an outer shell plate, a driving motor No. 1 connected to the downward probe assembly and used to drive the outer shell plate to rotate is provided on the top of the outer shell plate, two flipping members and a driving module for driving the flipping members to flip are provided on the outer shell plate, and the flipping members are used to receive materials and can generate flipping to make the materials fall downwards.

[0013] Preferably, the driving module comprises a flip motor arranged on the housing plate, a flip reducer connected to the flip motor, a first gear, a second gear and a third gear arranged horizontally in sequence and meshing with each other, two rotating blocks and two connecting rods connected to the two rotating blocks;

[0014] The first gear is connected to the flip reducer, the two rotating blocks are respectively connected to the second gear and the third gear through the connecting shaft, and the end of the connecting rod away from the rotating block is connected to the flip member.

[0015] Preferably, the flap member comprises two limit plates parallel to each other, and a plurality of rollers equidistantly arranged along the length direction of the two limit plates, wherein the rollers are located between the two limit plates.

[0016] The beneficial effects of the utility model are:

[0017] 1. The utility model utilizes a downward-reaching component with an enlarged stroke to drive a stacking gripper component to form a manipulator, which can realize the stacking of materials in a narrow space, and the stacking speed is greatly improved, which directly improves the efficiency of material stacking.

[0018] 2. The utility model can drive the material to move horizontally, move up and down, and rotate itself, so that the placement of the material is more suitable, and the stacking effect and efficiency are improved.

[0019] 3. The utility model has a simple structure, is easy to operate, and has a low manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 It is a schematic diagram of the unfolding effect of the downward probe component in the utility model;

[0022] Figure 3 It is a schematic diagram of the positional relationship between the first plate and the second drive motor in the utility model;

[0023] Figure 4 It is a structural schematic diagram of the palletizing gripper assembly in the utility model;

[0024] Figure 5It is a schematic diagram of the positional relationship among the first gear, the second gear and the third gear in the utility model.

[0025] In the figure: 1. Probe assembly; 2. Palletizing gripper assembly; 3. Shell plate; 4. Drive motor No. 1; 5. Flip motor; 6. Gear No. 1; 7. Gear No. 2; 8. Gear No. 3; 9. Rotating block; 10. Connecting rod; 11. Limiting plate; 12. Roller; 13. Plate No. 1; 14. Plate No. 2; 15. Plate No. 3; 16. Plate No. 4; 17. Drive motor No. 2; 18. Gear No. 4; 19. Rack; 20. Belt No. 1; 21. Roller No. 2; 22. Belt No. 2; 23. Roller No. 3; 24. Guide wheel; 25. Guide strip. DETAILED DESCRIPTION

[0026] The present application is described in further detail below. It is necessary to point out that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technicians in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0027] Example 1

[0028] like Figure 1-5 As shown, the telescopic reaching manipulator comprises:

[0029] A lowering assembly 1 is used to drive the material to move up and down; and

[0030] The palletizing gripper assembly 2 is arranged at the bottom of the downward probe assembly 1, and the downward probe assembly 1 is used to drive the palletizing gripper assembly 2 to move in the vertical direction, and the palletizing gripper assembly 2 is used to drive the material to turn and place for palletizing.

[0031] The probe assembly 1 includes a first plate 13, a second plate 14, a third plate 15 and a fourth plate 16 which are parallel to each other (four plates are used as an example in this embodiment, and the specific number can be flexibly changed), and the second plate 14 is the lower plate of the first plate 13, and so on;

[0032] A No. 2 driving motor 17 is provided on the No. 1 plate 13, a No. 4 gear 18 is provided on the No. 2 driving motor 17, a rack 19 meshing with the No. 4 gear 18 is provided on the No. 2 plate 14, two No. 1 belts 20 (or chain belts, the same below) arranged in parallel are provided on the No. 1 plate 13, the No. 2 driving motor 17 drives the No. 4 gear 18 to rotate and drives the rack 19 to move, so as to realize the lifting and lowering of the No. 2 plate 14;

[0033] Two No. 2 rollers 21 (or gears, rollers, the same below) are provided on the No. 2 plate 14, and two No. 1 belts 20 are connected to the No. 3 plate 15 after passing through the No. 2 rollers 21 respectively. Two No. 2 belts 22 arranged in parallel are provided on the No. 2 plate 14. When the No. 2 plate 14 moves downward, the height of one end of the No. 1 belt 20 fixedly connected to the No. 1 plate 13 and located on the No. 3 plate 15 is lowered, so that the No. 3 plate 15 moves downward;

[0034] Two No. 3 rollers 23 are provided on the No. 3 plate 15, and the two No. 2 belts 22 are connected to the No. 4 plate 16 after passing through the No. 3 rollers 23 respectively. When the No. 3 plate 15 moves downward, the height of one end of the No. 2 belt 22 fixedly connected to the No. 2 plate 14 located on the No. 4 plate 16 is lowered, so that the No. 4 plate 16 moves downward, realizing the stroke and speed amplification effect of the No. 4 plate 16, and the amplification multiple can be adjusted according to actual needs.

[0035] The stacking gripper assembly 2 includes an outer shell plate 3, a driving motor No. 1 connected to the probe assembly 1 and used to drive the outer shell plate 3 to rotate is provided on the top of the outer shell plate 3, two flipping members and a driving module for driving the flipping members to flip are provided on the outer shell plate 3, the flipping members are used to receive materials and can flip so that the materials fall downwards, the driving motor No. 1 drives the outer shell plate 3 and the flipping members and the driving module on the outer shell plate 3 to rotate, thereby realizing the turning of the materials.

[0036] In the above embodiment, the driving module includes a flip motor 5 provided on the housing plate 3, a flip reducer connected to the flip motor 5, a first gear 6, a second gear 7 and a third gear 8 arranged horizontally in sequence and meshing with each other, two rotating blocks 9 and two connecting rods 10 connected to the two rotating blocks 9;

[0037] Among them, the No. 1 gear 6 is connected to the flipping reducer, the two rotating blocks 9 are respectively connected to the No. 2 gear 7 and the No. 3 gear 8 through the connecting shaft, and the end of the connecting rod 10 away from the rotating block 9 is connected to the flipping member. The rotation directions of the No. 2 gear 7 and the No. 3 gear 8 are opposite. Driven by the No. 1 gear 6, the No. 2 gear 7 and the No. 3 gear 8 respectively drive the two rotating blocks 9 to rotate in the opposite direction. The two rotating blocks 9 respectively drive the two connecting rods 10 to control the flipping members, thereby realizing the synchronous flipping of the flipping members, and the flipping directions are opposite.

[0038] In the above embodiment, the flipping member includes two limit plates 11 parallel to each other, the limit plates 11 are rotatably mounted on the outer shell plate 3, the connecting rod 10 is rotatably connected to the end of the limit plate 11, and a plurality of rollers 12 are equidistantly arranged along the length direction of the two limit plates 11. The rollers 12 are located between the two limit plates 11. When the connecting rod 10 drives the limit plates 11 to rotate, the rollers 12 are flipped, thereby realizing the downward falling of the material.

[0039] Furthermore, a plurality of guide wheels 24 are provided on the No. 1 plate 13, the No. 2 plate 14 and the No. 3 plate 15, and a plurality of guide strips 25 in contact with the guide wheels 24 are provided on the No. 2 plate 14, the No. 3 plate 15 and the No. 4 plate 16, so as to ensure that the No. 2 plate 14, the No. 3 plate 15 and the No. 4 plate 16 can only move vertically.

[0040] The guide wheels 24 and the guide bars 25 are respectively divided into two groups and each group is arranged vertically. The two groups of guide wheels 24 sandwich the guide bars 25 in the middle, so that the No. 1 plate 13, the No. 2 plate 14, the No. 3 plate 15 and the No. 4 plate 16 can maintain the same moving direction and avoid derailment problems between the No. 1 plate 13, the No. 2 plate 14, the No. 3 plate 15 and the No. 4 plate 16.

[0041] During operation, the material is placed on the roller 12, and the No. 1 driving motor 4 drives the outer shell plate 3 to rotate, which can synchronously drive the roller 12 to rotate, so that the stacking direction of the material changes. After the material stops rotating, the No. 2 driving motor 17 drives the probe assembly 1 to move downward, so that the roller 12 and the material descend together. After the material drops to the specified height, the flipping motor 5 drives the roller 12 to flip and put the material into the stacking position. After completing a single stacking, the No. 2 driving motor 17 drives the probe assembly 1 to retract upward, so that the roller 12 moves upward, and the flipping motor 5 drives the roller 12 to flip back for the next stacking operation.

[0042] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model.

Claims

1. Telescopic downward-reaching manipulator, characterized in that: It comprises a downward probe component (1) and a palletizing gripper component (2) arranged at the bottom of the downward probe component (1), wherein the downward probe component (1) is used to drive the palletizing gripper component (2) to move in a vertical direction; Among them, the downward exploration component includes several levels of movable plates arranged in sequence, and rotating wheels are provided on the movable plates other than the first and last levels, and transmission belts are provided on the rotating wheels. One end of the transmission belt is connected to the upper level movable plate, and the other end is connected to the lower level movable plate. A driving member for driving the lower level movable plate to move vertically is also provided on the first level movable plate.

2. The telescopic reaching manipulator according to claim 1, characterized in that: The two plate surfaces of the non-front and rear stages of the movable plate are respectively provided with a plurality of guide wheels (24) and guide bars (25), and the guide wheels (24) and guide bars (25) on adjacent movable plates cooperate with each other to ensure that each movable plate can only move vertically.

3. The telescopic reaching manipulator according to claim 2, characterized in that: The guide wheels (24) and guide strips (25) on the same movable plate are respectively divided into two groups and each group is arranged vertically, and the two groups of guide wheels (24) sandwich the two groups of guide strips (25) in the middle.

4. The telescopic reaching manipulator according to claim 1, characterized in that: The driving member comprises a No. 2 driving motor (17), the output shaft end of the No. 2 driving motor (17) is provided with a No. 4 gear (18), and the next-level moving plate of the moving plate is provided with a rack (19) meshing with the No. 4 gear (18).

5. The telescopic reaching manipulator according to claim 1, characterized in that: The rotating wheel and the transmission belt are a combination of a roller and a belt or a combination of a gear and a chain belt.

6. The telescopic reaching manipulator according to claim 1, characterized in that: The stacking gripper assembly (2) comprises an outer shell plate (3), the top of the outer shell plate (3) is provided with a first driving motor (4) connected to the downward probe assembly (1) and used to drive the outer shell plate (3) to rotate, the outer shell plate (3) is provided with two flipping members and a driving module for driving the flipping members to flip, the flipping members are used to receive materials and can generate flipping so that the materials fall downwards.

7. The telescopic reaching manipulator according to claim 6, characterized in that: The driving module comprises a flipping motor (5) arranged on the outer shell plate (3), a flipping reducer connected to the flipping motor (5), a first gear (6), a second gear (7) and a third gear (8) arranged horizontally in sequence and meshing with each other, two rotating blocks (9) and two connecting rods (10) connected to the two rotating blocks (9); The first gear (6) is connected to the flip reducer, the two rotating blocks (9) are respectively connected to the second gear (7) and the third gear (8) through connecting shafts, and the end of the connecting rod (10) away from the rotating block (9) is connected to the flip member.

8. The telescopic reaching manipulator according to claim 6, characterized in that: The flapping member comprises two mutually parallel limiting plates (11), and a plurality of rollers (12) respectively arranged at equal distances along the length direction of the two limiting plates (11), wherein the rollers (12) are located between the two limiting plates (11).

Images