Anti-falling manipulator

Abstract

The utility model relates to the field of manipulators, in particular to an anti-falling manipulator. The anti-falling manipulator comprises a seat body, at least one adsorption assembly and a blocking and protecting mechanism, each adsorption assembly comprises a suction cup plate, a lifting driving part and a plurality of suction cups, the suction cups are installed on the suction cup plate, and the lifting driving parts are arranged between the seat body and the suction cup plate and used for driving the suction cup plate to ascend and descend; the blocking and protecting mechanism comprises a grabbing tooth opening and closing driving assembly and two grabbing tooth assemblies, the two grabbing tooth assemblies are oppositely arranged and hinged to the base body, and the grabbing tooth opening and closing driving assembly is connected with the two grabbing tooth assemblies and used for driving the two grabbing tooth assemblies to be opened or closed. Wherein the two grabbing tooth assemblies do not interfere with product adsorption of the adsorption assembly in the open state, and the two grabbing tooth assemblies are blocked on the side, away from the suction cup, of the product adsorbed by the adsorption assembly in the closed state. The mechanical arm can effectively prevent products sucked by the mechanical arm from falling off.

Description

Technical Field

[0001] The utility model relates to the field of manipulators, in particular to an anti-drop manipulator. Background Art

[0002] The suction cup gripper is a common manipulator structure and is widely used. However, when the suction cup gripper is moving the product, if the suction cup becomes loose, the product may fall. If the product falls, it will injure the staff and cause safety hazards, and it will also damage the product.

[0003] Therefore, it is urgent to design a suction cup manipulator with fool-proof measures. Summary of the invention

[0004] The technical problem to be solved by the utility model is to overcome the defects of the prior art and provide an anti-dropping manipulator which can effectively prevent the product sucked by the manipulator from falling.

[0005] In order to solve the above technical problems, the technical solution of the utility model is: an anti-drop manipulator, comprising:

[0006] seat body;

[0007] At least one adsorption assembly, the adsorption assembly comprising a suction cup plate, a lifting drive member and a plurality of suction cups, the plurality of suction cups being mounted on the suction cup plate, the lifting drive member being disposed between the base body and the suction cup plate, and being used for driving the suction cup plate to be lifted and lowered;

[0008] The guard mechanism comprises a grabbing tooth opening and closing driving assembly and two grabbing tooth assemblies, the two grabbing tooth assemblies are opposite and respectively hinged on the seat body, the grabbing tooth opening and closing driving assembly is connected to the two grabbing tooth assemblies, and is used to drive the two grabbing tooth assemblies to open or close; wherein,

[0009] When the two grabbing tooth assemblies are in an open state, they do not interfere with the adsorption of products by the adsorption assembly. When the two grabbing tooth assemblies are in a closed state, they block the side of the product adsorbed by the adsorption assembly away from the suction cup.

[0010] Further, the grabbing tooth assembly comprises:

[0011] Multiple L-shaped grab teeth arranged in parallel;

[0012] at least one connecting rod, the connecting rod connecting the plurality of L-shaped grabbing teeth into a whole;

[0013] A rocker arm is hinged on the seat body and fixedly connected to the connecting rod. The grabbing tooth opening and closing driving assembly is connected to the rocker arm and is used to drive the rocker arm to rotate.

[0014] Furthermore, the L-shaped grabbing tooth has a vertical portion and a horizontal portion which are perpendicular to each other, and a step is arranged on the outer side of the vertical portion. Each grabbing tooth assembly has at least two connecting rods, one of which is fixedly connected to the step surface of all the L-shaped grabbing teeth of the grabbing tooth assembly by bolts, and the other connecting rod is fixedly connected to the outer side surface of the vertical portion of all the L-shaped grabbing teeth of the grabbing tooth assembly.

[0015] Furthermore, each grabbing tooth assembly has two rocker arms, and the two rocker arms are fixedly connected as a whole via a rotating shaft, and the rotating shaft is rotatably supported on the seat body to realize the hinged connection between the rocker arm and the seat body.

[0016] Furthermore, the grabbing tooth opening and closing driving assembly includes two cylinders, each cylinder corresponds to a grabbing tooth assembly, a connecting piece is fixedly connected to the rotating shaft, a cylinder body of the cylinder is hinged on the seat body, and a cylinder rod is hinged to the connecting piece.

[0017] Furthermore, the seat body comprises:

[0018] Robotic arm connection part;

[0019] Two cross beams, the two cross beams are fixedly connected to the lower end of the mechanical arm connecting part;

[0020] A longitudinal plate, the longitudinal plate is fixedly connected to the middle position of the lower sides of the two cross beams, and the lifting drive member is arranged between the longitudinal plate and the suction cup plate;

[0021] Two grabbing tooth assembly mounting plates are mounted on two end portions of the lower sides of the two cross beams, and each grabbing tooth assembly is hinged on one grabbing tooth assembly mounting plate.

[0022] After adopting the above technical solution, after the adsorption component adsorbs the product, the grabbing tooth opening and closing driving component drives the two grabbing tooth components to close, and the two grabbing tooth components block the bottom of the product. Even if the product is separated from the suction cup during the movement of the manipulator, the grabbing tooth component supports the product, thereby preventing the product from falling directly to the ground. Based on this, the manipulator in the utility model can play a good protective role for the product, improve the safety and stability of grabbing the product, and also prevent the product from breaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of the anti-drop manipulator of the utility model;

[0024] Figure 2 It is a structural schematic diagram of the grabbing tooth assembly of the utility model;

[0025] Figure 3 It is a structural schematic diagram of the seat body of the utility model;

[0026] In the figure: 1. base body; 11. mechanical arm connection part; 12. cross beam; 13. longitudinal plate; 14. grabbing tooth assembly mounting plate; 2. adsorption assembly; 21. suction cup plate; 22. lifting drive member; 23. suction cup; 3. grabbing tooth opening and closing drive assembly; 4. grabbing tooth assembly; 41. L-shaped grabbing tooth; 42. connecting rod; 43. rocker arm; 44. rotating shaft. DETAILED DESCRIPTION

[0027] In order to make the content of the utility model more clearly understood, the utility model is further described in detail below based on specific embodiments and in conjunction with the accompanying drawings.

[0028] Embodiment 1

[0029] like Figure 1 , 2 As shown in 3, an anti-drop manipulator comprises:

[0030] base body 1;

[0031] At least one adsorption assembly 2, the adsorption assembly 2 includes a suction cup plate 21, a lifting drive member 22 and a plurality of suction cups 23, the plurality of suction cups 23 are mounted on the suction cup plate 21, and the lifting drive member 22 is arranged between the base body 1 and the suction cup plate 21, and is used to drive the suction cup plate 21 to rise and fall;

[0032] The guard mechanism includes a grabbing tooth opening and closing driving assembly 3 and two grabbing tooth assemblies 4. The two grabbing tooth assemblies 4 are opposite to each other and are respectively hinged on the seat body 1. The grabbing tooth opening and closing driving assembly 3 is connected to the two grabbing tooth assemblies 4 to drive the two grabbing tooth assemblies 4 to open or close; wherein,

[0033] When the two grabbing tooth assemblies 4 are in the open state, they do not interfere with the adsorption of the product 5 by the adsorption assembly 2 . When the two grabbing tooth assemblies 4 are in the closed state, they block the side of the product 5 adsorbed by the adsorption assembly 2 away from the suction cup 23 .

[0034] It should be noted that when the two grabbing tooth assemblies 4 are open, the suction cup 23 can move downward to exceed the two grabbing tooth assemblies 4. The working process of the adsorption assembly 2 is that the lifting drive 22 drives the suction cup plate 21 and the suction cup 23 to descend until the suction cup 23 adsorbs the product 5, and then the lifting drive 22 drives the suction cup plate 21, the suction cup 23 and the product 5 adsorbed by the suction cup 23 to rise. Before the lifting drive 22 drives the suction cup 23 to descend, the two grabbing tooth assemblies 4 are opened first, and after the suction cup 23 adsorbs the product 5 and the lifting drive 22 drives the suction cup plate 21 and the suction cup 23 to rise, the two grabbing tooth assemblies 4 are closed.

[0035] Specifically, after the adsorption component 2 adsorbs the product 5, the grabbing tooth opening and closing driving component 3 drives the two grabbing tooth components 4 to close, and the two grabbing tooth components 4 block the bottom of the product 5. Even if the product 5 is separated from the suction cup 23 during the movement of the manipulator, the grabbing tooth components 4 support the product 5, thereby preventing the product 5 from falling directly to the ground. Based on this, the manipulator in this embodiment can play a good protective role for the product, improve the safety and stability of grabbing the product 5, and also prevent the product 5 from being damaged.

[0036] The product 5 in this embodiment can be a box for loading heavy objects, or can be a bag for loading heavy objects.

[0037] Wherein, the grabbing tooth assembly 4 comprises:

[0038] A plurality of L-shaped grab teeth 41 arranged in parallel;

[0039] At least one connecting rod 42, the connecting rod 42 connects the plurality of L-shaped grab teeth 41 into a whole;

[0040] The rocker arm 43 is hinged on the seat body 1 and fixedly connected to the connecting rod 42. The grabbing tooth opening and closing driving assembly 3 is connected to the rocker arm 43 to drive the rocker arm 43 to rotate.

[0041] Each grabbing tooth assembly 4 has two rocker arms 43 , and the two rocker arms 43 are fixedly connected as a whole via a rotating shaft 44 , and the rotating shaft 44 is rotatably supported on the seat body 1 to achieve hinged connection between the rocker arms 43 and the seat body 1 .

[0042] The grabbing tooth opening and closing driving assembly 3 includes two cylinders, each cylinder corresponds to a grabbing tooth assembly 4, a connecting piece is fixedly connected to the rotating shaft 44, the cylinder body of the cylinder is hinged on the base body 1, and the cylinder rod is hinged to the connecting piece.

[0043] Embodiment 2

[0044] Based on the first embodiment, Figure 1 , 2 As shown, the L-shaped grabbing teeth 41 have vertical and horizontal parts that are perpendicular to each other, and a step is arranged on the outer side of the vertical part. Each grabbing tooth assembly 4 has at least two connecting rods 42, one of which is fixedly connected to the step surface of all L-shaped grabbing teeth 41 of the grabbing tooth assembly 4 by bolts, and the other connecting rod 42 is fixedly connected to the outer side surface of the vertical part of all L-shaped grabbing teeth 41 of the grabbing tooth assembly 4.

[0045] After such arrangement, although the two connecting rods 42 are parallel, they can simultaneously constrain the L-shaped grab teeth 41 in two directions perpendicular to each other, thereby improving the structural firmness of the entire grab tooth assembly 4 and facilitating long-term stable operation.

[0046] Embodiment 3

[0047] On the basis of the first or second embodiment, the base body 1 includes:

[0048] Mechanical arm connecting part 11;

[0049] Two cross beams 12, the two cross beams 12 are fixedly connected to the lower end of the robot arm connecting part 11;

[0050] A longitudinal plate 13, the longitudinal plate 13 is fixedly connected to the middle position of the lower side of the two cross beams 12, and the lifting drive member 22 is arranged between the longitudinal plate 13 and the suction cup plate 21;

[0051] Two grabbing tooth assembly mounting plates 14 are mounted on two end portions of the lower sides of the two cross beams 12 , and each grabbing tooth assembly 4 is hinged to one grabbing tooth assembly mounting plate 14 .

[0052] Specifically, the seat body 1 of this structure has a reasonable and compact structure, is basically symmetrical, and is force-balanced.

[0053] The specific embodiments described above further illustrate the technical problems, technical solutions and beneficial effects solved by the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An anti-drop manipulator, characterized in that: include: base(1); At least one adsorption assembly (2), the adsorption assembly (2) comprising a suction cup plate (21), a lifting drive member (22) and a plurality of suction cups (23), the plurality of suction cups (23) being mounted on the suction cup plate (21), the lifting drive member (22) being arranged between the base body (1) and the suction cup plate (21) and being used for driving the suction cup plate (21) to rise and fall; A guarding mechanism, the guarding mechanism comprising a grabbing tooth opening and closing driving assembly (3) and two grabbing tooth assemblies (4), the two grabbing tooth assemblies (4) being opposite to each other and respectively hinged on the base body (1), the grabbing tooth opening and closing driving assembly (3) being connected to the two grabbing tooth assemblies (4) and being used for driving the two grabbing tooth assemblies (4) to open or close; wherein, When the two grabbing tooth assemblies (4) are in an open state, they do not interfere with the adsorption of the product (5) by the adsorption assembly (2); when the two grabbing tooth assemblies (4) are in a closed state, they block the side of the product (5) adsorbed by the adsorption assembly (2) away from the suction cup (23).

2. The anti-drop manipulator according to claim 1, characterized in that: The grabbing tooth assembly (4) comprises: A plurality of L-shaped grab teeth (41) arranged in parallel; at least one connecting rod (42), wherein the connecting rod (42) connects the plurality of L-shaped grab teeth (41) into a whole; A rocker arm (43), wherein the rocker arm (43) is hinged on the seat body (1) and fixedly connected to the connecting rod (42); the grabbing tooth opening and closing driving assembly (3) is connected to the rocker arm (43) and is used to drive the rocker arm (43) to rotate.

3. The anti-drop manipulator according to claim 2, characterized in that: The L-shaped grab teeth (41) have a vertical portion and a horizontal portion which are perpendicular to each other, and a step is arranged on the outer side of the vertical portion. Each grab tooth assembly (4) has at least two connecting rods (42), one of which is fixedly connected to the step surface of all the L-shaped grab teeth (41) of the grab tooth assembly (4) by bolts, and the other connecting rod (42) is fixedly connected to the outer side surface of the vertical portion of all the L-shaped grab teeth (41) of the grab tooth assembly (4).

4. The anti-drop manipulator according to claim 2, characterized in that: Each grabbing tooth assembly (4) has two rocker arms (43), and the two rocker arms (43) are fixedly connected as a whole via a rotating shaft (44). The rotating shaft (44) is rotatably supported on the seat body (1) to achieve hinged connection between the rocker arms (43) and the seat body (1).

5. The anti-drop manipulator according to claim 4, characterized in that: The grabbing tooth opening and closing driving assembly (3) comprises two cylinders, each cylinder corresponds to a grabbing tooth assembly (4), a connecting piece is fixedly connected to the rotating shaft (44), a cylinder body of the cylinder is hinged on the base body (1), and a cylinder rod is hinged to the connecting piece.

6. The anti-drop manipulator according to claim 1, characterized in that: The seat body (1) comprises: A mechanical arm connecting portion (11); Two cross beams (12), the two cross beams (12) are fixedly connected to the lower end of the mechanical arm connecting part (11); A longitudinal plate (13), wherein the longitudinal plate (13) is fixedly connected to a middle position of the lower sides of the two cross beams (12), and the lifting drive member (22) is arranged between the longitudinal plate (13) and the suction cup plate (21); Two grabbing tooth assembly mounting plates (14) are mounted on two end portions of the lower sides of the two cross beams (12), and each grabbing tooth assembly (4) is hinged to one grabbing tooth assembly mounting plate (14).

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