Variable-distance manipulator discharging palm

By designing a variable-distance robot hand material delivery palm, using variable-distance linear power and transmission support to adjust the pick-and-place mechanism spacing, the problems of low efficiency and high cost of existing robot hand are solved, and flexible processing of multi-special material trays and product classification are realized. .

CN222328207UActive Publication Date: 2025-01-10RULAMATE AUTOMATIC TECHN SUZHOU
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Patent Information

Application Number
CN202420306771.2
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-02-20
Publication Date
2025-01-10
Estimated Expiration
2034-02-20

AI Technical Summary

Technical Problem

Existing robots are inefficient when automatically picking and releasing materials, and cannot handle multiple specifications of material trays at the same time. The cost and device complexity are high, making it difficult to achieve product classification.

Method used

A variable distance robot hand is designed to adjust the spacing between the three sets of pick-and-place mechanisms through the combination of variable distance linear power, transmission support rod and oblique long hole. It is suitable for material trays of different specifications and is equipped with suction cups and Buffer components facilitate product classification.

Benefits of technology

The simultaneous pick-up and placement of three groups of products is realized, which improves the flexibility and practicality of use, simplifies the structure, reduces costs, and can effectively classify and process materials of different specifications.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model relates to a variable-pitch manipulator discharging palm which comprises a supporting frame, a variable-pitch linear power device is installed on the outer side of a back plate of the supporting frame, a variable-pitch plate is installed at the output end of the variable-pitch linear power device, and an inclined long hole is formed in the variable-pitch plate. Three groups of pick-and-place mechanisms are horizontally mounted on the inner side of the back plate at intervals, the middle pick-and-place mechanism is fixedly mounted on the back plate, transmission supporting rods are mounted at the rear ends of the pick-and-place mechanisms on the two sides, and the transmission supporting rods extend out of the back plate and then are assembled into the oblique long holes; the back plate is provided with a transverse long hole for transversely moving and assembling the transmission support rod; the three sets of taking and placing mechanisms take and place products respectively, the variable-pitch plate is driven to move up and down through up-down movement of variable-pitch linear power, and through assembling of the transmission supporting rods, inclined long holes in the variable-pitch plate and transverse long holes in the back plate, transverse horizontal movement of the taking and placing mechanisms on the two sides relative to the back plate is converted, and adjustment of the distances between the three sets of taking and placing mechanisms is achieved. And the automatic discharging device can be used for classifying discharged products, and is high in use flexibility and good in practicability.
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Description

Technical Field

[0001] The utility model relates to the technical field of a material taking and placing manipulator, in particular to a material placing palm of a manipulator with a variable distance. Background Art

[0002] In the implementation of automation, robots are usually used to automatically pick up and place materials.

[0003] In the prior art, most robots can only pick up and place a single material, which is inefficient. In matching the qualified / unqualified product sorting, different robots corresponding to the qualified and unqualified product unloading are also required to achieve product classification, which is costly and complex. Utility Model Content

[0004] In order to solve the above problems, the present application provides a rationally structured variable-distance manipulator material discharge palm, thereby realizing the adjustment of the spacing between the three groups of pick-up and place mechanisms to match trays of different specifications, and can be used for the classification of product unloading, with high flexibility and good practicality.

[0005] The technical solution adopted by the utility model is as follows:

[0006] A variable pitch manipulator material discharge palm comprises a support frame, a variable pitch linear power is installed on the outer side of the back plate of the support frame, a variable pitch plate is installed on the output end of the variable pitch linear power, and an oblique long hole is opened on the variable pitch plate; three sets of pick-up and place mechanisms are installed at intervals on the inner side of the back plate horizontally, the middle pick-up and place mechanism is fixedly installed on the back plate, and transmission support rods are installed on the rear ends of the pick-up and place mechanisms on both sides, and the transmission support rods extend out of the back plate and are fitted into the oblique long holes; a horizontal long hole is opened on the back plate for the transmission support rod to be fitted with the horizontal movement.

[0007] As a further improvement of the above technical solution:

[0008] The transmission support rod comprises a rectangular rod portion mounted horizontally and extending into a transverse long hole, a circular rotating portion is mounted at the end of the rectangular rod portion, and a circumferential surface of the circular rotating portion is mounted in the oblique long hole.

[0009] A transverse guide assembly is installed between the pick-and-place mechanisms on both sides and the inner side surface of the back plate of the support frame.

[0010] The structure of a single-group pick-and-place mechanism is as follows: it includes a pick-and-place linear power, a lifting plate is installed at the output end of the side of the pick-and-place linear power, a buffer plate is installed on the side of the lifting plate through a buffer assembly, and suction cups are installed at intervals at the front and rear ends of the bottom of the buffer plate.

[0011] A buffer plate is installed on the side of the lifting plate through a vertical guide assembly, a limiting convex column is installed laterally on the lifting plate above the buffer plate, and a convex rod is installed on the top surface of the buffer plate facing the limiting convex column to form a buffer assembly.

[0012] A material discharge sensor is also installed on the side of the lifting plate, and a protruding arm is installed on the buffer plate; when the buffer plate moves upward relative to the lifting plate, the end of the protruding arm moves to the detection end of the material discharge sensor.

[0013] A sensor seat is installed on the front side of the buffer plate, and a presence sensor is installed on the sensor seat, with the detection end of the presence sensor facing downward.

[0014] A limiting member is installed on the side output end of the pick-and-place linear power below the lifting plate, and the limiting member extends between the two suction cups.

[0015] The two suction cups are adsorbed on the outer wall of the circular tube at intervals, and a downward V-shaped groove is arranged at the bottom of the limiting member.

[0016] The structure of the limiter is as follows: it includes a U-shaped frame, the two front arm ends of the U-shaped frame extend downward together to form a convex block, and the bottom end of the convex block is provided with a through V-shaped groove along the front-to-back direction; the U-shaped frame is provided with a locking hole for locking with the linear power output end.

[0017] Compared with the prior art, the utility model has the following beneficial effects:

[0018] The utility model has a compact and reasonable structure and is easy to operate. The three groups of pick-up and place mechanisms respectively pick up and place products, and three products can be picked up and placed separately at the same time. The variable pitch plate is driven to move up and down through the up and down movement of the variable pitch linear power. The transmission support rod is equipped with the oblique long hole on the variable pitch plate and the horizontal long hole on the back plate, which is converted into the horizontal movement of the pick-up and place mechanisms on both sides relative to the back plate, so as to adjust the spacing between the three groups of pick-up and place mechanisms to match and be suitable for material trays of different specifications, and can be used for the classification of product unloading. It has high flexibility in use and good practicality.

[0019] The utility model also has the following advantages:

[0020] Three sets of pick-and-place mechanisms can pick up and place three identical or different products at the same time and place them in the same or different trays, effectively facilitating the flexibility and convenience of product picking and placing; the overall integration is high and the structure is simplified. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the utility model.

[0022] Figure 2 It is a schematic diagram of the layout of the pick-and-place mechanism of the utility model in the support frame.

[0023] Figure 3 It is a structural schematic diagram of a single-group pick-and-place mechanism of the utility model.

[0024] Figure 4 It is an exploded view of a single-group pick-and-place mechanism of the utility model.

[0025] Figure 5 It is a structural schematic diagram of the limiter of the utility model.

[0026] Among them: 1. Support frame; 2. Pitch-changing linear power; 3. Pitch-changing plate; 4. Transmission support rod; 5. Suction cup; 6. Limiting piece; 7. Pick-up and place linear power; 8. Lifting plate; 9. Buffer plate; 10. Round tube;

[0027] 11. Horizontal long hole;

[0028] 31. Oblique long hole;

[0029] 40. lateral guide assembly; 41. rectangular rod; 42. circular rotating part;

[0030] 61. V-shaped groove; 62. convex block; 63. U-shaped frame; 64. locking hole;

[0031] 81. vertical guide assembly; 82. limiting boss;

[0032] 90. Horizontal arm; 91. Protruding arm; 92. Material discharge sensor; 93. Sensor seat; 94. Presence sensor; 95. Protruding rod. DETAILED DESCRIPTION

[0033] The specific implementation of the present utility model is described below in conjunction with the accompanying drawings.

[0034] like Figure 1 and Figure 2 As shown, a variable pitch manipulator material discharge palm of the present embodiment comprises a support frame 1, a variable pitch linear power 2 is installed on the outer side of the back plate of the support frame 1, a variable pitch plate 3 is installed on the output end of the variable pitch linear power 2, and an oblique long hole 31 is provided on the variable pitch plate 3; three sets of pick-up and place mechanisms are installed at horizontal intervals on the inner side of the back plate, the middle pick-up and place mechanism is fixedly installed on the back plate, and transmission support rods 4 are installed at the rear ends of the pick-up and place mechanisms on both sides, and the transmission support rods 4 are extended out of the back plate and fitted into the oblique long holes 31; a horizontal long hole 11 is provided on the back plate for the transmission support rod 4 to be fitted for horizontal movement.

[0035] In this embodiment, three groups of pick-up and place mechanisms pick up and place products respectively, so that three products can be picked up and placed simultaneously. The variable pitch plate 3 is driven to move up and down through the up and down movement of the variable pitch linear power 2. The transmission support rod 4 is equipped with the oblique long hole 31 on the variable pitch plate 3 and the horizontal long hole 11 on the back plate, which is converted into the horizontal movement of the pick-up and place mechanisms on both sides relative to the back plate, so as to adjust the spacing between the three groups of pick-up and place mechanisms.

[0036] In this embodiment, the oblique long holes 31 on the pitch-changing plate 3 can be arranged symmetrically to achieve synchronous movement of the pick-and-place mechanisms on both sides toward or away from each other. During the adjustment process, the spacing between the three groups of pick-and-place mechanisms is always maintained.

[0037] Of course, the two oblique long holes 31 can also be set in an asymmetric form according to actual conditions, for example, different inclination angles or different inclination directions, etc., so as to achieve the preset adjustment of the spacing.

[0038] The transmission support rod 4 includes a rectangular rod portion 41 mounted horizontally in the transverse long hole 11, and a circular rotating portion 42 is mounted at the end of the rectangular rod portion 41. The circumferential surface of the circular rotating portion 42 is mounted in the oblique long hole 31, which effectively ensures that the end of the transmission support rod 4 moves smoothly relative to the oblique long hole 31.

[0039] A transverse guide assembly 40 is installed between the pick-up and place mechanisms on both sides and the inner side surface of the back plate of the support frame 1 to ensure that the pick-up and place mechanisms on both sides move horizontally smoothly, accurately and stably during the variable pitch adjustment process.

[0040] like Figure 3 and Figure 4 As shown, the structure of the single-group pick-and-place mechanism is: it includes a pick-and-place linear power 7, a lifting plate 8 is installed at the side output end of the pick-and-place linear power 7, a buffer plate 9 is installed on the side of the lifting plate 8 through a buffer assembly, and a suction cup 5 is installed at the front and rear intervals at the bottom of the buffer plate 9.

[0041] When in use, the lifting plate 8 is driven downward by the operation of the picking and placing linear force 7. When the bottom end of the suction cup 5 contacts the product, or the bottom end of the product contacts the external material tray during material discharge, as the picking and placing linear force 7 continues to work, the buffer component takes effect, effectively preventing hard collisions during the picking and placing process.

[0042] A buffer plate 9 is installed on the side of the lifting plate 8 through a vertical guide assembly 81, a limiting boss 82 is installed laterally on the lifting plate 8 above the buffer plate 9, and a convex rod 95 is installed on the top surface of the buffer plate 9 facing the limiting boss 82 to form a buffer assembly.

[0043] In this embodiment, the vertical guide assembly 81 constitutes a buffer when taking and placing materials, and the contact between the protruding rod 95 and the limiting protruding column 82 constitutes the buffer limit position; in actual use, the limiting protruding column 82 and / or the protruding rod 95 can be made of flexible materials such as rubber.

[0044] A discharge sensor 92 is also installed on the side of the lifting plate 8, and a protruding arm 91 is installed on the buffer plate 9; when the buffer plate 9 moves upward relative to the lifting plate 8, the end of the protruding arm 91 moves to the detection end of the discharge sensor 92.

[0045] When in use, after the bottom end of the suction cup 5 contacts the material, the buffer assembly takes effect, the buffer plate 9 moves upward, and the protruding arm 91 moves upward toward the material discharge sensor 92. The material discharge sensor 92 senses the protruding arm 91 to determine whether the material discharge action is in place.

[0046] A sensor seat 93 is installed on the front side of the buffer plate 9, and a presence sensor 94 is installed on the sensor seat 93. The detection end of the presence sensor 94 faces downward, so as to judge whether the suction cup 5 absorbs the product.

[0047] A limit member 6 is installed on the side output end of the pick-and-place linear power 7 located below the lifting plate 8. The limit member 6 extends between the two suction cups 5. The limit member 6 limits the contact degree between the suction cups 5 and the product to prevent damage to the product surface during adsorption.

[0048] Of course, the limiting member 6 can be made of flexible materials such as rubber to avoid damage to the product; a flexible material can also be laid on the contact surface at the bottom end of the limiting member 6.

[0049] The two suction cups 5 are adsorbed on the outer wall of the circular tube 10 at intervals, and a downwardly facing V-shaped groove 61 is formed at the bottom of the stopper 6 to achieve two-point contact adsorption of the circular tube 10 .

[0050] In this embodiment, the bottom surface of the buffer plate 9 is connected to and extended with a horizontal arm 90 arranged front and back, and two suction cups 5 are arranged at intervals along the bottom surface of the horizontal arm 90 .

[0051] like Figure 5 As shown, the structure of the limiter 6 is as follows: it includes a U-shaped frame 63, and the two front arm ends of the U-shaped frame 63 extend downward together to form a protrusion 62, so that the protrusion 62 can extend between the two suction cups 5, and a through V-shaped groove 61 is provided at the bottom end of the protrusion 62 along the front-to-back direction; a locking hole 64 is provided on the U-shaped frame 63 to lock with the output end of the picking and placing linear power 7.

[0052] In this embodiment, the limiting member 6 and the lifting plate 8 are both installed on the output end of the picking and placing linear power 7, which effectively ensures the synchronous up and down movement between the limiting member 6 and the lifting plate 8.

[0053] In this embodiment, the variable pitch linear power 2 and the pick-and-place linear power 7 can both adopt existing conventional standard products that can output linear power, such as cylinders, linear slides, etc.

[0054] In this embodiment, the pitch-variable plate 3 and the support frame 1 can be formed by assembling and locking a plurality of panels according to actual processing, manufacturing and assembly requirements.

[0055] The usage of the utility model is:

[0056] The pick-and-place linear power 7 works, and the suction cup 5 in the corresponding pick-and-place mechanism moves up and down, and cooperates with the work of the external air source to pick and place the product, realizing the independent action of the pick-and-place mechanism;

[0057] When pitch adjustment is required, the pitch linear power 2 works, the pitch plate 3 moves vertically, and the transmission support rod 4 pulls or pushes the pick-up and place mechanisms on both sides to move along the horizontal long hole 11, and the pick-up and place mechanisms on both sides move toward or away from each other to adjust the spacing between the pick-up and place mechanisms.

[0058] In this embodiment, three groups of picking and placing mechanisms can pick and place three identical or different products at the same time and place them in the same or different trays, effectively facilitating the flexibility and convenience of product picking and placing; the overall integration is high and the structure is simplified.

[0059] The utility model realizes the independent taking and placing of three groups of taking and placing mechanisms, and can adjust the spacing between them to match material trays of different specifications, and can be used for the classification of product unloading, with high flexibility in use and good practicality.

[0060] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0061] The above description is an explanation of the utility model, not a limitation of the utility model. The scope of the utility model is defined by the claims. Any form of modification can be made within the protection scope of the utility model.

Claims

1. A variable-length manipulator material discharging palm, comprising a support frame (1), characterized in that: A variable pitch linear power (2) is installed on the outer side of the back plate of the support frame (1), and a variable pitch plate (3) is installed on the output end of the variable pitch linear power (2), and an oblique long hole (31) is provided on the variable pitch plate (3); three sets of pick-up and placement mechanisms are installed at intervals on the inner side of the back plate horizontally, the middle pick-up and placement mechanism is fixedly installed on the back plate, and transmission support rods (4) are installed at the rear ends of the pick-up and placement mechanisms on both sides, and the transmission support rods (4) extend out of the back plate and are fitted into the oblique long holes (31); a transverse long hole (11) is provided on the back plate for the transmission support rod (4) to be fitted in a transversely movable manner.

2. A variable-length manipulator material-discharging palm according to claim 1, characterized in that: The transmission support rod (4) comprises a rectangular rod portion (41) mounted horizontally in the transverse long hole (11), a circular rotating portion (42) being mounted at the end of the rectangular rod portion (41), and a circumferential surface of the circular rotating portion (42) being mounted in the oblique long hole (31).

3. A variable-length manipulator material-discharging palm according to claim 1, characterized in that: A transverse guide assembly (40) is installed between the pick-and-place mechanisms on both sides and the inner side surface of the back plate of the support frame (1).

4. A variable-length manipulator material-discharging palm according to claim 1, characterized in that: The structure of the single-group pick-and-place mechanism is as follows: it comprises a pick-and-place linear power (7), a lifting plate (8) is installed at the output end of the side of the pick-and-place linear power (7), a buffer plate (9) is installed on the side of the lifting plate (8) via a buffer assembly, and a suction cup (5) is installed at intervals at the front and rear ends of the bottom of the buffer plate (9).

5. A variable-length manipulator material-discharging palm as claimed in claim 4, characterized in that: A buffer plate (9) is installed on the side of the lifting plate (8) via a vertical guide assembly (81), a limiting convex column (82) is installed laterally on the lifting plate (8) above the buffer plate (9), and a convex rod (95) is installed on the top surface of the buffer plate (9) facing the limiting convex column (82), thereby forming a buffer assembly.

6. A variable-length manipulator material-discharging palm as claimed in claim 4, characterized in that: A material discharge sensor (92) is also installed on the side of the lifting plate (8), and a protruding arm (91) is installed on the buffer plate (9); when the buffer plate (9) moves upward relative to the lifting plate (8), the end of the protruding arm (91) moves to the detection end of the material discharge sensor (92).

7. A variable-length manipulator material-discharging palm as claimed in claim 4, characterized in that: A sensor seat (93) is installed on the front side of the buffer plate (9), and a presence sensor (94) is installed on the sensor seat (93), with the detection end of the presence sensor (94) facing downward.

8. A variable-length manipulator material-discharging palm as claimed in claim 4, characterized in that: A limiting member (6) is installed on the side output end of the pick-and-place linear power (7) located below the lifting plate (8), and the limiting member (6) extends between the two suction cups (5).

9. A variable-length manipulator material-discharging palm as claimed in claim 8, characterized in that: The two suction cups (5) are adsorbed on the outer wall of the circular tube (10) at intervals, and a V-shaped groove (61) facing downwards is formed at the bottom end of the stopper (6).

10. The variable-length manipulator material-discharging palm according to claim 8, characterized in that: The structure of the position-limiting member (6) is as follows: it comprises a U-shaped frame (63), the two front arm ends of the U-shaped frame (63) extend downwards together to form a convex block (62), the bottom end of the convex block (62) is provided with a through V-shaped groove (61) along the front-back direction; and the U-shaped frame (63) is provided with a locking hole (64) for locking with the output end of the picking and placing linear power (7).