Sucker type efficient automatic sorting six-axis mechanical arm special for flexible graphite electrode plates

Abstract

The utility model discloses a special suction cup type efficient automatic sorting six-axis mechanical arm for a flexible graphite electrode plate, which belongs to the technical field of suction cup type automatic sorting mechanical arms, and is characterized by comprising a mechanical arm body, a grabbing mechanism is arranged at one end of the mechanical arm body, and a moving assembly is arranged at the other end of the mechanical arm body. The moving block is driven to move on the guide rail so as to drive the fixing frame to move transversely, so that the fixing frame can move along with operation of the mechanical arm, the swing assembly is arranged so that the whole fixing frame can move on the guide rail, two movement actions are completed at the same time, and the adsorption assembly is arranged so that the adsorption frame can be driven to move through the top supporting rod when an object is adsorbed downwards. The connecting frame at the bottom is movably connected and can be attached to the shape of the surface of an object, and then the jacking rod can stretch out and draw back up and down along with movement of the connecting frame to play a role in supporting the connecting frame.

Description

Technical Field

[0001] The utility model relates to the technical field of suction cup type automatic sorting mechanical arms, in particular to a suction cup type high-efficiency automatic sorting 6-axis mechanical arm specially used for flexible graphite electrode plates. Background Art

[0002] Automatic sorting robots play an important role in modern logistics, manufacturing and warehousing industries. Automatic sorting robots can sort and process items quickly and accurately. They can replace the manual sorting process, avoid human resource limitations and fatigue, and thus improve work efficiency and productivity. Automatic sorting robots can process large quantities of goods in a short period of time, speed up logistics transportation and order processing, and improve overall operational efficiency.

[0003] The Chinese utility model patent currently announced as: CN210968888U discloses a 6-axis mechanical arm for teaching, including a base, a rotating base, a lower arm, an upper arm, a wrist rotating arm, a mechanical claw, a first servo, a second servo, a third servo, a fourth servo, a fifth servo and a sixth servo for driving the mechanical claw. In the utility model, a first connecting hook is provided on the end of the lower arm relatively close to the rotating base, a second connecting hook and a third connecting hook spaced apart from the second connecting hook are provided on the rotating base, a first elastic rope is hung between the first connecting hook and the second connecting hook, and a second elastic rope is hung between the first connecting hook and the third connecting hook. In the 6-axis mechanical arm for teaching provided by the utility model, the elastic rope is used to limit the rotation angle of the second servo rotating action to prevent or reduce the servo failure problem caused by the large-angle rotation action.

[0004] Although this utility model uses an elastic rope to limit the rotation angle of the second servo rotation action to prevent or reduce the servo failure problem caused by large-angle rotation action, during use, the workpiece is grasped by a mechanical claw, which is likely to cause damage to the workpiece surface. Even if a cushion layer is added to the workpiece surface, the process becomes cumbersome. Utility Model Content

[0005] 1. Technical issues to be solved

[0006] The utility model provides a suction cup type efficient automatic sorting 6-axis robot arm for flexible graphite electrode plates, aiming to solve the problem that most existing suction cup type efficient automatic sorting 6-axis robot arms for flexible graphite electrode plates grab workpieces by mechanical claws during use, which easily causes damage to the workpiece surface, and even if a cushion layer is added to the workpiece surface, it still causes the cumbersome process.

[0007] Technical Solution

[0008] The utility model is implemented as follows: a suction cup type high-efficiency automatic sorting 6-axis mechanical arm for flexible graphite electrode plates, comprising a mechanical arm body, one end of which is provided with a grasping mechanism;

[0009] The grasping mechanism includes a moving component, a swinging component and an adsorption component, the moving component includes a guide rail, a moving block, a fixed frame and a support rod, the guide rail is fixedly set on one side of the robot arm body, the moving block is movably set on the guide rail, the guide rail and the moving block are in two groups, the fixed frame is fixedly set on the top and bottom moving blocks, the support rod is movably set in the middle of the fixed frame, and the support rod moves up and down on the surface of the fixed frame.

[0010] In order to enable the entire fixed frame to move on the guide rail and complete two kinds of movement actions at the same time, a suction cup-type high-efficiency automatic sorting 6-axis robot arm specially used for a flexible graphite electrode plate of the utility model is preferably used. The swing assembly includes a mounting plate, a swing groove, a rotating seat, a rotating rod and a sleeve rod. The mounting plate is fixedly arranged on one side of the robot arm body, the swing groove is opened on one side of the mounting plate, and the swing groove is U-shaped as a whole. The rotating seat is fixedly arranged on one side of the robot arm body, one end of the rotating rod is rotatably arranged inside the rotating seat, and the other end of the rotating rod is arranged inside the swing groove. The sleeve rod is arranged at the other end of the rotating rod, and the sleeve rod is sleeved on the support rod.

[0011] In order to allow the top support rod to extend and retract up and down with the movement of the connecting frame and support the connecting frame, a suction cup-type high-efficiency automatic sorting 6-axis robot arm specially used for flexible graphite electrode plates is preferably used in the utility model. The adsorption assembly includes an adsorption frame, a connecting rod, a top support rod, a connecting frame, a movable groove and a suction cup. The adsorption frame is fixedly arranged at one end of the support rod, one end of the connecting rod is fixedly arranged in the middle of the adsorption frame, one end of the top support rod is fixedly arranged on both sides of the adsorption frame, and the connecting frame is arranged at the other end of the connecting rod. The movable groove is opened in the middle part of the connecting frame, one end of the connecting rod extends into the bottom of the movable groove, and one end of the suction cup is fixedly arranged on one side of the bottom of the connecting frame.

[0012] In order to prevent the bottom connecting frame from swinging excessively, as a preferred embodiment of the utility model, a suction cup-type high-efficiency automatic sorting 6-axis robot arm specially used for flexible graphite electrode plates is provided. Limiting rods are fixedly provided at both ends of the adsorption frame, and limiting grooves are provided at both ends of the connecting frame. The limiting rods move inside the limiting grooves.

[0013] In order to prevent the moving blocks on the upper and lower sides from detaching from the guide rail when the rotating rod rotates, a suction cup-type high-efficiency automatic sorting 6-axis robot arm specially used for flexible graphite electrode plates of the utility model is preferably used. The length of the guide rail is longer than the lateral length of the swing groove, and the number of the guide rails is two groups.

[0014] In order to prevent the connecting frame from detaching while rotating with the workpiece surface, a suction cup-type high-efficiency automatic sorting 6-axis robot arm specially used for flexible graphite electrode plates is preferably used in the utility model. The bottom diameter of the connecting rod is larger than the diameter of the movable groove, and the connecting frame is supported by the bottom of the connecting rod.

[0015] In order to increase the contact area with the workpiece, four suction cups are provided to make it more convenient to grab the workpiece. As a preferred embodiment of the utility model, a suction cup-type high-efficiency automatic sorting 6-axis robot arm special for flexible graphite electrode plates is used. The suction cup is made of an elastic connecting tube and there are four suction cups.

[0016] In order to make the sleeve rod move more stably in the sliding groove and ensure that the sleeve rod will not deviate during movement, a suction cup-type high-efficiency automatic sorting 6-axis robot arm specially used for flexible graphite electrode plates is preferably used in the utility model. A sliding groove is opened on the surface of the fixed frame, and the sliding groove is the same as the width of the sleeve rod, and the sleeve rod moves inside the sliding groove. Beneficial Effects

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] The flexible graphite electrode plate special suction cup type efficient automatic sorting 6-axis robot arm is provided with a moving component to drive the moving block to move on the guide rail, thereby driving the fixed frame to move horizontally, so that it can move with the operation of the robot arm, and a swing component is provided to make the whole fixed frame move on the guide rail, and complete two kinds of movement actions at the same time, and an adsorption component is provided, and the adsorption frame is driven to move by the top support rod. When it is adsorbed downward to an object, the bottom connecting frame is a movable connection, which will fit the shape of the surface of the object, and then the top support rod will extend and retract up and down with the movement of the connecting frame, so as to support the connecting frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the overall structure diagram of the utility model;

[0020] Figure 2 It is a schematic diagram of the axonometric view of the utility model;

[0021] Figure 3 It is a schematic diagram of the axonometric view of the utility model;

[0022] Figure 4 It is a schematic diagram of the swing assembly of the utility model;

[0023] Figure 5 It is a schematic diagram of the adsorption component of the utility model.

[0024] Description of the numbers in the figure:

[0025] 1. Robot arm body; 2. Grasping mechanism; 201. Moving assembly; 202. Swinging assembly; 203. Adsorption assembly; 2011. Guide rail; 2012. Moving block; 2013. Fixed frame; 2014. Support rod; 2021. Mounting plate; 2022. Swinging slot; 2023. Rotating seat; 2024. Rotating rod; 2025. Sleeve rod; 2031. Adsorption frame; 2032. Connecting rod; 2033. Top support rod; 2034. Connecting frame; 2035. Movable slot; 2036. Suction cup; 3. Limiting rod; 4. Limiting slot; 5. Sliding slot. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0027] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, in the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0028] See also Figure 1-5 , the utility model provides a technical solution: a 2036-type high-efficiency automatic sorting 6-axis mechanical arm for a flexible graphite electrode plate special suction cup, comprising a mechanical arm body 1, and a gripping mechanism 2 is arranged at one end of the mechanical arm body 1;

[0029] The gripping mechanism 2 includes a moving component 201, a swinging component 202 and an adsorption component 203. The moving component 201 includes a guide rail 2011, a moving block 2012, a fixed frame 2013 and a support rod 2014. The guide rail 2011 is fixedly arranged on one side of the robot body 1. The moving block 2012 is movably arranged on the guide rail 2011. The number of the guide rail 2011 and the moving block 2012 is two groups. The fixed frame 2013 is fixedly arranged on the top and bottom moving blocks 2012. The support rod 2014 is movably arranged in the middle of the fixed frame 2013. The support rod 2014 moves up and down on the surface of the fixed frame 2013.

[0030] In this embodiment: by setting the moving component 201 including the guide rail 2011, the moving block 2012, the fixed frame 2013 and the support rod 2014, when in use, through external drive, the moving block 2012 is driven to move on the guide rail 2011, thereby driving the fixed frame 2013 to move horizontally, so that it can move with the operation of the robot arm.

[0031] As a technical optimization solution of the utility model, the swing assembly 202 includes a mounting plate 2021, a swing slot 2022, a rotating seat 2023, a rotating rod 2024 and a sleeve rod 2025. The mounting plate 2021 is fixedly arranged on one side of the robot arm body 1, the swing slot 2022 is opened on one side of the mounting plate 2021, and the swing slot 2022 is U-shaped as a whole. The rotating seat 2023 is fixedly arranged on one side of the robot arm body 1, one end of the rotating rod 2024 is rotatably arranged inside the rotating seat 2023, and the other end of the rotating rod 2024 is arranged inside the swing slot 2022. The sleeve rod 2025 is arranged at the other end of the rotating rod 2024, and the sleeve rod 2025 is sleeved on the support rod 2014.

[0032] In this embodiment: by setting the swing assembly 202 including the mounting plate 2021, the swing slot 2022, the rotating seat 2023, the rotating rod 2024 and the sleeve rod 2025, when in use, the external drive drives the rotating rod 2024 to rotate, and one end of the rotating rod 2024 will rotate inside the swing slot 2022, and at the same time drive the sleeve rod 2025 to move, and the sleeve rod 2025 rotates with the rotating rod 2024, and at the same time moves up and down relative to the support rod 2014, so that the entire fixed frame 2013 moves on the guide rail 2011, and completes two movements at the same time.

[0033] As a technical optimization scheme of the utility model, the adsorption assembly 203 includes an adsorption frame 2031, a connecting rod 2032, a top support rod 2033, a connecting frame 2034, a movable groove 2035 and a suction cup 2036. The adsorption frame 2031 is fixedly set at one end of the support rod 2014, one end of the connecting rod 2032 is fixedly set in the middle of the adsorption frame 2031, one end of the top support rod 2033 is fixedly set on both sides of the adsorption frame 2031, the connecting frame 2034 is set at the other end of the connecting rod 2032, the movable groove 2035 is opened in the middle part of the connecting frame 2034, one end of the connecting rod 2032 extends into the bottom of the movable groove 2035, and one end of the suction cup 2036 is fixedly set on one side of the bottom of the connecting frame 2034.

[0034] In this embodiment: by setting up the adsorption component 203 including the adsorption frame 2031, the connecting rod 2032, the top support rod 2033, the connecting frame 2034, the movable groove 2035 and the suction cup 2036, when in use, the adsorption frame 2031 is driven by the top support rod 2014 to move, and when it is adsorbed downward to an object, the bottom connecting frame 2034 is a movable connection, which will fit the shape of the surface of the object, and then the top support rod 2033 will extend and retract up and down with the movement of the connecting frame 2034, thereby supporting the connecting frame 2034.

[0035] As a technical optimization solution of the utility model, limiting rods 3 are fixedly provided at both ends of the adsorption frame 2031 , limiting grooves 4 are opened at both ends of the connecting frame 2034 , and the limiting rods 3 move inside the limiting grooves 4 .

[0036] In this embodiment: by setting a limiting rod 3 and a limiting groove 4, and the limiting rod 3 moves inside the limiting groove 4, when the connecting frame 2034 moves, the limiting rods 3 at both ends will move in the limiting groove 4 to prevent the bottom connecting frame 2034 from swinging excessively.

[0037] As a technical optimization solution of the present invention, the length of the guide rail 2011 is longer than the lateral length of the swing groove 2022, and the number of the guide rails 2011 is two groups.

[0038] In this embodiment: by setting the length of the guide rail 2011 to be longer than the lateral length of the swing groove 2022, it is possible to prevent the moving blocks 2012 on the upper and lower sides from detaching from the guide rail 2011 when the rotating rod 2024 rotates during use.

[0039] As a technical optimization solution of the present invention, the bottom diameter of the connecting rod 2032 is larger than the diameter of the movable groove 2035 , and the connecting frame 2034 is supported by the bottom of the connecting rod 2032 .

[0040] In this embodiment, by setting the bottom diameter of the connecting rod 2032 to be larger than the diameter of the movable groove 2035, the connecting frame 2034 can be prevented from being detached while rotating along with the surface of the workpiece during use.

[0041] As a technical optimization solution of the present invention, the suction cup 2036 is made of an elastic connecting tube, and the number of the suction cups 2036 is four.

[0042] In this embodiment: by setting the material of the suction cup 2036 to be an elastic connecting tube, the contact surface with the workpiece can be increased during use, and the number of the suction cup 2036 is four, which can make it more convenient to grab the workpiece.

[0043] As a technical optimization solution of the utility model, a sliding groove 5 is opened on the surface of the fixing frame 2013 . The sliding groove 5 has the same width as the sleeve rod 2025 , and the sleeve rod 2025 moves inside the sliding groove 5 .

[0044] In this embodiment, a sliding groove 5 is provided on the surface of the fixing frame 2013, and the sliding groove 5 has the same width as the sleeve rod 2025, so that the sleeve rod 2025 can move more stably in the sliding groove 5, ensuring that the sleeve rod 2025 will not deviate during movement.

[0045] Working principle: First, when using the flexible graphite electrode plate special suction cup 2036 type high-efficiency automatic sorting 6-axis robot arm, the external drive drives the rotating rod 2024 to rotate, and one end of the rotating rod 2024 will rotate inside the swing groove 2022, and at the same time will drive the sleeve rod 2025 to move. The sleeve rod 2025 rotates with the rotating rod 2024, and at the same time moves up and down relative to the support rod 2014, driving the moving block 2012 to move on the guide rail 2011, thereby driving the fixed frame 2013 to move horizontally, and the top support rod 2014 drives the adsorption frame 2031 to move. When it is adsorbed downward to an object, the bottom connecting frame 2034 is a movable connection, which will fit the shape of the surface of the object, and then the top support rod 2033 will extend and retract up and down with the movement of the connecting frame 2034, supporting the connecting frame 2034. When the connecting frame 2034 moves, the limiting rods 3 at both ends will move in the limiting groove 4 to prevent the bottom connecting frame 2034 from swinging excessively.

[0046] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A 6-axis suction cup type high-efficiency automatic sorting robot arm for flexible graphite electrode plates, comprising a robot arm body (1), characterized in that: A gripping mechanism (2) is provided at one end of the robot arm body (1); The grasping mechanism (2) comprises a moving component (201), a swinging component (202) and an adsorption component (203); the moving component (201) comprises a guide rail (2011), a moving block (2012), a fixed frame (2013) and a support rod (2014); the guide rail (2011) is fixedly arranged on one side of the mechanical arm body (1); the moving block (2012) is movably arranged on the guide rail (2011); the guide rail (2011) and the moving block (2012) are provided in two groups; the fixed frame (2013) is fixedly arranged on the moving blocks (2012) at the top and the bottom; the support rod (2014) is movably arranged in the middle of the fixed frame (2013); and the support rod (2014) moves up and down on the surface of the fixed frame (2013).

2. According to claim 1, a 6-axis suction cup type efficient automatic sorting robot arm for flexible graphite electrode plates is characterized by: The swing assembly (202) comprises a mounting plate (2021), a swing slot (2022), a rotating seat (2023), a rotating rod (2024) and a sleeve rod (2025); the mounting plate (2021) is fixedly arranged on one side of the mechanical arm body (1); the swing slot (2022) is opened on one side of the mounting plate (2021); the swing slot (2022) is in a U shape as a whole; the rotating seat (2023) is fixedly arranged on one side of the mechanical arm body (1); one end of the rotating rod (2024) is rotatably arranged inside the rotating seat (2023); the other end of the rotating rod (2024) is arranged inside the swing slot (2022); the sleeve rod (2025) is arranged at the other end of the rotating rod (2024); and the sleeve rod (2025) is sleeved on the support rod (2014).

3. According to claim 1, a 6-axis suction cup type efficient automatic sorting robot arm for flexible graphite electrode plates is characterized by: The adsorption assembly (203) comprises an adsorption frame (2031), a connecting rod (2032), a supporting rod (2033), a connecting frame (2034), a movable groove (2035) and a suction cup (2036); the adsorption frame (2031) is fixedly arranged at one end of the supporting rod (2014); one end of the connecting rod (2032) is fixedly arranged in the middle of the adsorption frame (2031); one end of the supporting rod (2033) is fixedly arranged at both sides of the adsorption frame (2031); the connecting frame (2034) is arranged at the other end of the connecting rod (2032); the movable groove (2035) is opened in the middle part of the connecting frame (2034); one end of the connecting rod (2032) extends into the bottom of the movable groove (2035); and one end of the suction cup (2036) is fixedly arranged at one side of the bottom of the connecting frame (2034).

4. According to claim 3, a 6-axis suction cup type efficient automatic sorting robot arm for flexible graphite electrode plates is characterized by: Limiting rods (3) are fixedly provided at both ends of the adsorption frame (2031), limiting grooves (4) are provided at both ends of the connection frame (2034), and the limiting rods (3) move inside the limiting grooves (4).

5. According to claim 2, a 6-axis suction cup type efficient automatic sorting robot arm for flexible graphite electrode plates is characterized by: The length of the guide rail (2011) is longer than the lateral length of the swing groove (2022), and the number of the guide rails (2011) is two groups.

6. According to claim 3, a 6-axis suction cup type efficient automatic sorting robot arm for flexible graphite electrode plates is characterized by: The bottom diameter of the connecting rod (2032) is greater than the diameter of the movable groove (2035), and the connecting frame (2034) is supported by the bottom of the connecting rod (2032).

7. According to claim 3, a 6-axis suction cup type efficient automatic sorting robot arm for flexible graphite electrode plates is characterized by: The material of the suction cup (2036) is an elastic connecting tube, and the number of the suction cups (2036) is four.

8. According to claim 2, a 6-axis suction cup type efficient automatic sorting robot arm for flexible graphite electrode plates is characterized by: A sliding groove (5) is provided on the surface of the fixing frame (2013), the sliding groove (5) has the same width as the sleeve rod (2025), and the sleeve rod (2025) moves inside the sliding groove (5).

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