Material grabbing robot

Abstract

A material grabbing robot comprises a frame set and a suction clamp, a servo motor and a driving shaft are arranged on the frame set, and the material grabbing robot is characterized in that two swing arm assemblies are symmetrically hinged to the two sides of one end of the frame set and formed by hinging swing arms and output arms, the lower ends of the swing arms are hinged to the frame set, and the upper ends of the swing arms are hinged to the middles of the output arms; a mounting plate is connected between the two output arms, and the suction clamp is arranged on the mounting plate through a thumb-shaped locker; crank connecting rod assemblies are symmetrically connected to two ends of the driving shaft; outer ends of connecting rods are respectively hinged to the middle parts of the swing arms; two control assemblies are symmetrically hinged in the frame set and comprise small swing arms, long connecting rods and short connecting rods, the lower ends of the small swing arms are hinged to the frame set, the upper ends of the small swing arms are hinged to one ends of the long connecting rods and the short connecting rods, the other ends of the long connecting rods are hinged to the lower ends of the output arms, and the other ends of the two short connecting rods are hinged to the lower portions of the two swing arms through a long shaft. The robot can quickly replace the suction clamp according to different specifications, and is compact in structure and stable in work.

Description

Technical Field

[0001] The utility model belongs to packaging machinery, in particular to a material grabbing robot. Background Art

[0002] Packaging cartons are widely used in packaging of various products, especially medical devices, such as syringes. Material grabbing robots are widely used in various packaging equipment to grab packaging boxes, instructions and other materials in the paper blank warehouse and place them in a fixed position and angle for subsequent process equipment to use.

[0003] At present, most existing grasping robots use servo motors that rotate forward and reverse through connecting rods to drive the suction fixture to reciprocate, resulting in large equipment vibrations. In addition, when the position sensor fails, the mechanism may swing out of position and hit other mechanism components, causing damage to them.

[0004] In addition, the frames of existing grasping robots are usually formed by bolting together, and have poor adjustment capabilities. Moreover, in one packaging device, there are multiple materials to be grasped at different heights, and the grasping equipment requires specific design and is not very versatile. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a material grabbing robot which can quickly replace the suction fixture according to different specifications, has a compact structure and works stably.

[0006] In order to solve the above problems, the utility model adopts the following technical solutions:

[0007] A material grabbing robot includes a frame group and a suction fixture. A servo motor and a drive shaft are arranged on the frame group. The servo motor and the drive shaft are connected in a transmission manner. The robot has the following special features:

[0008] Two swing arm assemblies are symmetrically hinged on both sides of one end of the frame assembly, and the swing arm assembly is hinged by a swing arm and an output arm, wherein the lower end of the swing arm is hinged on the frame assembly, and the upper end of the swing arm is hinged on the middle of the output arm; a mounting plate is connected between the two output arms, and the suction fixture is fixed on the mounting plate by a thumb-type locker;

[0009] Crank-connecting rod assemblies are symmetrically connected to both ends of the drive shaft, and the outer ends of the connecting rods of the crank-connecting rod assemblies are respectively hinged to the middle of the corresponding swing arms to drive the swing arms to swing back and forth;

[0010] Two control components are symmetrically hinged in the frame group, and the control components include a small swing arm, a long connecting rod and a short connecting rod, wherein the lower end of the small swing arm is hinged on the frame group, the upper end of the small swing arm is hinged to the long connecting rod and one end of the short connecting rod, the other end of the long connecting rod is hinged to the lower end of the corresponding output arm, and the other ends of the two short connecting rods are hinged to the lower parts of the two swing arms through a long axis, which is used to control the output arm to rotate back and forth while following the reciprocating swing of the swing arm, thereby adjusting the angle of the suction fixture.

[0011] As a further preference, the swing arm is L-shaped.

[0012] As a further preference, the output end of the servo motor is connected to a reducer and is fixed to the upper end of the frame group through the reducer and a fixed seat, the drive shaft passes through the output shaft and the fixed seat of the reducer and both ends are installed on the upper end of the frame group through bearings.

[0013] As a further preference, the suction clamp includes a connecting plate, which is attached to the mounting plate and fixed by the thumb-type lock; a suction cup frame is fixed on the connecting plate, and a plurality of suction cup seats are evenly fixed on the suction cup frame, and a baffle and four suction cups arranged in a rectangular shape are installed on each suction cup seat, and the outer end of the suction cup passes through the through hole on the baffle for adsorbing the paper blank material to be grasped.

[0014] As a further preference, the suction cup frame is composed of two connecting pipes and a plurality of connecting blocks evenly clamped on the two connecting pipes.

[0015] As a further preference, the frame group includes an inner frame and an outer frame, the servo motor, drive shaft, swing arm assembly and control assembly are all arranged on the outer frame, the two vertical plates of the outer frame are respectively attached to the two sides of the inner frame and are fixed to the inner frame through guide strips and clamps arranged on the outside of the inner frame, a rotatable adjustment shaft is installed on the inner frame, both ends of the adjustment shaft respectively pass through the two vertical plates of the outer frame and are provided with cams, and pressure blocks are respectively fixed on the two vertical plates, and the pressure blocks are respectively pressed on the corresponding outer edges of the cams so as to adjust the grabbing height according to the material position.

[0016] As a further preference, the inner frame is formed by two symmetrically arranged connecting seats connected by two connecting shafts, and the outer frame is formed by two vertical plates connected by multiple connecting shafts.

[0017] The beneficial effects of the utility model are:

[0018] 1. The servo motor drives the driving shaft to rotate continuously, and the crank-connecting rod assemblies at both ends of the driving shaft can drive the two swing arm assemblies hinged on the frame assembly to swing back and forth, thereby driving the suction fixture arranged between the two swing arm assemblies to swing back and forth; through the two control assemblies symmetrically hinged in the frame assembly, the lower ends of the output arms and the lower parts of the swing arms of the two swing arm assemblies are connected respectively, so that the output arms can be controlled to rotate back and forth when following the reciprocating swing of the swing arms, thereby adjusting the angle of the suction fixture when following the swing of the swing arm assembly, thereby realizing the grabbing and placing of the paper blank material; the structure is compact, the operation is stable, and the working vibration is small, which can prevent the mechanism from swinging out of position and hitting other mechanism components, causing damage to other mechanism components.

[0019] 2. The two swing arm assemblies symmetrically hinged at one end of the frame group are connected with a mounting plate, and the suction fixture is fixed on the mounting plate by a thumb-type locker. The suction fixture can be quickly replaced according to different specifications, and it is easy to disassemble and assemble, with high replacement efficiency and strong versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the utility model.

[0021] Figure 2 yes Figure 1 Right view of .

[0022] Figure 3 yes Figure 1 Top view of the .

[0023] Figure 4 yes Figure 2 AA section view.

[0024] Figure 5 It is a three-dimensional structural diagram of the utility model.

[0025] Figure 6 It is a schematic diagram of the utility model grabbing paper blank materials and placing them in a horizontal state.

[0026] In the figure: frame group 1, small swing arm 2, drive shaft 3, reducer 4, crank 5, connecting rod 6, swing arm 7, output arm 8, suction fixture 9, long connecting rod 10, long shaft 11, short connecting rod 12, pressure block 13, cam 14, guide strip 15, splint 16, connecting seat 17, connecting shaft 18, vertical plate 19, connecting shaft 20, baffle 21, suction cup seat 22, suction cup frame 23, suction cup 24, mounting plate 25, connecting plate 26, thumb type locker 27, fixing seat 28, servo motor 29, hand wheel 30, adjusting shaft 31. DETAILED DESCRIPTION

[0027] like Figure 1-Figure 5As shown, the utility model relates to a material grabbing robot, including a frame group 1 and a suction fixture 9, a servo motor 29 and a drive shaft 3 are installed on the frame group 1, and the servo motor 29 is in transmission connection with the drive shaft 3. The output end of the servo motor 29 is connected to a reducer 4 and is fixed to a side vertical plate at the upper end of the frame group 1 through the reducer 4 and a fixed seat 28, and the drive shaft 3 passes through the output shaft of the reducer 4 and the fixed seat 28, and the two ends are installed on the two side vertical plates at the upper end of the frame group 1 through bearings.

[0028] Two swing arm assemblies are symmetrically hinged by pins on both sides of the frame group 1 away from one end of the servo motor 29. The swing arm assembly is hinged by a swing arm 7 and an output arm 8, wherein the swing arm 7 is L-shaped and the lower end is hinged to the vertical plate of the frame group 1 by a pin, and the upper end of the swing arm 7 is hinged to the middle of the output arm 8; a mounting plate 25 is fixedly connected between the output arms 8 of the two swing arm 7 assemblies by screws, and the suction clamp 9 is fixed to the mounting plate 25 by two thumb-type locks 27.

[0029] Two crank-connecting rod assemblies are symmetrically connected at both ends of the drive shaft 3. The crank-connecting rod assembly is formed by hinged crank 5 and connecting rod 6, wherein the crank 5 is fixedly connected to the corresponding end of the drive shaft 3, and the outer ends of the connecting rod 6 are respectively hinged to the middle of the corresponding swing arm 7 to drive the swing arm 7 to swing back and forth.

[0030] Two control components are symmetrically hinged in the frame group 1, and the control components include a small swing arm 2, a long connecting rod 10 and a short connecting rod 12, wherein the lower end of the small swing arm 2 is hinged to the inner side of the frame group 1 through a hollow shaft, the upper end of the small swing arm 2 is hinged to the long connecting rod 10 and one end of the short connecting rod 12, the other end of the long connecting rod 10 is hinged to the lower end of the corresponding output arm 8, and the other ends of the two short connecting rods 12 are hinged to the lower parts of the two swing arms 7 through a long shaft 11, and the two ends of the long shaft 11 are fixedly inserted on the two swing arms 7, so as to control the output arm 8 to rotate back and forth when following the reciprocating swing of the swing arm 7, thereby adjusting the angle of the suction clamp 9.

[0031] The suction fixture 9 includes a connecting plate 26, which is attached to the mounting plate 25 and fixed by the thumb-type locker; a suction cup frame 23 is fixed on the connecting plate 26, and a plurality of suction cup seats 22 are evenly fixed on the suction cup frame 23 by screws. The suction cup seats 22 are rectangular frame-shaped, and a baffle plate 21 is installed on each suction cup seat 22 by screws and four suction cups 24 arranged in a rectangular shape are connected by threads. The outer ends of the suction cups 24 pass through the through holes on the baffle plate 21 to absorb the paper blank material to be grasped. The suction cup frame 23 is composed of two connecting pipes and a plurality of connecting blocks evenly clamped on the two connecting pipes.

[0032] The frame group 1 includes an inner frame and an outer frame, and the servo motor 29, the drive shaft 3, the swing arm assembly and the control assembly are all arranged on the outer frame. The inner frame is formed by two symmetrically arranged L-shaped connecting seats 17 connected by two symmetrically arranged connecting shafts 18, and the outer frame is formed by two vertical plates 19 connected by four connecting shafts 20; the two vertical plates 19 of the outer frame are respectively attached to the two sides of the inner frame and are fixed to the connecting seat 17 of the inner frame by two groups of guide strips 15 and clamping plates 16 symmetrically fixed on the outer side of the inner frame, and strip holes are respectively provided on the vertical plates 19 at positions corresponding to the guide strips 15, and the guide strips 15 are inserted into the strip holes through clearance fit, and the clamping plates 16 are connected to the guide strips 15 by screws and clamped on the outer side of the strip holes;

[0033] A rotatable adjusting shaft 31 is installed on the inner frame, and both ends of the adjusting shaft 31 pass through the two vertical plates 19 of the outer frame and are fixed with cams 14. Square holes are respectively provided on the two vertical plates 19 at the corresponding ends of the adjusting shaft 31, and pressure blocks 13 are respectively fixed on the upper ends of the square holes. The pressure blocks 13 are respectively pressed on the outer edges of the corresponding cams 14. A hand wheel 30 is fixed in the middle of the adjusting shaft so that the adjusting shaft 31 can be rotated to adjust the height of the outer frame through the cam, thereby adjusting the grabbing height.

[0034] When in use, the material grabbing robot is fixed on the frame of the packaging equipment through the inner frame and close to the material outlet side of the paper blank warehouse. Figure 1 As shown. During operation, the servo motor 29 is controlled to start, driving the drive shaft 3 to rotate at a low speed. When the drive shaft 3 rotates, the two swing arm assemblies are driven to swing back and forth through the crank connecting rod assemblies at both ends, thereby driving the suction fixture 9 to swing back and forth; when the two swing arms 7 swing backward, the short connecting rods 12 of the two control assemblies push the small swing arm 2 to swing backward, and at the same time, the lower ends of the output arms 8 of the two swing arm assemblies are driven to rise through the long connecting rod 10, so that the output arms 8 of the two swing arm assemblies are rotated to a horizontal state; thereby adjusting the angle of the suction fixture 9 when following the swing of the swing arm assembly, so that the suction fixture 9 rotates from the initial state to the horizontal state; when the suction fixture 9 is in the initial state, the negative pressure of the suction cup 24 grabs the paper blank material in the paper blank material warehouse; when the suction fixture 9 moves to a horizontal state, the paper blank material can be placed in a horizontal state, as shown in FIG. Figure 6 As shown, it is convenient for the subsequent process equipment to use. In this reciprocating cycle, the paper blank material can be grasped and placed.

[0035] When the gripping height needs to be adjusted, the screws fixing the clamping plate 16 are loosened, and the adjusting shaft 31 is rotated by the hand wheel 30 to drive the cam 14 to rotate so as to adjust the height of the outer frame, thereby adjusting the gripping height. After adjustment, the clamping plate 16 is tightened.

[0036] Although the implementation scheme of the utility model has been disclosed as above, it is not limited to the applications listed in the specification and implementation modes. It can be fully applied to various fields suitable for the utility model. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A material grabbing robot, comprising a frame group and a suction fixture, wherein a servo motor and a drive shaft are provided on the frame group, and the servo motor is drivingly connected to the drive shaft, wherein: Two swing arm assemblies are symmetrically hinged on both sides of one end of the frame assembly, and the swing arm assembly is hinged by a swing arm and an output arm, wherein the lower end of the swing arm is hinged on the frame assembly, and the upper end of the swing arm is hinged on the middle of the output arm; a mounting plate is connected between the two output arms, and the suction fixture is fixed on the mounting plate by a thumb-type locker; Crank-connecting rod assemblies are symmetrically connected to both ends of the drive shaft, and the outer ends of the connecting rods of the crank-connecting rod assemblies are respectively hinged to the middle of the corresponding swing arms to drive the swing arms to swing back and forth; Two control components are symmetrically hinged in the frame group, and the control components include a small swing arm, a long connecting rod and a short connecting rod, wherein the lower end of the small swing arm is hinged on the frame group, the upper end of the small swing arm is hinged to the long connecting rod and one end of the short connecting rod, the other end of the long connecting rod is hinged to the lower end of the corresponding output arm, and the other ends of the two short connecting rods are hinged to the lower parts of the two swing arms through a long axis, which is used to control the output arm to rotate back and forth while following the reciprocating swing of the swing arm, thereby adjusting the angle of the suction fixture.

2. A material grabbing robot according to claim 1, characterized in that: The swing arm is L-shaped.

3. The material grabbing robot according to claim 1, characterized in that: The output end of the servo motor is connected to a reducer and is fixed to the upper end of the frame group through the reducer and a fixing seat. The drive shaft passes through the output shaft of the reducer and the fixing seat and both ends are installed on the upper end of the frame group through bearings.

4. The material grabbing robot according to claim 1, characterized in that: The suction clamp includes a connecting plate, which is attached to the mounting plate and fixed by the thumb-type locker; a suction cup frame is fixed on the connecting plate, and a plurality of suction cup seats are evenly fixed on the suction cup frame, and a baffle and four suction cups arranged in a rectangular shape are installed on each suction cup seat, and the outer end of the suction cup passes through the through hole on the baffle plate to absorb the paper blank material to be grasped.

5. The material grabbing robot according to claim 4, characterized in that: The suction cup frame is composed of two connecting pipes and a plurality of connecting blocks which are evenly clamped on the two connecting pipes.

6. A material grabbing robot according to claim 1 or 3, characterized in that: The frame group includes an inner frame and an outer frame. The servo motor, drive shaft, swing arm assembly and control assembly are all arranged on the outer frame. The two vertical plates of the outer frame are respectively attached to the two sides of the inner frame and are fixed to the inner frame through guide strips and clamps arranged on the outer side of the inner frame. A rotatable adjustment shaft is installed on the inner frame. Both ends of the adjustment shaft pass through the two vertical plates of the outer frame and are provided with cams. Pressure blocks are respectively fixed on the two vertical plates, and the pressure blocks are respectively pressed on the corresponding outer edges of the cams to adjust the grabbing height.

7. A material grabbing robot according to claim 6, characterized in that: The inner frame is formed by connecting two symmetrically arranged connection seats through two connection shafts, and the outer frame is formed by connecting two vertical plates through multiple connection shafts.

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