Grabbing robot for machining production line

Abstract

The utility model provides a grabbing robot for a processing production line, and relates to the field of grabbing robots, the grabbing robot comprises a fixed groove plate and a clamping assembly, the front side of the fixed groove plate is rotatably connected with a swing rod, the upper end of the swing rod is connected with a lifting rod, the outer side wall of the fixed groove plate is provided with an air cylinder, and the air cylinder is connected with the clamping assembly. A rack is arranged in the fixing groove plate, a gear is meshed with the upper side of the rack, meanwhile, the rack is connected with an air cylinder, the gear is connected with the swing rod, the clamping assembly is connected to the lower end of the lifting rod and comprises an electromagnetic suction ring and a flexible clamping jaw, and the electromagnetic suction ring is located on the outer side of the flexible clamping jaw. The grabbing robot for the machining production line solves the problems that when an existing grabbing robot for the machining production line is used for simple fixed-point taking and placing, the equipment use cost is high, and the grabbing mode is single.

Description

Technical Field

[0001] The utility model relates to the technical field of grasping robots, in particular to a grasping robot used for a processing production line. Background Art

[0002] With the development of industrial robots in a deeper and broader direction and the improvement of the intelligence level of robots, the application scope of robots is constantly expanding, and has been extended from the automobile manufacturing industry to other manufacturing industries, and then to various non-manufacturing industries such as mining robots, construction robots, and water and electricity system maintenance and repair robots. In addition, the application of robots in the fields of national defense, military, medical care, life services, etc. is also increasing. Robots are playing an important role in improving the quality of human life. After searching, the prior art (application number: CN202223490186.2) records "a grasping robot for a processing production line, including a robot body, a grasping claw is arranged at the movable end of the robot body, a mounting plate is fixedly connected to the front of the grasping claw, a sliding block is slidably connected inside the mounting plate, a connecting column is fixedly connected to the right side of the sliding block, a sensor body is fixedly connected to the right side of the connecting column, a shell is fixedly connected to the inside of the shell, and a rotating block is rotatably connected to the inside of the fixed block. In the grasping robot for the processing production line, when the sensor body is installed and fixed to the outer surface of the grasping claw, after the sliding block on the left side of the sensor body is slid into the inside of the mounting plate, the rotating disk is rotated to drive the rotating block connected to the rotating rod to rotate inside the fixed block, so that the sleeve changes from rotational motion to left and right movement when the limit block is slidably connected to the guide rod, so that the sleeve drives the fixed rod to move to the right, and the sliding block is limited inside the mounting plate."

[0003] Although the grasping robots used in processing production lines in the prior art have achieved the effect of facilitating the disassembly and assembly of electrical components, there are still some shortcomings: when the existing grasping robots used in processing production lines are only used to grasp something from one fixed point and move it to another fixed point, the multi-axial motor drive mechanism, the clamping mechanism and multiple sensor probe components involved lead to a high cost of the robot equipment and a simultaneous increase in the subsequent maintenance costs; secondly, the grasping clamps involved in the existing grasping robots have only one way of picking up materials, which leads to limitations in use. Utility Model Content

[0004] In order to overcome the defects of the prior art, a grasping robot for a processing production line is provided to solve the problems that the existing grasping robots for processing production lines have high equipment use costs and a relatively single grasping method when used for simple fixed-point picking and placing.

[0005] To achieve the above-mentioned purpose, a grasping robot for a processing production line is provided, comprising: a fixed slot plate and a clamping assembly, the front side of the fixed slot plate is rotatably connected to a swing rod, and the upper end of the swing rod is connected to a lifting rod, and a cylinder is installed on the outer wall of the fixed slot plate, a rack is provided inside the fixed slot plate, and a gear is meshed on the upper side of the rack, and the rack is connected to the cylinder, and the gear is connected to the swing rod, the clamping assembly is connected to the lower end of the lifting rod, and the clamping assembly includes an electromagnetic suction ring and a flexible clamp, and the electromagnetic suction ring is located on the outside of the flexible clamp.

[0006] Furthermore, a groove cavity is provided inside the fixed groove plate, and one end of the rack is connected to the piston rod end of the cylinder through a connecting rod, and the rack is slidably connected in the groove cavity.

[0007] Furthermore, a guide block is connected to the rear side of the rack, and a guide rod is slidably inserted into the inner side of the guide block, and the guide rod is fixed to the inner wall of the fixed slot plate.

[0008] Furthermore, a rotating shaft is inserted and fixed inside the gear, and the front end of the rotating shaft passes through a shaft sleeve fixed in the plate wall of the fixed slot plate and is fixedly connected to the lower end of the swing rod.

[0009] Furthermore, a horizontal guide rail is provided on the front side wall of the fixed slot plate, and a guide slider is horizontally slidably connected to the outer side of the guide rail, and the lifting rod is vertically slidably connected to the outer side of the guide slider.

[0010] Furthermore, the clamping assembly includes a fixed block connected to the lower end of the lifting rod, and the lower end of the fixed block is connected to the positioning rod, and the flexible clamping claw is connected to the lower end of the positioning rod.

[0011] Furthermore, a sliding sleeve is slidably connected to the outer side of the positioning rod, and an electric push rod is connected between the upper side of the sliding sleeve and the fixed block. The lower side of the sliding sleeve is connected to the electromagnetic suction ring through a connecting rod, and the inner diameter of the ring hole of the electromagnetic suction ring is larger than the width of the flexible clamp.

[0012] The beneficial effects of the utility model are:

[0013] 1. When in use, the device is fixed between two fixed points for picking and placing, and then the cylinder is started to make the cylinder reciprocate to drive the rack to reciprocate in a straight line, and the meshing of the rack and the gear makes the rotating shaft reciprocate, thereby driving the swing rod to swing back and forth, and then through the set guide rail and guide slider, the swing rod drives the lifting rod to do lifting movement in the path of the two points, and then through the clamping assembly on the lower side, the materials at the fixed two points can be quickly picked up and placed, which solves the defect of high cost of robot equipment involved in the prior art, and has a simple structure, which is convenient for later maintenance;

[0014] 2. When clamping materials, flexible clamps can be used to clamp lighter or non-metallic materials. When clamping heavier metal materials, the electric push rod can be started to drive the sliding sleeve to push the electromagnetic suction ring downward to pass and be lower than the position of the flexible clamp. When clamping, the heavier metal materials can be clamped and placed by controlling the power on and off of the electromagnetic suction ring, which increases the versatility of the use of the clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall three-dimensional structure of an embodiment of the utility model.

[0016] Figure 2 It is a schematic diagram of the top cross-sectional structure of the fixed slot plate according to an embodiment of the utility model.

[0017] Figure 3 For the utility model embodiment Figure 1 Schematic diagram of the structure at point A in the middle.

[0018] Figure 4 It is a schematic diagram of the three-dimensional structure of the clamping assembly according to an embodiment of the utility model.

[0019] In the figure: 1. fixed groove plate; 11. guide rail; 12. swing rod; 121. bushing; 122. rotating shaft; 123. gear; 13. lifting rod; 14. cylinder; 141. connecting rod; 142. rack; 143. guide rod; 144. guide block; 15. guide slide block; 2. clamping assembly; 21. fixed block; 22. positioning rod; 23. electric push rod; 24. sliding sleeve; 25. connecting rod; 26. electromagnetic suction ring; 27. flexible clamping claw. DETAILED DESCRIPTION

[0020] Reference Figures 1 to 4 As shown, the utility model provides a grasping robot for a processing production line, comprising: a fixed slot plate 1 and a clamping assembly 2, the front side of the fixed slot plate 1 is rotatably connected to a swing rod 12, and the upper end of the swing rod 12 is connected to a lifting rod 13, and a cylinder 14 is installed on the outer wall of the fixed slot plate 1, a rack 142 is provided inside the fixed slot plate 1, and a gear 123 is meshed on the upper side of the rack 142, and the rack 142 is connected to the cylinder 14, and the gear 123 is connected to the swing rod 12, the clamping assembly 2 is connected to the lower end of the lifting rod 13, and the clamping assembly 2 includes an electromagnetic suction ring 26 and a flexible clamp 27, and the electromagnetic suction ring 26 is located on the outside of the flexible clamp 27.

[0021] In this embodiment, the fixed slot plate 1 and the clamping assembly 2 constitute the main structure of the grasping robot for the processing production line involved in this application.

[0022] The flexible clamping claw 27 adopts a pneumatic flexible clamping claw structure in the prior art, and is integrally configured as a rubber airbag structure.

[0023] Specifically, the electromagnetic suction ring 26 is made of electromagnet material, and the power is controlled by an external controller. In actual use, when the swing arm 12 is at the limit position of the material picking point, the electromagnetic suction ring 26 is energized and magnetized; when the swing arm 12 is at the limit position of the material discharging point, the electromagnetic suction ring 26 loses power and is demagnetized, thereby causing the material to fall to the discharging point by its own weight.

[0024] like Figure 1 , Figure 2 and Figure 3 As shown, a groove cavity is provided inside the fixed groove plate 1, and one end of the rack 142 is connected to the piston rod end of the cylinder 14 through a connecting rod 141, and the rack 142 is slidably connected in the groove cavity, a guide block 144 is connected to the rear side of the rack 142, and a guide rod 143 is slidably inserted inside the guide block 144, and the guide rod 143 is fixed to the inner wall of the fixed groove plate 1, a rotating shaft 122 is inserted and fixed inside the gear 123, and the front end of the rotating shaft 122 passes through the shaft sleeve 121 fixed in the plate wall of the fixed groove plate 1 and is fixedly connected to the lower end of the swing rod 12, a horizontal guide rail 11 is provided on the front side wall of the fixed groove plate 1, and a guide slider 15 is horizontally slidably connected to the outer side of the guide rail 11, and the lifting rod 13 is vertically slidably connected to the outer side of the guide slider 15.

[0025] As a preferred embodiment, the linear motion stability of the rack 142 is enhanced by providing a sliding connection between the guide rod 143 and the guide block 144 .

[0026] As a preferred embodiment, by setting the guide rail 11 and the guide slider 15, the lifting rod 13 and the guide slider 15 can slide up and down and maintain a locked state, so that the bottom of the lifting rod 13 can be lifted and lowered at two fixed points and move in a jumping arc, thereby realizing the fixed-point transfer of materials.

[0027] like Figure 1 and Figure 4 As shown, the clamping assembly 2 includes a fixed block 21 connected to the lower end of the lifting rod 13, and the lower end of the fixed block 21 is connected to a positioning rod 22, and a flexible clamp 27 is connected to the lower end of the positioning rod 22, a sliding sleeve 24 is slidably connected to the outer side of the positioning rod 22, and an electric push rod 23 is connected between the upper side of the sliding sleeve 24 and the fixed block 21, the lower side of the sliding sleeve 24 is connected to the electromagnetic suction ring 26 through a connecting rod 25, and the inner diameter of the ring hole of the electromagnetic suction ring 26 is larger than the width of the flexible clamp 27.

[0028] Specifically, a cavity is provided inside the positioning rod 22, and air holes are provided on its outer wall to facilitate the connection of the air pipe. At the same time, the flexible clamp 27 is connected to the cavity to drive the flexible clamp 27 to move when air is taken in and out. A microcontroller is provided on the outer wall of the sliding sleeve 24, and the microcontroller is electrically connected to the electromagnetic suction ring 26 and to the cylinder 14, so that the piston rod of the cylinder 14 is located at two telescopic limit points, thereby realizing the on-off control of the electromagnetic suction ring 26.

[0029] When in use, the device is fixed between two fixed points for picking and placing, and then the cylinder is started to make the cylinder reciprocate to drive the rack to reciprocate in a straight line, and the meshing of the rack and the gear makes the rotating shaft reciprocate, thereby driving the swing rod to swing back and forth, and then through the set guide rails and guide sliders, the swing rod drives the lifting rod to perform lifting and lowering movements in the path of the two points, and then through the clamping assembly on the lower side, the materials at the two fixed points can be quickly picked up and placed, which solves the defect of high use cost of robot equipment involved in the prior art, and has a simple structure and is convenient for later maintenance.

[0030] The gripping robot for a processing production line of the utility model can effectively solve the problems of high equipment use cost and relatively single gripping method when the existing gripping robots for processing production lines are used for simple fixed-point pick-up and placement. It is achieved on the basis of the existing gripping robot technology for processing production lines, so that the use cost of the robot equipment is reduced when it is used for simple fixed-point pick-up and placement, and it has two gripping effects at the same time, thereby increasing the practicability of the device.

Claims

1. A grasping robot for a processing production line, comprising: A fixed slot plate (1) and a clamping assembly (2), characterized in that: the front side of the fixed slot plate (1) is rotatably connected to a swing rod (12), and the upper end of the swing rod (12) is connected to a lifting rod (13), and a cylinder (14) is installed on the outer wall of the fixed slot plate (1), a rack (142) is provided inside the fixed slot plate (1), and a gear (123) is meshed on the upper side of the rack (142), and the rack (142) is connected to the cylinder (14), and the gear (123) is connected to the swing rod (12), the clamping assembly (2) is connected to the lower end of the lifting rod (13), and the clamping assembly (2) includes an electromagnetic suction ring (26) and a flexible clamp (27), and the electromagnetic suction ring (26) is located on the outside of the flexible clamp (27).

2. A grasping robot for a processing production line according to claim 1, characterized in that: A groove cavity is provided inside the fixed groove plate (1), and one end of the rack (142) is connected to the piston rod end of the cylinder (14) through a connecting rod (141), and the rack (142) is slidably connected in the groove cavity.

3. A grasping robot for a processing production line according to claim 1, characterized in that: The rear side of the rack (142) is connected to a guide block (144), and a guide rod (143) is slidably inserted into the inner side of the guide block (144), and the guide rod (143) is fixed to the inner wall of the fixed slot plate (1).

4. A grasping robot for a processing production line according to claim 1, characterized in that: A rotating shaft (122) is inserted and fixed inside the gear (123), and the front end of the rotating shaft (122) passes through a shaft sleeve (121) fixed in the plate wall of the fixed slot plate (1) and is fixedly connected to the lower end of the swing rod (12).

5. A grasping robot for a processing production line according to claim 1, characterized in that: The front side wall of the fixed slot plate (1) is provided with a horizontal guide rail (11), and the outer side of the guide rail (11) is horizontally slidably connected to a guide slider (15), and the lifting rod (13) is vertically slidably connected to the outer side of the guide slider (15).

6. A grasping robot for a processing production line according to claim 1, characterized in that: The clamping assembly (2) comprises a fixed block (21) connected to the lower end of the lifting rod (13), the lower end of the fixed block (21) is connected to a positioning rod (22), and a flexible clamping claw (27) is connected to the lower end of the positioning rod (22).

7. A grasping robot for a processing production line according to claim 6, characterized in that: The outer side of the positioning rod (22) is slidably connected to a sliding sleeve (24), and an electric push rod (23) is connected between the upper side of the sliding sleeve (24) and the fixed block (21), and the lower side of the sliding sleeve (24) is connected to an electromagnetic suction ring (26) through a connecting rod (25), and the inner diameter of the ring hole of the electromagnetic suction ring (26) is greater than the width of the flexible clamping claw (27).

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