Robot pick-up device

Abstract

The utility model relates to a robot pick-up device which comprises a connecting frame, a mounting plate, an adjusting piece, a first clamping jaw, a fixing plate and a second clamping jaw, the connecting frame is connected with a robotic arm, the mounting plate is arranged on the connecting frame, the first clamping jaw is arranged at one end of the top of the mounting plate through the adjusting piece, and the second clamping jaw is arranged at the other end of the top of the mounting plate through the fixing plate. The second clamping jaw is arranged at the other end of the top of the mounting plate through the fixing plate and used for grabbing the two large structural parts of the three-plate mold at the same time, and the structure of the second clamping jaw is the same as that of the first clamping jaw. And through mutual cooperation of the adjusting piece, the first clamping jaw and the second clamping jaw, the efficiency of die casting of the large structural part through the three-plate die is improved.

Description

Technical Field

[0001] The utility model relates to a robot picking device. Background Art

[0002] As the degree of industrial automation increases, automated manipulators are widely used in the die-casting industry to improve the production efficiency of die-casting machines. In the future, the diversification of automotive products will lead to the diversification of die-casting molds for die-casting machines. After the die-casting is completed, the robot grabber is generally used to grab the material cake of large structural parts for removal. However, when using a three-plate mold to create large structural parts, the three-plate mold will directly break the material cake of the large structural parts when the mold is opened, leaving only a cone-shaped material, which makes it difficult for the original robot grabber to pick up the parts, affecting the die-casting efficiency of large structural parts. Utility Model Content

[0003] The purpose of this section is to summarize some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and utility model name of this application to avoid blurring the purpose of this section, specification abstract and utility model name, and such simplifications or omissions cannot be used to limit the scope of the utility model.

[0004] The technical problem to be solved by the utility model is how to improve the efficiency of three-plate die casting of large structural parts.

[0005] In order to solve the above technical problems, the utility model provides the following technical solutions: a robot picking device, including a connecting frame, a mounting plate, an adjusting member, a first clamp, a fixed plate and a second clamp, the connecting frame is connected to the robot arm, the mounting plate is arranged on the connecting frame, the first clamp is arranged at one end of the top of the mounting plate through the adjusting member, and the second clamp is arranged at the other end of the top of the mounting plate through the fixed plate, which is used for simultaneously grasping large structural parts of two three-plate molds, and the structure of the second clamp is the same as that of the first clamp.

[0006] As a preferred solution of the robot picking device of the utility model, wherein: the first clamp includes a clamp body, two guide blocks and two claws, the clamp body is arranged on the mounting plate through the adjusting member, the two guide blocks are symmetrically arranged on the clamp body, and the two claws are respectively arranged on the two guide blocks to clamp the broken material cakes of the large structural parts to realize the picking thereof.

[0007] As a preferred solution of the robot picking device described in the utility model, the adjusting part includes a movable plate, four screws, a guide strip, a first pressure plate and a second pressure plate, the movable plate is arranged on the mounting plate, four waist-shaped countersunk holes are symmetrically opened at the four corners of the movable plate, a plurality of screw holes are opened at positions corresponding to the four waist-shaped countersunk holes on the mounting plate, the four screws pass through the four waist-shaped countersunk holes and are arranged in the screw holes, the guide strip is arranged at the lower end of the movable plate, the first pressure plate and the second pressure plate are symmetrically arranged on both sides of the movable plate, so that the first clamp can be adjusted left and right according to the variables of the three-plate mold, so as to realize the simultaneous grasping of large structural parts of two different three-plate molds, thereby improving the efficiency of three-plate mold die-casting of large structural parts.

[0008] As a preferred solution of the robot picking device of the utility model, the first clamping jaw also includes four clamping blocks, which are symmetrically arranged on the inner sides of the two claws, and the inner surfaces of the clamping blocks are evenly distributed with burrs, thereby increasing the friction between the clamping jaw and the conical material.

[0009] As a preferred solution of the robot picking device of the utility model, the adjusting part also includes three connecting rods, a push rod, a push plate and three springs, the three connecting rods are evenly arranged on the first pressure plate, the three connecting rods pass through the first pressure plate, the push rod is arranged at one end of the connecting rod located on the outside of the first pressure plate, the push plate is arranged at one end of the connecting rod located on the inside of the first pressure plate, the push plate is located between the first pressure plate and the movable plate, the three springs are evenly arranged on the inner side of the second pressure plate, and the three springs are all between the second pressure plate and the movable plate to realize rapid adjustment of the first clamp.

[0010] As a preferred solution of the robot picking device of the utility model, a reinforcing plate is arranged on the mounting plate, and the reinforcing plate has a "convex" structure, which increases the overall strength of the mounting plate while not hindering the normal installation of the first clamp and the second clamp.

[0011] Beneficial effect: The efficiency of three-plate die casting of large structural parts is improved through the cooperation between the adjusting member, the first clamping jaw and the second clamping jaw. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0013] Figure 1This is a schematic diagram of the overall structure of the robot picking device.

[0014] Figure 2 This is a schematic diagram of the position structure of the first gripper of the robot picking device.

[0015] Figure 3 This is a schematic diagram of the position structure of the adjustment parts of the robot picking device.

[0016] Figure 4 This is a schematic diagram of the position structure of the screw holes of the robot picking device.

[0017] In the figure: 1, connecting frame; 2, mounting plate; 21, screw hole; 3, adjusting member; 31, moving plate; 311, waist-shaped countersunk hole; 32, screw; 33, guide strip; 34, first pressure plate; 35, second pressure plate; 36, connecting rod; 37, push rod; 38, push plate; 39, spring; 4, first clamping jaw; 41, clamping jaw body; 42, guide block; 43, claw hand; 44, clamping block; 5, fixing plate; 6, second clamping jaw; 7, reinforcing plate. DETAILED DESCRIPTION

[0018] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0019] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0020] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0021] Example

[0022] Reference Figures 1 to 4 The present embodiment provides a robot picking device, including a connecting frame 1, a mounting plate 2, an adjusting member 3, a first clamping jaw 4, a fixing plate 5 and a second clamping jaw 6. The connecting frame 1 is connected to the robot arm, the mounting plate 2 is arranged on the connecting frame 1, the first clamping jaw 4 is arranged at one end of the top of the mounting plate 2 through the adjusting member 3, and the second clamping jaw 6 is arranged at the other end of the top of the mounting plate 2 through the fixing plate 5, which is used for simultaneously grasping large structural parts of two three-plate molds, and the structure of the second clamping jaw 6 is the same as that of the first clamping jaw 4.

[0023] One end of the connecting frame 1 is installed on the robot arm so that the robot arm drives the entire picking device to move. A mounting plate 2 is fixedly installed on the connecting frame 1. The mounting plate 2 is a rectangular structure and serves as the installation base of the entire picking device. An adjusting member 3 is installed on the top right side of the mounting plate 2. A first clamping jaw 4 is installed on the adjusting member 3. The first clamping jaw 4 can be quickly adjusted to the left and right positions on the mounting plate 2 through the adjusting member 3. A fixing plate 5 is fixedly installed on the top left side of the mounting plate 2. A second clamping jaw 6 is fixedly installed on the fixing plate 5. The position of the second clamping jaw 6 is fixed. The position of the first clamping jaw 4 is adjusted through the adjusting member 3 to meet the position variables of two different three-plate molds, so as to realize the simultaneous grasping of large structural parts of the two three-plate molds, that is, to speed up the picking speed of large structural parts, thereby improving the efficiency of three-plate mold die-casting of large structural parts; it should be noted that the second clamping jaw 6 and the first clamping jaw 4 have the same structure and size.

[0024] Specifically, the first clamping jaw 4 includes a clamping jaw body 41, two guide blocks 42 and two claw hands 43. The clamping jaw body 41 is arranged on the mounting plate 2 through the adjusting member 3, the two guide blocks 42 are symmetrically arranged on the clamping jaw body 41, and the two claw hands 43 are respectively arranged on the two guide blocks 42.

[0025] The first clamp 4 is mainly composed of a clamp body 41, two guide blocks 42 and two claw hands 43. The clamp body 41 is set on the mounting plate 2 through the adjusting piece 3. Two guide blocks 42 are symmetrically slidably installed on the clamp body 41. Two cylinders (not shown in the figure) are also arranged in the clamp body 41. The two cylinders are connected to an external air pump. The two cylinders are respectively connected to the two guide blocks 42. Two claw hands 43 are respectively fixedly installed on the two guide blocks 42. When in use, the air pump delivers gas into the cylinder to drive the cylinder to move. The cylinder drives the claw hands 43 to move through the guide blocks 42 to clamp the conical material generated after the material cake of the large structural part is broken when the three-plate mold is opened, thereby realizing the removal of the die-cast large structural part.

[0026] Specifically, the adjusting member 3 includes a movable plate 31, four screws 32, a guide strip 33, a first pressure plate 34 and a second pressure plate 35. The movable plate 31 is arranged on the mounting plate 2. Four waist-shaped countersunk holes 311 are symmetrically opened at the four corners of the movable plate 31. A plurality of screw holes 21 are opened at positions corresponding to the four waist-shaped countersunk holes 311 on the mounting plate 2. Four screws 32 pass through the four waist-shaped countersunk holes 311 and are arranged in the screw holes 21. The guide strip 33 is arranged at the lower end of the movable plate 31. The first pressure plate 34 and the second pressure plate 35 are symmetrically arranged on both sides of the movable plate 31.

[0027] The adjusting member 3 is mainly composed of a movable plate 31, four screws 32, a guide strip 33, a first pressing plate 34 and a second pressing plate 35. The movable plate 31 is slidably mounted on the mounting plate 2. Four waist-shaped countersunk holes 311 are symmetrically opened on the four corners of the movable plate 31. A plurality of screw holes 21 are horizontally opened at positions corresponding to the four waist-shaped countersunk holes 311 on the mounting plate 2. In this embodiment, the number of screw holes 21 is 3. Four screws 32 can be respectively passed through the four waist-shaped countersunk holes 311 and screwed into the screw holes 21 to achieve a firm fixation of the movable plate 31 to prevent the first clamp from loosening during operation. It should be noted that the specific number of the screw holes 21 is not limited in this embodiment, that is, the specific number of the screw holes 21 can be selected according to actual needs to meet actual adjustment needs, and the waist-shaped countersunk holes 311 are more convenient for the installation of the screws 32. A guide bar 33 is also fixedly installed horizontally on the mounting plate 2. The guide bar 33 is at the lower end of the movable plate 31, which can not only play a guiding role, but also support the movable plate 31. At the same time, the present embodiment also symmetrically installs a first pressure plate 34 and a second pressure plate 35 on the left and right sides of the movable plate 31. The first pressure plate 34 and the second pressure plate 35 are both fixedly connected to the mounting plate 2 to further fix the movable plate 31. It should be noted that the first pressure plate 34 and the second pressure plate 35 on the left and right sides of the movable plate 31 do not affect its left and right adjustment. At the same time, the first pressure plate 34 and the second pressure plate 35 can also ensure that the movable plate 31 will not slide out of the pressure plate during the adjustment process, so that the first clamp 4 can be adjusted left and right according to the position variables of the two three-plate molds, so as to realize the simultaneous grasping of large structural parts of two different three-plate molds, thereby improving the efficiency of three-plate mold die-casting of large structural parts.

[0028] Furthermore, the first clamping jaw 4 further includes four clamping blocks 44 , which are symmetrically arranged on the inner sides of the two claw hands 43 , and the inner surfaces of the clamping blocks 44 are evenly distributed with spurs.

[0029] In this embodiment, four clamping blocks 44 are symmetrically installed on the inner sides of two claws 43, and the inner surfaces of the clamping blocks 44 are evenly distributed with thorns to increase the friction between the clamping jaws and the cone-shaped material generated after the material cake of the large structural part is broken, so that the clamping jaws can firmly clamp the cone-shaped material to achieve clamping of the entire large structural part.

[0030] Furthermore, the adjusting member 3 also includes three connecting rods 36, a push rod 37, a push plate 38 and three springs 39. The three connecting rods 36 are evenly arranged on the first pressure plate 34, and the three connecting rods 36 pass through the first pressure plate 34. The push rod 37 is arranged at one end of the connecting rod 36 located on the outside of the first pressure plate 34, and the push plate 38 is arranged at one end of the connecting rod 36 located on the inside of the first pressure plate 34. The push plate 38 is located between the first pressure plate 34 and the movable plate 31. The three springs 39 are evenly arranged on the inner side of the second pressure plate 35, and the three springs 39 are all between the second pressure plate 35 and the movable plate 31.

[0031] In this embodiment, three connecting rods 36 are evenly arranged on the first pressing plate 34, and the three connecting rods 36 all penetrate the first pressing plate 34. A push rod 37 is fixedly installed at one end of the connecting rod 36 on the outside of the first pressing plate 34, and a push plate 38 is fixedly installed at one end of the connecting rod 36 on the inside of the first pressing plate 34. The push plate 38 is located between the first pressing plate 34 and the movable plate 31. The staff can directly push the push rod 37, and the push rod 37 drives the push plate 38 to squeeze the movable plate 31 through the connecting rod 36. In order to push the movable plate 31 to move to the right, three springs 39 are evenly arranged on the inner side of the second pressure plate 35 in this embodiment. The three springs 39 are all between the second pressure plate 35 and the movable plate 31. If it is necessary to adjust the movable plate 31 to the left, it is only necessary to reduce the thrust of the push rod 37. At this time, the elastic force of the spring 39 is greater than the thrust of the push rod 37, and the movable plate 31 moves to the left due to the elastic force of the spring 39, so as to adjust the position of the movable plate 31 back and forth to the left and right, thereby realizing the rapid adjustment of the position of the first clamp 4.

[0032] Furthermore, a reinforcing plate 7 is provided on the mounting plate 2, and the reinforcing plate 7 is a "convex" structure.

[0033] In this embodiment, a reinforcing plate 7 is fixedly mounted on the mounting plate 2 to increase the overall strength of the mounting plate 2, and the reinforcing plate 7 is an overall "convex" structure so that the first clamping jaw 4 and the second clamping jaw 6 can be normally installed.

[0034] When in use, the staff first adjusts the position of the first clamping jaw 4 according to the position variables of the two different three-plate molds. In the initial state, the movable plate 31 is constantly pressed by the elastic force of the spring 39 to the inner wall of the first pressure plate 34, that is, the movable plate 31 is on the side close to the first pressure plate 34. During adjustment, the staff can directly push the push rod 37, and the push rod 37 drives the push plate 38 to squeeze the movable plate 31 through the connecting rod 36, so as to push the movable plate 31 to move to the right. If it is necessary to adjust the movable plate 31 to the left, it is only necessary to reduce the thrust of the push rod 37. At this time, the elastic force of the spring 39 is greater than the thrust of the push rod 37, and the movable plate 31 is moved to the left by the elastic force of the spring 39, so as to realize the rapid adjustment of the position of the first clamping jaw 4. After completing the adjustment, the staff can respectively penetrate the four waist-shaped sinkers through the screws 32 The head hole 311 is screwed into the screw hole 21 to achieve a firm fixation of the movable plate 31 to prevent the first clamp from loosening during the operation. After the adjustment is completed, the part can be taken out. After the three-plate mold completes the die-casting of the large structural part, the molds are separated. During the separation process, the three-plate mold will directly break the material cake of the large structural part, leaving a cone-shaped material. At this time, the robot arm drives the entire piece-taking device to move into the three-plate mold. When the claw hand 43 is at the cone-shaped material, the external air pump delivers gas to the cylinder in the clamp body 41 to drive the cylinder to move. The cylinder drives the claw hand 43 to move through the guide block 42 to clamp the cone-shaped material on the large structural part. Then the three-plate mold pushes out the large structural part, and the robot arm moves the die-cast large structural part out of the three-plate mold to achieve rapid removal of the large structural part die-cast by the three-plate mold.

[0035] It should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A robot picking device, characterized in that: The invention comprises a connecting frame (1), a mounting plate (2), an adjusting member (3), a first clamping jaw (4), a fixing plate (5) and a second clamping jaw (6), wherein the connecting frame (1) is connected to a robot arm, the mounting plate (2) is arranged on the connecting frame (1), the first clamping jaw (4) is arranged at one end of the top of the mounting plate (2) through the adjusting member (3), and the second clamping jaw (6) is arranged at the other end of the top of the mounting plate (2) through the fixing plate (5), and is used for simultaneously grasping large structural parts of two three-plate molds, and the structure of the second clamping jaw (6) is the same as that of the first clamping jaw (4).

2. The robot picking device according to claim 1, characterized in that: The first clamping jaw (4) comprises a clamping jaw body (41), two guide blocks (42) and two claw hands (43); the clamping jaw body (41) is arranged on the mounting plate (2) through the adjusting member (3); the two guide blocks (42) are symmetrically arranged on the clamping jaw body (41); and the two claw hands (43) are respectively arranged on the two guide blocks (42).

3. The robot picking device according to claim 2, characterized in that: The adjusting member (3) comprises a movable plate (31), four screws (32), a guide strip (33), a first pressing plate (34) and a second pressing plate (35); the movable plate (31) is arranged on the mounting plate (2); four waist-shaped countersunk holes (311) are symmetrically provided at four corners of the movable plate (31); a plurality of screw holes (21) are provided at positions on the mounting plate (2) corresponding to the four waist-shaped countersunk holes (311); the four screws (32) pass through the four waist-shaped countersunk holes (311) and are arranged in the screw holes (21); the guide strip (33) is arranged at the lower end of the movable plate (31); the first pressing plate (34) and the second pressing plate (35) are symmetrically provided on both sides of the movable plate (31).

4. The robot picking device according to claim 3, characterized in that: The first clamping claw (4) further comprises four clamping blocks (44), wherein the four clamping blocks (44) are symmetrically arranged on the inner sides of the two claw hands (43), and the inner surfaces of the clamping blocks (44) are evenly distributed with thorns.

5. The robot picking device according to claim 4, characterized in that: The adjusting member (3) further comprises three connecting rods (36), a push rod (37), a push plate (38) and three springs (39); the three connecting rods (36) are evenly arranged on the first pressure plate (34); the three connecting rods (36) penetrate the first pressure plate (34); the push rod (37) is arranged at one end of the connecting rod (36) located on the outside of the first pressure plate (34); the push plate (38) is arranged at one end of the connecting rod (36) located on the inside of the first pressure plate (34); the push plate (38) is located between the first pressure plate (34) and the movable plate (31); the three springs (39) are evenly arranged on the inside of the second pressure plate (35); and the three springs (39) are all located between the second pressure plate (35) and the movable plate (31).

6. The robot picking device according to claim 1, characterized in that: A reinforcing plate (7) is provided on the mounting plate (2), and the reinforcing plate (7) is a "convex" structure.

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