Robot material taking and placing mechanism

Abstract

The utility model belongs to the technical field of industrial robots, and discloses a robot material taking and placing mechanism which comprises a control table, a mechanical large arm arranged at the top of the control table, a mechanical small arm arranged at the top of the mechanical large arm, an adjusting assembly arranged at the bottom of the mechanical small arm and used for adjusting the material adsorption position, and a control assembly arranged at the bottom of the control table, the adjusting assembly comprises a mounting frame, the mounting frame is mounted at the bottom of the small mechanical arm, the bottom of the mounting frame is sleeved with a rotating shaft, the two ends of the rotating shaft are both in threaded connection with mounting plates, a first bevel gear is mounted in the middle of the rotating shaft, and a driving motor is mounted at the bottom of the mounting frame. A second bevel gear is mounted on an output shaft of the driving motor, the driving motor is mounted on the top of the mounting frame, and a threaded rod is mounted on an output shaft of the driving motor. And by controlling the distance between every two adjacent suction cups, materials of different sizes can be taken and placed.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial robots, in particular to a robot material taking and placing mechanism. Background Art

[0002] A handling robot is an industrial robot that can perform automated handling operations and is widely used in loading and unloading of machine tools.

[0003] When the robot in the prior art takes and places materials, it usually controls the mechanical arm to move above the material, uses the suction cup to adsorb the material, and takes and places the material. The area adsorbed by the suction cup is a fixed position, so the distance between each suction cup is the same, resulting in poor stability in material handling when adsorbing some materials with a larger area, thereby reducing its scope of application. Utility Model Content

[0004] In order to solve the problems raised in the above background technology, the utility model provides a robot material picking and placing mechanism, which is convenient for carrying materials of different sizes.

[0005] To achieve the above object, the utility model provides the following technical solution: a robot material picking and placing mechanism, comprising a console, a mechanical arm is arranged on the top of the console, a mechanical small arm is arranged on the top of the mechanical arm, and further comprising:

[0006] An adjustment component, which is arranged at the bottom of the mechanical arm and is used to adjust the position of the material adsorption;

[0007] Among them, the adjusting component includes a mounting frame, which is installed at the bottom of the mechanical arm, and a rotating shaft is sleeved on the bottom of the mounting frame, and both ends of the rotating shaft are threadedly connected to the mounting plates, a first bevel gear is installed in the middle of the rotating shaft, a driving motor is installed at the bottom of the mounting frame, and a second bevel gear is installed on the output shaft of the driving motor, and a driving motor is installed on the top of the mounting frame, and a threaded rod is installed on the output shaft of the driving motor, a movable plate is sleeved on the inside of the mounting frame, a connecting shaft is installed on the outside of the movable plate, and a movable frame is sleeved on the outer surface of the connecting shaft, a notch is opened inside the mounting plate, and a connecting frame is hinged on the bottom of the mounting plate, and a connecting block is hinged on the bottom of the connecting frame, the connecting block is connected to the hollow shaft, a suction cup is installed on the bottom of the hollow shaft, and a fixing ring is installed on the outer surface of the hollow shaft.

[0008] Preferably, the hollow shaft is connected to the air pump via a pipeline, and the threaded rod is threadedly connected to the movable plate.

[0009] Preferably, the outer surface of the rotating shaft is provided with two sections of threads, the two sections of threads are in opposite directions and are located at two ends of the rotating shaft.

[0010] Preferably, the movable frame is in extrusion contact with the fixed ring.

[0011] Preferably, the second bevel gear is meshingly connected with the first bevel gear.

[0012] Preferably, the hollow shaft is slidingly engaged with the slot.

[0013] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0014] The utility model drives the threaded rod to rotate through the operation of the driving motor, so that the movable plate can be driven to move along the inner side of the mounting frame through the cooperation between the threaded rod and the movable plate, so that the connecting shaft can pull the fixing ring through the movable frame, and at the same time, through the cooperation between the connecting frame and the mounting plate, the hollow shaft can move along the inner side of the groove, and through the operation of the driving motor, through the cooperation between the second bevel gear and the first bevel gear, the first bevel gear can drive the rotating shaft to rotate, and drive the two mounting plates to move toward or away from each other, so as to control the distance between two adjacent suction cups, so as to enable it to take and put materials of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the utility model;

[0016] Figure 2 It is a cross-sectional structural schematic diagram of the side of the utility model;

[0017] Figure 3 For this utility model Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0018] Figure 4 It is a schematic diagram of the disassembly structure of the mounting plate of the utility model.

[0019] In the figure: 1. control console; 2. mechanical arm; 3. mechanical arm; 4. mounting frame; 5. notch; 6. rotating shaft; 7. mounting plate; 8. first bevel gear; 9. driving motor; 10. second bevel gear; 11. driving motor; 12. threaded rod; 13. movable plate; 14. connecting shaft; 15. movable frame; 16. connecting frame; 17. connecting block; 18. hollow shaft; 19. suction cup; 20. fixing ring. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] like Figures 1 to 4 As shown, the utility model provides a robot material picking and placing mechanism, including a control console 1, a mechanical arm 2 is arranged on the top of the control console 1, a mechanical arm 3 is arranged on the top of the mechanical arm 2, and also includes:

[0022] An adjustment component, which is arranged at the bottom of the mechanical arm 3 and is used to adjust the position of the material adsorption;

[0023] Among them, the adjustment component includes a mounting frame 4, which is installed at the bottom of the mechanical arm 3. The bottom of the mounting frame 4 is sleeved with a rotating shaft 6, and both ends of the rotating shaft 6 are threadedly connected with a mounting plate 7. A first bevel gear 8 is installed in the middle of the rotating shaft 6, and a driving motor 9 is installed at the bottom of the mounting frame 4. The output shaft of the driving motor 9 is installed with a second bevel gear 10. A driving motor 11 is installed at the top of the mounting frame 4, and the output shaft of the driving motor 11 is installed with a threaded rod 12. A movable plate 13 is sleeved inside the mounting frame 4, and a connecting shaft 14 is installed on the outside of the movable plate 13. A movable frame 15 is sleeved on the outer surface of the connecting shaft 14. A slot 5 is opened inside the mounting plate 7, and a connecting frame 16 is hinged at the bottom of the mounting plate 7. A connecting block 17 is hinged at the bottom of the connecting frame 16. The connecting block 17 is connected to the hollow shaft 18, and a suction cup 19 is installed at the bottom of the hollow shaft 18, and a fixing ring 20 is installed on the outer surface of the hollow shaft 18.

[0024] By the operation of the driving motor 11, the threaded rod 12 will rotate, so that the movable plate 13 can be driven to move along the inner side of the mounting frame 4 through the cooperation between the threaded rod 12 and the movable plate 13, so that the connecting shaft 14 will pull the fixing ring 20 through the movable frame 15, and at the same time, through the cooperation between the connecting frame 16 and the mounting plate 7, the hollow shaft 18 will move along the inner side of the slot 5, and through the operation of the driving motor 9, through the cooperation between the second bevel gear 10 and the first bevel gear 8, the first bevel gear 8 will drive the rotating shaft 6 to rotate, and drive the two mounting plates 7 to move toward or away from each other, so as to control the distance between two adjacent suction cups 19.

[0025] The hollow shaft 18 is connected to the air pump through a pipeline, and the threaded rod 12 is threadedly connected to the movable plate 13 .

[0026] Through the cooperation between the threaded rod 12 and the movable plate 13, the threaded rod 12 will drive the movable plate 13 to move along the inner side of the mounting frame 4 when rotating, so as to drive the movable frame 15 to move upward through the connecting shaft 14 and pull the fixing ring 20, so that the hollow shaft 18 can be pulled through the fixing ring 20.

[0027] The outer surface of the rotating shaft 6 is provided with two sections of threads, the directions of the two sections of threads are opposite and are located at two ends of the rotating shaft 6 .

[0028] Through the two sections of threads provided on the outer surface of the rotating shaft 6, when the rotating shaft 6 rotates, the cooperation between the rotating shaft 6 and the mounting plate 7, and the cooperation between the connecting shaft 14 and the movable frame 15 will drive the two mounting plates 7 to move towards or away from each other.

[0029] The movable frame 15 is in compression contact with the fixed ring 20 .

[0030] Through the cooperation between the movable frame 15 and the fixed ring 20 , when the movable frame 15 presses the fixed ring 20 , the hollow shaft 18 will be driven to move along the inside of the notch 5 through the fixed ring 20 .

[0031] The second helical gear 10 is meshingly connected with the first helical gear 8 .

[0032] Through the cooperation between the second bevel gear 10 and the first bevel gear 8 , the first bevel gear 8 will drive the rotating shaft 6 to rotate when rotating, so that the rotating shaft 6 and the mounting plate 7 can drive the mounting plate 7 to move through the cooperation between the rotating shaft 6 and the mounting plate 7 .

[0033] The hollow shaft 18 is slidingly matched with the slot 5 .

[0034] Through the cooperation between the hollow shaft 18 and the notch 5 , when the movable frame 15 presses the fixed ring 20 , the connecting frame 16 will rotate along the bottom of the mounting plate 7 , thereby controlling the distance between the two suction cups 19 .

[0035] The working principle and use process of this utility model:

[0036] Firstly, when it is necessary to take and discharge materials of different sizes, the threaded rod 12 will rotate through the operation of the driving motor 11, so that the movable plate 13 can be driven to move along the inner side of the mounting frame 4 through the cooperation between the threaded rod 12 and the movable plate 13, so that the connecting shaft 14 will pull the fixing ring 20 through the movable frame 15, and at the same time, through the cooperation between the connecting frame 16 and the mounting plate 7, the hollow shaft 18 will move along the inner side of the slot 5, and through the operation of the driving motor 9, through the cooperation between the second bevel gear 10 and the first bevel gear 8, the first bevel gear 8 will drive the rotating shaft 6 to rotate, and drive the two mounting plates 7 to move toward or away from each other, so as to control the distance between two adjacent suction cups 19.

[0037] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot material picking and placing mechanism, comprising a control console (1), a mechanical arm (2) is arranged on the top of the control console (1), a mechanical small arm (3) is arranged on the top of the mechanical arm (2), characterized in that: Also includes: An adjustment component, which is arranged at the bottom of the mechanical arm (3) and is used to adjust the position of material adsorption; The adjustment component comprises a mounting frame (4), the mounting frame (4) being mounted on the bottom of the mechanical arm (3), the bottom of the mounting frame (4) being sleeved with a rotating shaft (6), both ends of the rotating shaft (6) being threadedly connected with mounting plates (7), a first bevel gear (8) being mounted in the middle of the rotating shaft (6), a driving motor (9) being mounted on the bottom of the mounting frame (4), a second bevel gear (10) being mounted on the output shaft of the driving motor (9), a driving motor (11) being mounted on the top of the mounting frame (4), and a threaded rod (12) being mounted on the output shaft of the driving motor (11), A movable plate (13) is sleeved inside the mounting frame (4), a connecting shaft (14) is installed on the outside of the movable plate (13), a movable frame (15) is sleeved on the outer surface of the connecting shaft (14), a slot (5) is opened inside the mounting plate (7), a connecting frame (16) is hinged at the bottom of the mounting plate (7), a connecting block (17) is hinged at the bottom of the connecting frame (16), the connecting block (17) is connected to a hollow shaft (18), a suction cup (19) is installed at the bottom of the hollow shaft (18), and a fixing ring (20) is installed on the outer surface of the hollow shaft (18).

2. A robot material picking and placing mechanism according to claim 1, characterized in that: The hollow shaft (18) is connected to the air pump via a pipeline, and the threaded rod (12) is threadedly connected to the movable plate (13).

3. A robot pick-up and place mechanism according to claim 1, characterized in that: The outer surface of the rotating shaft (6) is provided with two sections of threads, the two sections of threads are in opposite directions and are located at two ends of the rotating shaft (6).

4. The robot material picking and placing mechanism according to claim 1, characterized in that: The movable frame (15) is in extrusion contact with the fixed ring (20).

5. The robot material picking and placing mechanism according to claim 1, characterized in that: The second bevel gear (10) is meshingly connected with the first bevel gear (8).

6. The robot material picking and placing mechanism according to claim 1, characterized in that: The hollow shaft (18) is in sliding engagement with the notch (5).

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