Manipulator applied to vacuum cup and production device

Abstract

The utility model discloses a mechanical arm applied to a vacuum cup and a production device. The mechanical arm comprises a driving guide assembly. The sliding rod assembly is movably arranged on the driving guide assembly; the rotary clamping assembly is arranged below the sliding rod assembly; the rotary clamping assembly comprises a rotating mechanism which is arranged below the sliding rod assembly. The two clamping jaw mechanisms are symmetrically arranged below the rotating mechanism, and the rotating mechanism synchronously drives the two clamping jaw mechanisms to rotate; and the two sensing mechanisms are symmetrically and fixedly arranged on the rotating mechanism and are respectively arranged on the side edges of the corresponding clamping jaw mechanisms. Through cooperation of the driving guide assembly, the sliding rod assembly, the rotating mechanism, the two clamping jaw mechanisms and the two induction mechanisms, two vacuum cup bodies can be clamped or placed at the same time, and the production efficiency of the vacuum cups is improved to a certain degree.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and in particular to a manipulator and a production device used for thermos cups. Background Art

[0002] During the production process of thermos cups, it is necessary to send the thermos cups from the conveyor belt to the processing equipment for processing, and then take the processed thermos cups off the processing equipment and put them back on the conveyor belt for transportation to the next process; at present, this process is mostly completed manually, and manual operation not only has low production efficiency, but also high labor intensity and labor cost for workers; and manual operation is prone to errors, resulting in missed processing or repeated processing, affecting product quality; in order to solve the above problems, a thermos cup picking and placing robot is specially designed, but the picking and placing claws of the existing thermos cup picking and placing robot are usually one to clamp the thermos cup to be processed and the other to take back the processed thermos cup, and the positions of the two picking and placing claws need to alternate with each other, and the alternating action requires the entire front and rear moving arm to move left and right, so that its movement amplitude is large, which affects the production efficiency to a certain extent; therefore, a robot and a production device for thermos cups are provided to solve the problem that the existing thermos cup picking and placing robot has a large movement amplitude that affects the production efficiency. Utility Model Content

[0003] One of the purposes of the utility model is to provide a robot arm and a production device for thermos cups, so as to solve the problem that the existing thermos cup taking and placing robot arm has a large movement range and affects the production efficiency.

[0004] The utility model can realize a manipulator and a production device for a thermos cup by the following technical solutions:

[0005] The utility model discloses a manipulator for a thermos cup, comprising a driving guide assembly; a sliding rod assembly, which is movably arranged on the driving guide assembly, and the driving guide assembly drives the sliding rod assembly to move in the longitudinal direction; a rotating clamping assembly, which is arranged below the sliding rod assembly;

[0006] Among them, the rotating clamping assembly includes a rotating mechanism, which is arranged below the sliding rod assembly; two clamping mechanisms are symmetrically arranged below the rotating mechanism, and the rotating mechanism synchronously drives the two clamping mechanisms to rotate; two sensing mechanisms are symmetrically fixed on the rotating mechanism and respectively arranged on the corresponding sides of the clamping mechanisms, and both of them respectively perform real-time detection operations on the position of the corresponding thermos cup body.

[0007] In one embodiment, the driving guide assembly includes a driving mechanism and a guiding mechanism that are relatively arranged; the driving mechanism is meshed and transmission-connected with the sliding rod assembly; the driving mechanism and the guiding mechanism respectively guide the sliding rod assembly.

[0008] In one embodiment, the driving mechanism includes a first mounting frame, which is fixedly arranged on the side of the sliding rod assembly and is movably guided and connected to the sliding rod assembly; a driving power assembly that passes through the first mounting frame; and a driving gear that is fixedly arranged on the rotating shaft of the driving power assembly and is meshingly connected to the sliding rod assembly.

[0009] In one embodiment, the sliding rod assembly includes a sliding rod body, which is a hollow streamlined rod body; two guide rails fixedly arranged on the sliding rod body, which are respectively connected to the driving mechanism and the guide mechanism for movable guidance; and a rack fixedly arranged on the sliding rod body, which is meshingly connected to the driving gear.

[0010] In one embodiment, the guide mechanism includes a second mounting frame, which is arranged on the other side of the sliding rod assembly and opposite to the driving mechanism; and a drag chain with two ends respectively connected to the second mounting frame and the sliding rod assembly.

[0011] In one embodiment, the rotating mechanism includes an installation cavity, which is fixedly arranged below the sliding rod assembly; a rotating power assembly passing through the installation cavity; a rotating plate fixedly arranged below the rotating power assembly, and the two clamping mechanisms are fixedly arranged below the rotating plate.

[0012] In one embodiment, the clamping mechanism includes a cylinder fixedly mounted on the rotating plate; two clamping bodies arranged opposite to each other and transmission-connected to the cylinder, and the cylinder synchronously drives the two clamping bodies to move toward or away from each other.

[0013] In one embodiment, the cylinder is a rack-type air gripper cylinder.

[0014] In one embodiment, the sensing mechanism includes a fixing frame fixedly mounted on the mounting cavity; and a sensing device fixedly mounted on the fixing frame for performing real-time detection of the position of the thermos cup body.

[0015] The utility model discloses a production device for thermos cups, comprising any one of the above-mentioned manipulators.

[0016] Compared with the prior art, the beneficial effects of the robot arm and production device for thermos cups of the utility model are as follows:

[0017] The utility model discloses a manipulator and a production device for thermos cups, which drive a sliding rod assembly to move in a longitudinal direction through a driving mechanism, and two clamping mechanisms move following the movement of the sliding rod assembly, and at the same time, the two clamping mechanisms are synchronously driven to rotate 180 degrees through a rotating mechanism, so as to respectively transfer the thermos cup body to be processed from a transmission line to a processing position, and transfer the thermos cup body processed at the processing position from the processing position to the transmission line, thereby synchronously realizing the transfer operation of the two thermos cup bodies, and improving the production efficiency of the thermos cups to a certain extent; at the same time, by arranging a sensing mechanism and performing real-time detection operation on the thermos cup body by the sensing mechanism, the transfer efficiency can be improved to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 This is a schematic diagram of the structure of a manipulator applied to a thermos cup in the utility model;

[0020] Figure 2 yes Figure 1 The utility model is a schematic diagram of an exploded structure of a manipulator applied to a thermos cup, including a driving mechanism, a guide mechanism, a sliding rod assembly and a rotating clamping assembly;

[0021] Figure 3 yes Figure 2 A schematic diagram of the structure of the driving mechanism shown;

[0022] Figure 4 yes Figure 2 A schematic diagram of the structure of the guide mechanism shown;

[0023] Figure 5 yes Figure 2 A schematic structural diagram of the sliding rod assembly shown;

[0024] Figure 6 yes Figure 2 The exploded structural diagram of the rotary gripping assembly shown includes a rotating mechanism, a gripping mechanism and a sensing mechanism;

[0025] Figure 7 yes Figure 6 A schematic structural diagram of the clamping mechanism shown;

[0026] Figure 8 The utility model is a structural schematic diagram of a production device for a thermos cup.

[0027] In the figure, the following are marked: 10, manipulator; 11, driving guide assembly; 111, driving mechanism; 1111, first mounting frame; 11111, first guide seat; 1112, driving power assembly; 11121, driving motor; 11122, first reduction device; 1113, driving gear; 112, guiding mechanism; 1121, second mounting frame; 11211, second guide seat; 1122, drag chain; 12, sliding rod assembly; 121, sliding Moving rod body; 122, guide rail; 123, rack; 13, rotating clamping assembly; 131, rotating mechanism; 1311, mounting cavity; 1312, rotating power assembly; 13121, rotating motor; 13122, second reduction gear; 1313, rotating plate; 132, clamping jaw mechanism; 1321, cylinder; 1322, clamping jaw body; 133, sensing mechanism; 1331, fixing frame; 1332, sensing device; 20, thermos cup body. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. The components of the embodiment of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1 and Figure 2 As shown, the utility model is a manipulator 10 for thermos cups, which is mainly used in the production process of thermos cups, and includes a driving guide assembly 11, a sliding rod assembly 12 and a rotating clamping assembly 13; the driving guide assembly 11 is installed on the thermos cup production device; the sliding rod assembly 12 is movably arranged on the driving guide assembly 11, and the driving guide assembly 11 drives the sliding rod assembly 12 to move longitudinally; the rotating clamping assembly 13 is arranged below the sliding rod assembly 12, and moves with the movement of the sliding rod assembly 12, and the rotating clamping assembly 13 can rotate relative to the sliding rod assembly 12 and can simultaneously clamp or place the thermos cup body 20 on the transmission line and the processing position.

[0031] See also Figure 1 and Figure 2 As shown, in this embodiment, the driving guide assembly 11 includes a driving mechanism 111 and a guiding mechanism 112, which are arranged relative to each other; the driving mechanism 111 is meshingly connected with the sliding rod assembly 12, and drives the sliding rod assembly 12 to move longitudinally; the driving mechanism 111 and the guiding mechanism 112 respectively guide the sliding rod assembly 12.

[0032] See also Figure 1-Figure 3 As shown, in this embodiment, the driving mechanism 111 includes a first mounting frame 1111, a driving power assembly 1112 and a driving gear 1113; the first mounting frame 1111 is fixedly arranged on the side of the sliding rod assembly 12 and is movably contacted and connected with the sliding rod assembly 12; the driving power assembly 1112 is arranged through the first mounting frame 1111; the driving gear 1113 is fixedly arranged on the rotating shaft of the driving power assembly 1112 and is meshingly connected with the sliding rod assembly 12, and it rotates with the rotation of the driving power assembly 1112, thereby driving the sliding rod assembly 12 to move longitudinally. Specifically, at least one first guide seat 11111 is provided on the first mounting frame 1111, and the sliding rod assembly 12 is movably arranged in at least one first guide seat 11111, and the longitudinal movement of the sliding rod assembly 12 is guided by at least one first guide seat 11111; the driving power assembly 1112 includes a driving motor 11121 and a first reduction device 11122, which are transmission-connected, and the first reduction device 11122 reduces the speed of the driving motor 11121 and enhances the magnitude of its output torque; the first reduction device 11122 passes through the first mounting frame 1111 and is fixedly connected to the driving gear 1113.

[0033] See also Figure 1 , Figure 2 and Figure 4As shown, in this embodiment, the guiding mechanism 112 includes a second mounting frame 1121 and a drag chain 1122; the second mounting frame 1121 is arranged on the other side of the sliding rod assembly 12 and is arranged opposite to the driving mechanism 111, and it guides the sliding rod assembly 12. Specifically, at least one second guide seat 11211 is arranged on the second mounting frame 1121, and the sliding rod assembly 12 is movably arranged in at least one second guide seat 11211, and the longitudinal movement of the sliding rod assembly 12 is guided by at least one second guide seat 11211; one end of the drag chain 1122 is connected to the second mounting frame 1121, and the other end thereof is connected to the sliding rod assembly 12, and the cable passes through the drag chain 1122, the sliding rod assembly 12 and the rotating clamping assembly 13 in sequence to be electrically connected.

[0034] See also Figure 1 , Figure 2 and Figure 5 As shown, in this embodiment, the sliding rod assembly 12 includes a sliding rod body 121, two guide rails 122 and a rack 123; the sliding rod body 121 is a hollow streamlined rod body; the two guide rails 122 are respectively fixedly arranged on the sliding rod body 121 and are respectively movably contacted and connected with the driving mechanism 111 and the guide mechanism 112; the rack 123 is fixedly arranged on the sliding rod body 121 and is meshingly connected with the driving gear 1113, and the driving power assembly 1112 drives the rack 123 to move longitudinally through the driving gear 1113, thereby realizing the longitudinal movement of the sliding rod assembly 12.

[0035] See also Figure 1 , Figure 2 and Figure 6 As shown, in this embodiment, the rotating clamping assembly 13 includes a rotating mechanism 131, two clamping mechanisms 132 and two sensing mechanisms 133; the rotating mechanism 131 is arranged below the sliding rod assembly 12, and it moves with the movement of the sliding rod assembly 12; the two clamping mechanisms 132 are symmetrically arranged below the rotating mechanism 131, and the rotating mechanism 131 synchronously drives the two clamping mechanisms 132 to rotate, one clamping mechanism 132 clamps or releases the thermos cup body 20 on the transmission line, and at the same time, the other clamping mechanism 132 clamps or releases the thermos cup body 20 on the processing position; the two sensing mechanisms 133 are symmetrically fixed on the rotating mechanism 131 and on the sides of the corresponding clamping mechanisms 132, and they respectively perform real-time detection operations on the positions of the corresponding thermos cup bodies 20.

[0036] See also Figure 6As shown, in this embodiment, the rotating mechanism 131 includes an installation cavity 1311, a rotating power component 1312 and a rotating plate 1313; the installation cavity 1311 is a rectangular hollow cavity, which is fixedly arranged below the sliding rod component 12, and moves with the movement of the sliding rod component 12; the rotating power component 1312 is arranged throughout the installation cavity 1311; the rotating plate 1313 is fixedly arranged below the rotating power component 1312, and the rotating power component 1312 drives the rotating plate 1313 to rotate, and the two clamping mechanisms 132 are fixedly arranged below the rotating plate 1313, and the rotating plate 1313 synchronously drives the two clamping mechanisms 132 to rotate. Specifically, the rotating power assembly 1312 includes a rotating motor 13121 and a second reduction gear 13122, which are transmission-connected. The second reduction gear 13122 reduces the speed of the rotating motor 13121 and enhances its output torque. The second reduction gear 13122 passes through the mounting cavity 1311 and is fixedly connected to the rotating plate 1313.

[0037] See also Figure 6 and Figure 7 As shown, in this embodiment, the clamping mechanism 132 includes a cylinder 1321 and two clamping bodies 1322; the cylinder 1321 is fixedly arranged on the rotating plate 1313; the two clamping bodies 1322 are arranged opposite to each other and are transmission-connected to the cylinder 1321, and the cylinder 1321 synchronously drives the two clamping bodies 1322 to move toward or away from each other, thereby realizing the clamping or placing operation of the thermos cup body; specifically, the cylinder 1321 adopts a rack-type air gripper cylinder.

[0038] See also Figure 6 As shown, in this embodiment, the sensing mechanism 133 includes a fixing frame 1331 and a sensing device 1332; the fixing frame 1331 is fixedly arranged on the installation cavity 1311; the sensing device 1332 is fixedly arranged on the fixing frame 1331, and performs real-time detection operation on the position of the thermos cup body 20. Specifically, the sensing device 1332 is an infrared sensing device.

[0039] See also Figure 8 As shown, the utility model provides a production device for thermos cups, including the robot 10 described in any one of the above items.

[0040] It should be noted that the specific working process of the utility model of a manipulator and a production device for thermos cups for simultaneously transferring two thermos cup bodies 20 is as follows: the driving mechanism 111 drives the sliding rod assembly 12 to move downward, and the two sensing mechanisms 133 perform real-time sensing operations on the corresponding thermos cup bodies 20, so that the two clamping jaw mechanisms 132 simultaneously clamp the thermos cup bodies 20 to be processed on the transmission line and the thermos cup bodies 20 after processing at the processing position, then the driving mechanism 111 drives the sliding rod assembly 12 to move upward, and then the rotating mechanism 131 drives the two clamping jaw mechanisms 132 that respectively clamp the thermos cup bodies 20 to rotate 180 degrees, and respectively transfers the thermos cup bodies 20 to be processed from the transmission line to the processing position, and transfers the thermos cup bodies 20 processed at the processing position from the processing position to the transmission line, thereby synchronously realizing the transfer operation of the two thermos cup bodies 20.

[0041] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0042] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A robot arm for a thermos cup, characterized in that: include: Drive guide assembly; A sliding rod assembly, which is movably arranged on the driving guide assembly, and the driving guide assembly drives the sliding rod assembly to move in the longitudinal direction; A rotating clamping assembly, which is arranged below the sliding rod assembly; Among them, the rotating clamping assembly includes a rotating mechanism, which is arranged below the sliding rod assembly; two clamping mechanisms are symmetrically arranged below the rotating mechanism, and the rotating mechanism synchronously drives the two clamping mechanisms to rotate; two sensing mechanisms are symmetrically fixed on the rotating mechanism and respectively arranged on the corresponding sides of the clamping mechanisms, and both of them respectively perform real-time detection operations on the position of the corresponding thermos cup body.

2. A robot arm for a thermos cup according to claim 1, characterized in that: The driving and guiding assembly comprises a driving mechanism and a guiding mechanism which are arranged opposite to each other; the driving mechanism is meshed and transmission-connected with the sliding rod assembly; the driving mechanism and the guiding mechanism respectively guide the sliding rod assembly.

3. A robot arm for a thermos cup according to claim 2, characterized in that: The driving mechanism includes a first mounting frame, which is fixedly arranged on the side of the sliding rod assembly and is movably guided and connected to the sliding rod assembly; a driving power assembly that passes through the first mounting frame; and a driving gear that is fixedly arranged on the rotating shaft of the driving power assembly and is meshingly connected to the sliding rod assembly.

4. The robot arm for a thermos cup according to claim 3, characterized in that: The sliding rod assembly includes a sliding rod body, which is a hollow streamlined rod body; two guide rails fixedly arranged on the sliding rod body, which are respectively connected to the driving mechanism and the guide mechanism for movable guidance; a rack fixedly arranged on the sliding rod body, which is meshingly connected to the driving gear.

5. The robot arm for a thermos cup according to claim 2, characterized in that: The guide mechanism comprises a second mounting frame, which is arranged at the other side of the sliding rod assembly and is arranged opposite to the driving mechanism; and a drag chain with two ends respectively connected to the second mounting frame and the sliding rod assembly.

6. The robot arm for a thermos cup according to claim 1, characterized in that: The rotating mechanism comprises an installation cavity fixedly arranged below the sliding rod assembly; a rotating power assembly penetrating the installation cavity; a rotating plate fixedly arranged below the rotating power assembly, and the two clamping claw mechanisms fixedly arranged below the rotating plate.

7. The robot arm for a thermos cup according to claim 6, characterized in that: The clamping mechanism includes a cylinder, which is fixedly arranged on the rotating plate; The two clamping jaw bodies are arranged opposite to each other and are transmission-connected to the cylinder, and the cylinder synchronously drives the two clamping jaw bodies to move toward or away from each other.

8. The robot arm for a thermos cup according to claim 7, characterized in that: The cylinder used is a rack-type air claw cylinder.

9. The robot arm for a thermos cup according to claim 6, characterized in that: The sensing mechanism comprises a fixing frame, which is fixedly arranged on the installation cavity; and a sensing device fixedly arranged on the fixing frame, which performs real-time detection operation on the position of the thermos cup body.

10. A production device for a thermos cup, characterized in that: A robot comprising the manipulator described in any one of claims 1 to 9.

Images