Industrial robot arm circulating picking and placing mechanism
By designing an industrial robot arm circulation pick-and-place mechanism, using mechanical mounting plates and a variety of positioning and moving components, the problem that hydraulic rods are difficult to ensure high accuracy for a long time is solved, and the high-precision movement of the sliding pull-and-place rods and the precise handling and placement of the vacuum suction cup are achieved, which improves working efficiency.
Patent Information
- Application Number
- CN202420824900.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-20
- Publication Date
- 2025-04-08
- Estimated Expiration
- 2034-04-20
AI Technical Summary
When the existing industrial robot arms are circulating and loading the workpiece plate, the extension length and angle of the hydraulic rod are difficult to ensure high accuracy for a long time, and regular manual proofreading is required, which affects the normal discharge order and working efficiency of the processing equipment.
An industrial robot arm circulation pick-and-place mechanism is designed, using mechanical mounting plates, positioning slide rails, positioning sliders, positioning kits, sliding pull-and-place rods, positioning shafts, driving rotors, rotating discs, gear discs, vacuum suction cups and other components. By rotating the motor, the rack plates and gear discs are driven back and forth, and combined with the limiting function of the swing arm member and positioning kit, the high-precision movement of the sliding pull-and-place rod is achieved.
The high-precision movement of the sliding pull-and-release rod is achieved, ensuring that the vacuum suction cup can accurately hold and place both ends of the workpiece plate, improving work efficiency and avoiding the need for manual proofreading.
Smart Images
Figure CN222726757U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of industrial robot arm pick-up and place mechanisms, in particular to an industrial robot arm cyclic pick-up and place mechanism. Background Art
[0002] Industrial machines refer to an automatically controlled, multifunctional, multi-degree-of-freedom, multi-purpose manipulator used in industry, which can carry materials, workpieces or handle tools to complete various operations through a robotic arm. After the workpiece plate is finalized by the processing equipment and other processes, it is necessary to remove the newly processed workpiece plate in time to facilitate the normal operation of the process. Therefore, factories generally use hydraulic telescopic rods with fixed clamps to pick and place. The extension length and angle of the hydraulic rod are difficult to ensure repeated high-precision picking for a long time, and regular manual calibration is required, which further affects the normal discharge order of the processing equipment and reduces work efficiency. Utility Model Content
[0003] 1. Technical issues to be resolved
[0004] In view of the shortcomings of the prior art, the utility model provides a cyclic picking and placing mechanism for an industrial robot arm, which solves the problem that the existing industrial robot arm generally adopts a hydraulic rod in conjunction with a servo motor for cyclic timing control of picking up and placing displaced workpiece plates, and the extension length and angle of the hydraulic rod are difficult to ensure repeated high-precision picking up for a long time, and regular manual calibration is required, which further affects the normal discharge order of the processing equipment and reduces work efficiency.
[0005] (II) Technical solution
[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a cyclic picking and placing mechanism for an industrial robot arm, comprising a mechanical mounting plate, the top and bottom of the mechanical mounting plate are fixedly connected with positioning rails, the positioning rails are slidably connected with positioning sliders in the rails, the front of the positioning sliders is fixedly connected with a positioning kit, the inner rings of the two positioning kits are slidably sleeved with the surfaces of the sliding pull-and-release rods, the middle of the sliding pull-and-release rods is fixedly penetrated with a positioning shaft rod, the middle of the mechanical mounting plate is provided with a U-shaped sliding through groove, the middle of the positioning shaft rod penetrates the U-shaped sliding through groove provided in the middle of the mechanical mounting plate and extends to the rear of the mechanical mounting plate, the middle of the mechanical mounting plate is penetrated with a driving rotating rod, the surface of the driving rotating rod is connected to the mechanical mounting plate The inner wall is rotatably connected, and the surface of the driving rotating rod located in the front of the mechanical mounting plate is fixedly sleeved with a swing arm rod, and the surface of the swing arm rod is provided with a slide rail groove, and the middle part of the positioning shaft rod passes through the slide rail groove provided on the surface of the swing arm rod, and the surface of the driving rotating rod located behind the mechanical mounting plate is sleeved with a turntable and a gear plate, and the turntable is arranged in front of the gear plate, and the inner wall of the turntable is rotatably sleeved with the surface of the driving rotating rod, and the surface of the driving rotating rod is fixedly sleeved with the inner wall of the gear plate, and the top of the gear plate is meshed with a rack plate, and the left end of the rack plate is hinged with a hinged rod, and the bottom of the hinged rod is fixedly connected with a driving rotating drum, and the surface of the driving rotating drum is fixedly sleeved with the output shaft of the rotating motor, and a vacuum suction cup is fixedly installed on the bottom of the sliding pulling rod.
[0007] Preferably, two stable connection frame plates are fixedly connected to the back side of the mechanical installation plate, and the two stable connection frame plates are symmetrically distributed in the middle of the mechanical installation plate.
[0008] Preferably, a support seat is fixedly connected to the bottom of the rotating motor, and the bottom of the support seat is fixedly connected to the top of the lower stable connecting frame plate.
[0009] Preferably, a protective pad is fixedly connected to the top of the sliding pull rod.
[0010] Preferably, a positioning slide is fixedly connected to the top of the turntable, and the upper surface of the rack plate is slidably connected to the inner wall of the groove of the positioning slide.
[0011] Preferably, a contact slider is fixedly connected to the back side of the positioning shaft, and a front side of the contact slider is in sliding contact with a back side of a mechanical mounting plate.
[0012] (III) Beneficial effects
[0013] The utility model provides a circular pick-and-place mechanism for an industrial robot arm. It has the following beneficial effects:
[0014] (1) The cyclic picking and placing mechanism of the industrial robot arm, through the setting of the mechanical mounting plate, and the coordinated use of the positioning slide rail, the positioning slider, the positioning kit, the sliding pull-and-release rod, the positioning shaft rod, the contact slider, the swing arm rod, the driving rotating rod, the turntable, the toothed disc, the positioning slide, the rack plate, the hinged rod, the driving rotating drum, the rotating motor, and the vacuum suction cup, plays the role of driving the hinged rod to rotate continuously through the rotating motor, so that the rack plate is cyclically and accurately pulled up and down according to a certain pattern, and the toothed disc is driven to rotate back and forth, so that the sliding pull-and-release rod is pushed to rotate through the swing arm rod, so that the swing arm rod is displaced according to the track groove set on the mechanical mounting plate, and the positioning kit is used to limit the sliding pull-and-release rod so that the sliding pull-and-release rod always moves left and right and up and down according to the set track, ensuring that the sliding pull-and-release rod drives the vacuum suction cup to move back and forth to the set position with high precision, so that the vacuum suction cup can accurately pick up and place the two ends of the workpiece plate to be processed, thereby improving its work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 This is a front view of the structure of the utility model;
[0016] Figure 2 It is a schematic diagram of the back side of the structure of the utility model;
[0017] Figure 3 The utility model structure Figure 1 A magnified schematic diagram of point A;
[0018] Figure 4 The utility model structure Figure 2 An enlarged schematic diagram of point B;
[0019] Figure 5 It is a side view of the structural positioning slide of the utility model.
[0020] In the figure: 1. Mechanical mounting plate; 2. Positioning slide rail; 3. Positioning slider; 4. Positioning kit; 5. Sliding pull rod; 6. Positioning shaft rod; 7. Contact slider; 8. Swing arm rod; 9. Driving rotating rod; 10. Turntable; 11. Toothed plate; 12. Positioning slide; 13. Rack plate; 14. Articulated rod; 15. Driving rotating drum; 16. Rotating motor; 17. Protective pad; 18. Stable connecting frame plate; 19. Vacuum suction cup; 20. Support seat. DETAILED DESCRIPTION
[0021] 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.
[0022] like Figure 1-5 As shown, the utility model provides a technical solution: a cyclic picking and placing mechanism for an industrial robot arm, comprising a mechanical mounting plate 1, the top and bottom of the mechanical mounting plate 1 are fixedly connected with a positioning slide rail 2, a positioning slider 3 is slidably connected in the slide rail of the positioning slide rail 2, and a positioning kit 4 is fixedly connected to the front of the positioning slider 3. Through the arrangement of the positioning slide rail 2 and the positioning slider 3, the sliding pull-release rod 5 is provided with a limited displacement effect, and the vertical displacement of the sliding pull-release rod 5 is more stable. The inner rings of the two positioning kits 4 are slidably sleeved with the surface of the sliding pull-release rod 5. Through the arrangement of the positioning kit 4, the sliding pull-release rod 5 is limited. A positioning shaft rod is fixedly penetrated through the middle of the sliding pull-release rod 5. 6. A U-shaped sliding groove is provided in the middle of the mechanical mounting plate 1. The middle part of the positioning shaft rod 6 passes through the U-shaped sliding groove provided in the middle of the mechanical mounting plate 1 and extends to the rear of the mechanical mounting plate 1. The back of the positioning shaft rod 6 is fixedly connected with a contact slider 7. The front of the contact slider 7 is in sliding contact with the back of the mechanical mounting plate 1. Through the setting of the contact slider 7, the positioning shaft rod 6 can smoothly slide and displace in the U-shaped sliding groove of the mechanical mounting plate 1. A driving rotating rod 9 is passed through the middle of the mechanical mounting plate 1. The surface of the driving rotating rod 9 is rotatably connected to the inner wall of the mechanical mounting plate 1. The surface of the driving rotating rod 9 located in front of the mechanical mounting plate 1 is fixedly sleeved with a swing arm rod 8. The surface of the swing arm rod 8 is provided with a slide rail groove. The middle part of the positioning shaft rod 6 passes through the slide rail groove opened on the surface of the swing arm rod 8, and the surface of the driving rotating rod 9 located behind the mechanical mounting plate 1 is sleeved with a turntable 10 and a toothed disc 11. The turntable 10 is arranged in front of the toothed disc 11, and the inner wall of the turntable 10 is rotatably sleeved with the surface of the driving rotating rod 9, and the surface of the driving rotating rod 9 is fixedly sleeved with the inner wall of the toothed disc 11. The top of the turntable 10 is fixedly connected with a positioning slide 12, and the upper surface of the rack plate 13 is slidably connected with the inner wall of the groove of the positioning slide 12. Through the arrangement of the positioning slide 12 and the turntable 10, the effect of ensuring that the rack plate 13 is continuously engaged with the toothed disc 11 is played. The top of the toothed disc 11 is meshed with the rack plate 13, and the left end of the rack plate 13 is hinged with a hinged rod 14, and the bottom of the hinged rod 14 is fixed It is connected to a driving drum 15, and the surface of the driving drum 15 is fixedly sleeved with the output shaft of the rotating motor 16. Two stable connecting frame plates 18 are fixedly connected to the back of the mechanical mounting plate 1, and the two stable connecting frame plates 18 are symmetrically distributed in the upper and lower parts of the middle part of the mechanical mounting plate 1. The setting of the stable connecting frame plates 18 can facilitate the stable positioning of the device. The bottom of the rotating motor 16 is fixedly connected to a support seat 20, and the bottom of the support seat 20 is fixedly connected to the top of the stable connecting frame plate 18 below. The top of the sliding pull rod 5 is fixedly connected to a protective pad 17. The setting of the protective pad 17 can protect the top of the sliding pull rod 5. A vacuum suction cup 19 is fixedly installed on the bottom of the sliding pull rod 5.
[0023] When in use, firstly, the hinged rod 14 is driven to rotate continuously by rotating the motor 16, so that the rack plate 13 is pulled up and down back and forth on the top of the driving toothed disc 11, and the rack plate 13 is limited by the positioning slide 12, that is, the toothed disc 11 is driven to rotate back and forth according to a certain rule by the rack plate 13 cyclically and accurately, so that it pushes the sliding pull rod 5 to rotate through the swing arm rod 8, so that the swing arm rod 8 takes the driving rotating rod 9 as the axis and moves according to the track groove set on the mechanical mounting plate 1, so that it drives the sliding pull rod 5 to move according to the movement mode of the U-shaped groove, and limits it through the positioning kit 4, so that the sliding pull rod 5 always moves left and right and up and down according to the set track, ensuring that the sliding pull rod 5 drives the vacuum suction cup 19 to move back and forth to the set position with high precision, and then the vacuum suction cup 19 is used to accurately pick up and place the two ends of the processed workpiece plate, so as to improve its working efficiency. At the same time, the contents not described in detail in this manual belong to the existing technology known to professional and technical personnel in this field.
[0024] In summary, the cyclic pick-and-place mechanism of the industrial robot arm, through the setting of the mechanical mounting plate 1, and the coordinated use of the positioning slide rail 2, the positioning slider 3, the positioning kit 4, the sliding pull-and-place rod 5, the positioning shaft rod 6, the contact slider 7, the swing arm rod 8, the driving rotating rod 9, the rotating disk 10, the toothed disk 11, the positioning slide 12, the rack plate 13, the hinged rod 14, the driving rotating drum 15, the rotating motor 16, and the vacuum suction cup 19, plays a role in driving the hinged rod 14 to rotate continuously through the rotating motor 16, so that the rack plate 13 is cyclically It pulls up and down back and forth accurately according to a certain pattern, and drives the toothed disc 11 to rotate back and forth, so that it pushes the sliding pull rod 5 to rotate through the swing arm rod 8, so that the swing arm rod 8 is displaced according to the track groove set on the mechanical mounting plate 1, and is limited by the positioning kit 4, so that the sliding pull rod 5 always moves left and right and up and down according to the set track, ensuring that the sliding pull rod 5 drives the vacuum suction cup 19 to move back and forth to the set position with high precision, so that the vacuum suction cup 19 can accurately pick up and place the two ends of the workpiece plate to be processed, thereby improving its work efficiency.
[0025] 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. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.
[0026] 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. An industrial robot arm cyclic pick-and-place mechanism, comprising a mechanical mounting plate (1), characterized in that: The top and bottom of the mechanical installation plate (1) are fixedly connected with a positioning slide rail (2), and a positioning slider (3) is slidably connected in the slide rail of the positioning slide rail (2). The front of the positioning slider (3) is fixedly connected with a positioning kit (4). The inner rings of the two positioning kits (4) are slidably sleeved with the surface of the sliding pull rod (5). The middle of the sliding pull rod (5) is fixedly penetrated by a positioning shaft rod (6). The middle of the mechanical installation plate (1) is provided with a U-shaped sliding groove. The middle of the positioning shaft rod (6) penetrates the U-shaped sliding groove provided in the middle of the mechanical installation plate (1) and extends to the rear of the mechanical installation plate (1). The middle of the mechanical installation plate (1) is penetrated by a driving rotating rod (9). The surface of the driving rotating rod (9) is rotatably connected to the inner wall of the mechanical installation plate (1). The surface of the driving rotating rod (9) located in front of the mechanical installation plate (1) is fixedly sleeved with a swing arm rod (8) ), the surface of the swing arm member (8) is provided with a slide rail groove, the middle part of the positioning shaft rod (6) passes through the slide rail groove provided on the surface of the swing arm member (8), the surface of the driving rotating rod (9) located behind the mechanical mounting plate (1) is sleeved with a turntable (10) and a toothed disc (11), the turntable (10) is arranged in front of the toothed disc (11), the inner wall of the turntable (10) is rotatably sleeved with the surface of the driving rotating rod (9), and the driving rotating rod ( 9) is fixedly sleeved with the inner wall of the toothed disc (11), the top of the toothed disc (11) is meshed with a rack plate (13), the left end of the rack plate (13) is hinged with a hinge rod (14), the bottom of the hinge rod (14) is fixedly connected with a driving drum (15), the surface of the driving drum (15) is fixedly sleeved with the output shaft of the rotating motor (16), and the bottom of the sliding pulling rod (5) is fixedly installed with a vacuum suction cup (19).
2. The industrial robot arm cyclic pick-and-place mechanism according to claim 1, characterized in that: Two stable connection frame plates (18) are fixedly connected to the back of the mechanical installation plate (1), and the two stable connection frame plates (18) are symmetrically distributed in the middle of the mechanical installation plate (1) in the upper and lower parts.
3. The industrial robot arm cyclic pick-and-place mechanism according to claim 2, characterized in that: The bottom of the rotating motor (16) is fixedly connected to a support seat (20), and the bottom of the support seat (20) is fixedly connected to the top of a lower stable connection frame plate (18).
4. The industrial robot arm cyclic pick-and-place mechanism according to claim 1, characterized in that: A protective pad (17) is fixedly connected to the top of the sliding pull rod (5).
5. The industrial robot arm cyclic pick-and-place mechanism according to claim 1, characterized in that: A positioning slide (12) is fixedly connected to the top of the rotating disk (10), and the upper surface of the rack plate (13) is slidably connected to the inner wall of the groove of the positioning slide (12).
6. The industrial robot arm cyclic pick-and-place mechanism according to claim 1, characterized in that: The back side of the positioning shaft rod (6) is fixedly connected to a contact slider (7), and the front side of the contact slider (7) is in sliding contact with the back side of the mechanical mounting plate (1).