Multi-connecting-rod arm of part taking machine

Abstract

The multi-connecting-rod arm of the part taking machine comprises a part taking machine body, multi-connecting-rod mechanical arms are rotationally connected to the two sides of the part taking machine body, a positioning plate is fixedly connected to the outer surface of the side, away from the part taking machine body, of a pneumatic sliding block, and four sets of first movable cavities are formed in the positioning plate; fixed clamping plates are slidably connected into the three first movable cavities, positioning clamping plates are slidably connected into the first movable cavities, rotating clamping plates are rotatably connected to the upper portions of the positioning clamping plates, rotating air cylinders are fixedly connected into the lower portions of the rotating clamping plates, and the output ends of the rotating air cylinders are fixedly connected to the joints between the positioning clamping plates and the rotating clamping plates. According to the multi-connecting-rod arm of the part taking machine, the positioning plate can support parts, meanwhile, the positioning clamping plate and the fixed clamping plate above the positioning plate can clamp and fix the parts, the parts are prevented from sliding off from the surface of the positioning plate, meanwhile, the rotating clamping plate can rotate to the same horizontal line with the positioning plate, and a user can conveniently move the parts from the positioning plate to an operation table.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic piece picking, in particular to a multi-link arm of a piece picking machine. Background Art

[0002] Die-casting machines generally die-cast materials into corresponding parts. In the process of parts processing, multiple procedures are generally required, such as cutting, grinding and polishing. In modern parts processing, there is a tendency for automated processing, so robots with multi-link robotic arms are usually used to transport parts.

[0003] Parts are transported from one set of operating tables to another. Some operating tables are far away, so a transport robot that can transport parts over long distances is used. The two sides of the robot can pick up parts in multiple directions for transportation. During the transportation process, there is no corresponding positioning and fixing mechanism under the connecting arm gripper, which makes the parts suspended in the process of transporting the parts by the connecting arm. At the same time, the material of the parts and the gripper is generally rigid, which makes the friction between the parts and the gripper small, which makes the parts easy to slip from the gripper during transportation.

[0004] In view of the above situation, we propose a multi-link arm for a pickup machine. Utility Model Content

[0005] The utility model aims to solve the shortcomings in the prior art and proposes a multi-link arm of a pickup machine.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A multi-link arm of a piece picking machine comprises a piece picking machine body, both sides of the piece picking machine body are rotatably connected to the multi-link mechanical arms, one end of the multi-link mechanical arm away from the piece picking machine body is rotatably connected to a mechanical gripper, a pneumatic slide rail is installed inside the piece picking machine body, a pneumatic slider is slidably connected inside the pneumatic slide rail, a positioning plate is fixedly connected to the outer surface of the side of the pneumatic slider away from the piece picking machine body, four groups of first active cavities are evenly penetrated inside the positioning plate, three groups of the first active cavities are slidably connected to the inside of fixed splints, the first active cavity in the opposite direction of the piece picking machine body is slidably connected to the inside of the positioning splint, a rotating splint is rotatably connected to the top of the positioning splint, a rotating cylinder is fixedly connected to the bottom of the rotating splint, and the output end of the rotating cylinder is fixedly connected to the connection between the positioning splint and the rotating splint.

[0008] A screw rod is rotatably connected at the center point of the positioning plate, and the screw rod is located directly below the center point of the positioning plate. A sliding plate is threaded through the outer surface of the screw rod. The sliding plate is rotatably connected to four groups of connecting rods in the direction of three groups of fixed clamps and one group of positioning clamps. The ends of the four groups of connecting rods away from the sliding plate are rotatably connected below the three groups of fixed clamps and one group of positioning clamps respectively.

[0009] Preferably, a chassis is fixedly connected below the pickup machine body, a universal wheel is fixedly connected to the bottom of the chassis, and a control panel is fixedly connected to the outer surface of the pickup machine body on a side away from the positioning plate.

[0010] Preferably, a hanging rod is fixedly connected to the upper outer surface of the pickup machine body.

[0011] Preferably, a driving motor is fixedly connected inside the positioning plate, and an output end of the driving motor is fixedly connected to an upper end of the screw rod.

[0012] Preferably, the positioning plate is fixedly connected to a mounting plate at a position above the driving motor via bolts, and a soft pad is fixedly connected above the positioning plate.

[0013] Preferably, the positioning plate is fixedly connected to a fixing frame, the fixing frame surrounds the outer surface of the screw rod, and the lower end of the screw rod is rotatably connected to the inner wall of the fixing frame.

[0014] Preferably, the first movable cavity above the positioning plate and away from the side of the pickup machine body passes through the edge of the positioning plate in the longitudinal direction.

[0015] The multi-link arm of a piece-picking machine proposed by the utility model has the following beneficial effects: when transporting parts, the user can drive the positioning plate to move upward by driving the pneumatic slide rail, so that the positioning plate can support the parts and the parts will not be in a suspended state; the user can also drive the positioning clamp and the fixed clamp to move by driving the driving motor, so that the positioning clamp and the fixed clamp can clamp and fix the parts, so that when transporting parts, when the road surface is not flat enough, the parts will not slide off the outer surface of the positioning plate; at the same time, the rotating clamp can be rotated to the same horizontal line as the positioning plate, which is convenient for the user to move the parts from the positioning plate to the operating table. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the overall outer surface of the utility model;

[0017] Figure 2 It is a structural schematic diagram of the overall bottom of the utility model;

[0018] Figure 3 It is a schematic diagram of the structure of the overall side of the utility model;

[0019] Figure 4 It is a structural explosion diagram of the overall outer surface of the utility model;

[0020] Figure 5 It is an exploded diagram of the structure inside the positioning plate of the utility model.

[0021] In the figure: 1. The main body of the pickup machine; 2. The chassis; 3. The universal wheel; 4. The hanging rod; 5. The multi-link mechanical arm; 6. The mechanical gripper; 7. The positioning plate; 8. The pneumatic slide rail; 9. The pneumatic slider; 10. The soft cushion; 11. The mounting plate; 12. The driving motor; 13. The screw rod; 14. The fixing frame; 15. The sliding plate; 16. The connecting rod; 17. The fixing splint; 18. The positioning splint; 19. The rotating cylinder; 20. The rotating splint; 21. The first movable chamber; 22. The control panel. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0023] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0024] Referring to Figures 1-5, a multi-link arm of a pick-up machine includes a pick-up machine body 1, multi-link mechanical arms 5 are rotatably connected to both sides of the pick-up machine body 1, and one end of the multi-link mechanical arms 5 away from the pick-up machine body 1 is rotatably connected to a mechanical gripper 6, a chassis 2 is fixedly connected to the bottom of the pick-up machine body 1, a universal wheel 3 is fixedly connected to the bottom of the chassis 2, a control panel 22 is fixedly connected to the outer surface of the side of the pick-up machine body 1 away from the positioning plate 7, and a hanging rod 4 is fixedly connected to the upper outer surface of the pick-up machine body 1. The control panel 22 can control the pick-up machine so that the pick-up machine can move between different operating tables to pick up parts.

[0025] A pneumatic slide rail 8 is installed inside the main body 1 of the piece picking machine, and a pneumatic slider 9 is slidably connected inside the pneumatic slide rail 8. A positioning plate 7 is fixedly connected to the outer surface of the pneumatic slider 9 on the side away from the main body 1 of the piece picking machine. Four groups of first active cavities 21 are evenly penetrated inside the positioning plate 7. Fixed clamps 17 are slidably connected inside the three groups of first active cavities 21. A positioning clamp 18 is slidably connected inside the first active cavity 21 in the opposite direction of the main body 1 of the piece picking machine. A rotating clamp 20 is rotatably connected above the positioning clamp 18. A rotating cylinder 19 is fixedly connected inside the lower part of the rotating clamp 20. The output end of the rotating cylinder 19 is fixedly connected to the connection between the positioning clamp 18 and the rotating clamp 20. The first active cavity 21 above the positioning plate 7 away from the side of the main body 1 of the piece picking machine passes through the edge of the positioning plate 7 in the longitudinal direction. Driving the rotating cylinder 19 can drive the rotating clamp 20 to move, so that the rotating clamp 20 and the positioning plate 7 are in the same plane, so that the user can translate the parts to the outer surface of the corresponding operating table.

[0026] A screw rod 13 is rotatably connected at the center point of the positioning plate 7, and the screw rod 13 is located directly below the center point of the positioning plate 7. A sliding plate 15 is threadedly connected to the outer surface of the screw rod 13. The sliding plate 15 is rotatably connected to four groups of connecting rods 16 in the direction of three groups of fixed clamps 17 and a group of positioning clamps 18. The ends of the four groups of connecting rods 16 away from the sliding plate 15 are rotatably connected to the bottom of the three groups of fixed clamps 17 and a group of positioning clamps 18 respectively. The interior of the positioning plate 7 is fixedly connected to a drive motor 12, and the output end of the drive motor 12 is fixedly connected to the upper end of the screw rod 13. The position of the positioning plate 7 above the drive motor 12 is fixedly connected to a mounting plate 11 by bolts. A soft pad 10 is fixedly connected to the top of the positioning plate 7. The positioning plate 7 is fixedly connected to a fixing frame 14, and the fixing frame 14 surrounds the outer surface of the screw rod 13. The lower end of the screw rod 13 is rotatably connected to the inner wall of the fixing frame 14.

[0027] In summary: during the application of the utility model, the user can set the device through the control panel 22, so that the multi-link mechanical arm 5 cooperates with the mechanical gripper 6 to take the part out of the operating table, and then start the pneumatic slide rail 8 to drive the pneumatic slider 9 to move, thereby driving the positioning plate 7 to move upward, so that the outer surface above the positioning plate 7 fits with the part, so that the positioning plate 7 can support the part, and then start the drive motor 12 to drive the screw rod 13 to rotate, and the rotation of the screw rod 13 drives the sliding plate 15 to move, so that the sliding plate 15 drives the connecting rod 16 to move, and then the connecting rod 16 drives the fixed The clamping plate 17 and the positioning clamping plate 18 move inward, so that the fixed clamping plate 17 and the positioning clamping plate 18 can be clamped on the bottom of the part. Then, according to the setting of the control panel 22, after moving to the front of the corresponding operating table, the rotating cylinder 19 is driven, so that the rotating cylinder 19 can drive the rotating clamping plate 20, so that the rotating clamping plate 20 and the positioning plate 7 are in the same plane, so that the user can translate the part to the outer surface of the corresponding operating table, and starting the driving motor 12 to drive the screw rod 13 to rotate can make the fixed clamping plate 17 and the positioning clamping plate 18 move inward, so that the parts will not slip during transportation.

[0028] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multi-link arm of a pickup machine, comprising a pickup machine body (1), both sides of the pickup machine body (1) are rotatably connected to a multi-link mechanical arm (5), and one end of the multi-link mechanical arm (5) away from the pickup machine body (1) is rotatably connected to a mechanical gripper (6), characterized in that: A pneumatic slide rail (8) is installed inside the main body (1) of the pickup machine, and a pneumatic slider (9) is slidably connected inside the pneumatic slide rail (8), and a positioning plate (7) is fixedly connected to the outer surface of the pneumatic slider (9) on the side away from the main body (1) of the pickup machine, and four groups of first active cavities (21) are evenly penetrated inside the positioning plate (7), and three groups of the first active cavities (21) are slidably connected inside with a fixed clamping plate (17), and the first active cavity (21) in the opposite direction of the main body (1) of the pickup machine is slidably connected inside with a positioning clamping plate (18), and a rotating clamping plate (20) is rotatably connected above the positioning clamping plate (18), and a rotating cylinder (19) is fixedly connected inside the lower part of the rotating clamping plate (20), and the output end of the rotating cylinder (19) is fixedly connected to the connection between the positioning clamping plate (18) and the rotating clamping plate (20); A screw rod (13) is rotatably connected at the center point of the positioning plate (7), and the screw rod (13) is located directly below the center point of the positioning plate (7). A sliding plate (15) is threadedly connected through the outer surface of the screw rod (13). The sliding plate (15) is rotatably connected to four groups of connecting rods (16) in the direction of three groups of fixed clamping plates (17) and one group of positioning clamping plates (18). One end of the four groups of connecting rods (16) away from the sliding plate (15) is rotatably connected below the three groups of fixed clamping plates (17) and one group of positioning clamping plates (18).

2. The multi-link arm of the pickup machine according to claim 1, characterized in that: A chassis (2) is fixedly connected below the pickup machine body (1), a universal wheel (3) is fixedly connected to the bottom of the chassis (2), and a control panel (22) is fixedly connected to the outer surface of the pickup machine body (1) on a side away from the positioning plate (7).

3. The multi-link arm of the pickup machine according to claim 1, characterized in that: A hanging rod (4) is fixedly connected to the upper outer surface of the pickup machine body (1).

4. The multi-link arm of the pickup machine according to claim 1, characterized in that: A driving motor (12) is fixedly connected inside the positioning plate (7), and an output end of the driving motor (12) is fixedly connected to the upper end of the screw rod (13).

5. The multi-link arm of the pickup machine according to claim 1, characterized in that: The positioning plate (7) is located above the driving motor (12) and is fixedly connected to a mounting plate (11) via bolts, and a soft pad (10) is fixedly connected above the positioning plate (7).

6. The multi-link arm of the pickup machine according to claim 1, characterized in that: The positioning plate (7) is fixedly connected to a fixing frame (14), the fixing frame (14) surrounds the outer surface of the screw rod (13), and the lower end of the screw rod (13) is rotatably connected to the inner wall of the fixing frame (14).

7. The multi-link arm of the pickup machine according to claim 1, characterized in that: The first active cavity (21) above the positioning plate (7) and away from the side of the pickup machine body (1) passes through the edge of the positioning plate (7) in the longitudinal direction.

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