Pick-up manipulator

Abstract

The utility model relates to the technical field of die-casting part taking, in particular to a part taking mechanical arm which comprises a rotating assembly and a stress assembly, an arm assembly is arranged above the rotating assembly, the stress assembly is located on one side of the arm assembly, and the stress assembly comprises a contraction sleeve, a sealing telescopic rod and an electromagnetic valve. Compared with an existing mechanical arm, the mechanical arm has the advantages that the mechanical arm has the auxiliary supporting structure, the auxiliary supporting effect on a force arm of equipment can be achieved, the force arm can be assisted to bear force, and the mechanical arm is convenient to use. According to the material clamping device, a force arm is arranged, so that the force arm cannot bear too large gravity after clamping materials, damage to a power structure caused by too large stress of equipment can be avoided, the traction structure is arranged, the materials can be dragged, the equipment can clamp the materials conveniently, meanwhile, the traction structure also has a cleaning function, a mold after working can be cleaned, and the working efficiency is improved. And the mold can be conveniently used next time.

Description

Technical Field

[0001] The utility model relates to the technical field of die-casting taking out parts, in particular to a taking out part robot. Background Art

[0002] The housing of a motorcycle engine is usually processed by die casting. After the die casting is completed, a pick-up robot is needed to remove the die castings from the die casting mold so as to collect the die castings.

[0003] In the existing object picking robot, the power arm and the force arm are far apart during operation, and the length of the force arm is much greater than that of the power arm. Therefore, the power applying device has to bear a gravity much heavier than the object itself, which can easily cause the robot to be damaged by excessive force. Utility Model Content

[0004] The purpose of the utility model is to provide a piece-taking robot to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solution: it includes a rotating component and a force-bearing component, an arm component is arranged above the rotating component, the force-bearing component is located on one side of the arm component, and the force-bearing component includes a shrinking sleeve, a sealed telescopic rod and a solenoid valve, a sealed telescopic rod is arranged inside the shrinking sleeve, and a solenoid valve is installed at the end of the shrinking sleeve away from the sealed telescopic rod.

[0006] Preferably, a fourth motor is installed at one end of the arm assembly away from the rotating assembly, and the rotating end of the fourth motor is connected to a gripper assembly, and an auxiliary traction assembly is arranged on the inner side of the gripper assembly.

[0007] Preferably, the rotating assembly includes a mounting base, a support base, a first motor, a rotating disk and supporting steel balls, and a support base is provided at the upper end of the mounting base, a first motor is installed inside the support base, a rotating end of the first motor is connected to a rotating disk, and supporting steel balls are embedded inside the rotating disk.

[0008] Preferably, the arm assembly includes a first arm, a second motor, a second arm, a third motor and a third arm, and the second motor is installed on the upper end of the first arm, the rotating end of the second motor is connected to the second arm, and the third motor is installed at the end of the second arm away from the first arm, and the rotating end of the third motor is connected to the third arm.

[0009] Preferably, the gripper assembly comprises a connecting plate, a cylinder and a clamping claw, and the cylinder is installed on the outer side of the connecting plate, and the telescopic end of the cylinder is connected to the clamping claw.

[0010] Preferably, the auxiliary traction assembly includes a sleeve rod, a movable rod, a suction cup, an air pump, an air suction pipe and an air outlet pipe, and the movable rod is arranged inside the sleeve rod, the end of the movable rod away from the sleeve rod is connected to the suction cup, and the upper end of the sleeve rod is installed with an air pump, the air inlet of the air pump is connected to the air suction pipe, and the air outlet of the air pump is connected to the air outlet pipe.

[0011] Compared with the prior art, the beneficial effects of the utility model are:

[0012] 1. During operation, the device seals the inside of the shrink sleeve through the solenoid valve, so that the sealed telescopic rod cannot shrink in the shrink sleeve, so that the shrink sleeve and the sealed telescopic rod assist the structure of the arm assembly in bearing force, reducing the force on the power structure, thereby avoiding excessive force loss on the power structure.

[0013] 2. When the equipment clamps the material, the air pump is used to evacuate the inside of the sleeve rod, so that the suction cup adsorbs the material, and then the material is pulled by the force of the mobile rod contracting into the sleeve rod, so that the clamping jaws can clamp the material over a larger area during the working process, which is more conducive to the clamping stability of the clamping jaws. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the front view structure of the utility model;

[0015] Figure 2 This is a rear view structural diagram of the utility model;

[0016] Figure 3 This is a schematic diagram of the cross-sectional structure of the rotating assembly of the utility model;

[0017] Figure 4 It is a schematic diagram of the cross-sectional structure of the auxiliary traction component of the utility model.

[0018] In the figure: 1. Rotating assembly; 101. Mounting base; 102. Support seat; 103. First motor; 104. Rotating disk; 105. Supporting steel ball; 2. Arm assembly; 201. First arm; 202. Second motor; 203. Second arm; 204. Third motor; 205. Third arm; 3. Force-bearing assembly; 301. Shrink sleeve; 302. Sealed telescopic rod; 303. Solenoid valve; 4. Fourth motor; 5. Gripper assembly; 501. Connecting disk; 502. Cylinder; 503. Clamp; 6. Auxiliary traction assembly; 601. Sleeve rod; 602. Moving rod; 603. Suction cup; 604. Air pump; 605. Intake pipe; 606. Exhaust pipe. DETAILED DESCRIPTION

[0019] 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.

[0020] See also Figure 2 The utility model provides a technical solution: comprising a rotating component 1 and a force-bearing component 3, wherein an arm component 2 is arranged above the rotating component 1, the force-bearing component 3 is located at one side of the arm component 2, and the force-bearing component 3 comprises a shrink sleeve 301, a sealed telescopic rod 302 and a solenoid valve 303, wherein the sealed telescopic rod 302 is arranged inside the shrink sleeve 301, and the solenoid valve 303 is installed at one end of the shrink sleeve 301 away from the sealed telescopic rod 302;

[0021] During the working process, the interior of the shrinking sleeve 301 is closed by the solenoid valve 303, so that the sealed telescopic rod 302 cannot shrink in the shrinking sleeve 301, so that the shrinking sleeve 301 and the sealed telescopic rod 302 assist the structure of the arm assembly 2 in bearing force, reducing the force on the power structure, thereby avoiding excessive force loss on the power structure.

[0022] like Figure 1 , Figure 2 and Figure 4 As shown, a fourth motor 4 is installed at one end of the arm assembly 2 away from the rotating assembly 1 , and a gripper assembly 5 is connected to the rotating end of the fourth motor 4 , and an auxiliary traction assembly 6 is arranged on the inner side of the gripper assembly 5 .

[0023] like Figure 3 As shown, the rotating component 1 includes a mounting base 101, a support base 102, a first motor 103, a rotating disk 104 and supporting steel balls 105, and the supporting base 102 is provided at the upper end of the mounting base 101, the first motor 103 is installed inside the support base 102, the rotating end of the first motor 103 is connected to the rotating disk 104, and the supporting steel balls 105 are embedded inside the rotating disk 104.

[0024] The supporting steel balls 105 can provide auxiliary support to the rotating disk 104 , reduce the force applied to the first motor 103 , and thus protect the first motor 103 .

[0025] like Figure 1As shown, the arm assembly 2 includes a first arm 201, a second motor 202, a second arm 203, a third motor 204 and a third arm 205, and the second motor 202 is installed at the upper end of the first arm 201, the rotating end of the second motor 202 is connected to the second arm 203, and the third motor 204 is installed at the end of the second arm 203 away from the first arm 201, and the rotating end of the third motor 204 is connected to the third arm 205.

[0026] like Figure 4 As shown, the gripper assembly 5 includes a connecting plate 501 , a cylinder 502 and a clamping jaw 503 , and the cylinder 502 is installed on the outer side of the connecting plate 501 , and the clamping jaw 503 is connected to the telescopic end of the cylinder 502 .

[0027] The cylinder 502 pulls the clamping jaw 503 to enable the clamping jaw 503 to perform a clamping function, so that the device can clamp normally.

[0028] like Figure 4 As shown, the auxiliary traction assembly 6 includes a sleeve rod 601, a moving rod 602, a suction cup 603, an air pump 604, an air suction pipe 605 and an air outlet pipe 606, and the moving rod 602 is arranged inside the sleeve rod 601, the end of the moving rod 602 away from the sleeve rod 601 is connected to the suction cup 603, and the upper end of the sleeve rod 601 is installed with an air pump 604, the air inlet of the air pump 604 is connected to the air suction pipe 605, and the air outlet of the air pump 604 is connected to the air outlet pipe 606.

[0029] When clamping the material, the air is evacuated from the sleeve rod 601 through the air pump 604, so that the suction cup 603 adsorbs the material, and then the material is pulled by the force of the moving rod 602 contracting toward the inside of the sleeve rod 601, so that the clamping jaws 503 can clamp the material over a larger area during operation, which is more convenient for the clamping stability of the clamping jaws 503. The air pump 604 works in the reverse direction to make the air flow flow in the reverse direction, so that the suction cup 603 has a blowing effect, and the inside of the mold is blown and cleaned.

[0030] Working principle: First, install the equipment to the specified position through the installation base 101, and then turn on the first motor 103 inside the support seat 102, so as to drive the rotating disk 104 supported by the supporting steel ball 105 to rotate, and drive the arm assembly 2 to rotate. At the same time, the second motor 202 controls the angle of the second arm 203, and the third motor 204 controls the angle of the third arm 205, so that the gripper assembly 5 is close to the material to be grasped, and at the same time, the fourth motor 4 is turned on to adjust the angle of the gripper assembly 5, so that the gripper assembly 5 can be more aligned with the material. At this time, the solenoid valve 303 is in a closed state, so that the sealing telescopic rod 302 cannot shrink into the shrink sleeve 301, thereby the second arm 203 The third arm 205 assists in receiving force, and then turns on the air pump 604, and sucks out the gas inside the sleeve rod 601 through the suction pipe 605, so that the suction cup 603 can adsorb the material, and then the air pump 604 continues to pump air, which will cause the moving rod 602 to shrink into the sleeve rod 601, thereby pulling the material to the inside of the clamp 503, and then the clamp 503 is driven by the cylinder 502 to clamp the material, so as to place the material to the specified position. After the material is placed, the auxiliary traction component 6 is moved to the mold again, so that the suction cup 603 is aligned with the mold, and then the air pump 604 works in reverse to make the air flow flow in the opposite direction, so that the suction cup 603 has a blowing effect, and the inside of the mold is blown and cleaned.

[0031] 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 piece-picking robot, comprising a rotating component (1) and a force-bearing component (3), characterized in that: An arm assembly (2) is arranged above the rotating assembly (1); the force-bearing assembly (3) is located on one side of the arm assembly (2); and the force-bearing assembly (3) comprises a shrink sleeve (301), a sealed telescopic rod (302) and a solenoid valve (303); a sealed telescopic rod (302) is arranged inside the shrink sleeve (301); and a solenoid valve (303) is installed at one end of the shrink sleeve (301) away from the sealed telescopic rod (302).

2. A pick-up robot according to claim 1, characterized in that: A fourth motor (4) is installed at one end of the arm assembly (2) away from the rotating assembly (1), and the rotating end of the fourth motor (4) is connected to a gripper assembly (5), and an auxiliary traction assembly (6) is arranged on the inner side of the gripper assembly (5).

3. The object-picking robot according to claim 1, characterized in that: The rotating assembly (1) comprises a mounting base (101), a support base (102), a first motor (103), a rotating disk (104) and a supporting steel ball (105), wherein the upper end of the mounting base (101) is provided with the supporting base (102), the interior of the supporting base (102) is provided with the first motor (103), the rotating end of the first motor (103) is connected to the rotating disk (104), and the interior of the rotating disk (104) is inlaid with the supporting steel ball (105).

4. The object-removing robot according to claim 1, characterized in that: The arm assembly (2) comprises a first arm (201), a second motor (202), a second arm (203), a third motor (204) and a third arm (205), wherein the second motor (202) is installed at the upper end of the first arm (201), the rotating end of the second motor (202) is connected to the second arm (203), and the third motor (204) is installed at one end of the second arm (203) away from the first arm (201), and the rotating end of the third motor (204) is connected to the third arm (205).

5. The object-removing robot according to claim 2, characterized in that: The gripper assembly (5) comprises a connecting plate (501), a cylinder (502) and a clamping claw (503), wherein the cylinder (502) is installed on the outer side of the connecting plate (501), and the clamping claw (503) is connected to the telescopic end of the cylinder (502).

6. The object-removing robot according to claim 2, characterized in that: The auxiliary traction assembly (6) comprises a sleeve rod (601), a moving rod (602), a suction cup (603), an air pump (604), an air suction pipe (605) and an air outlet pipe (606), wherein the sleeve rod (601) is provided with the moving rod (602), an end of the moving rod (602) away from the sleeve rod (601) is connected with the suction cup (603), and an air pump (604) is installed at the upper end of the sleeve rod (601), an air inlet of the air pump (604) is connected with the air suction pipe (605), and an air outlet of the air pump (604) is connected with the air outlet pipe (606).

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