Pick-up manipulator

Abstract

The utility model discloses a piece taking mechanical arm which comprises a base, a large arm is rotationally connected to the base, a large arm driving motor is fixedly arranged on the base, the output end of the large arm driving motor is in transmission connection with the front end of the large arm and drives the large arm to rotate, the tail end of the large arm is rotationally connected with a small arm, and a small arm driving motor is arranged on the large arm. The output end of the small arm driving motor is in transmission connection with the front end of the small arm and drives the small arm to rotate, the small arm is further provided with a rotating motor and a rotating shaft, the output end of the rotating motor is in transmission connection with the front end of the rotating shaft and drives the rotating shaft to rotate along the axis of the rotating shaft, the tail end of the rotating shaft is connected with a clamping jaw air cylinder, and the output end of the clamping jaw air cylinder is connected with a clamping jaw used for taking workpieces. Both the large arm and the small arm can rotate, so that the movement range of the manipulator is larger, the clamping jaw can be rotated and overturned, the accuracy of workpiece taking is ensured, the grabbing precision is high, the requirements of workpiece taking in different directions are met, and the action flexibility of the manipulator is high.

Description

Technical Field

[0001] The utility model relates to the technical field of die casting grasping, in particular to a grasping manipulator. Background Art

[0002] As an important equipment in modern manufacturing industry, die-casting machine is widely used in many fields such as automobile, aerospace, electronics, etc. Under the action of pressure, the die-casting machine hydraulically injects molten metal into the mold for cooling and forming, and obtains solid metal die-casting parts after the mold is opened. For example, automobile engine cylinder block, gears, brake discs and other components are all manufactured by die-casting machine. The die-casting machine's picking robot, as an important supporting equipment of the die-casting machine, is responsible for removing the die-casting product from the mold and transferring it to the next process. For example, a Chinese patent application (authorization announcement number: CN209550565U) discloses a multi-link arm of a pick-up machine, which includes a clamping arm, one end of the clamping arm is provided with a clamping head, the other end of the clamping arm is fixedly connected to a second link, the other end of the second link is rotatably connected to a first link, the other end of the first link is rotatably connected to the top of the chassis, and is fixedly connected to the output shaft of the chassis, the side of the clamping arm away from the clamping head is rotatably connected to a driven rod, the driven rod and the second link are located on the same side of the clamping arm, and are located between the second link and the clamping head, the driven rod is rotatably connected to the top of the chassis, and a limiting mechanism is arranged above the chassis; the multi-link arm of the pick-up machine has a stable and accurate running trajectory; the stability of the pick-up machine is greatly increased, however, the above-mentioned pick-up manipulator has great limitations in terms of operational flexibility, when facing objects of different shapes and sizes, the arm may need more adjustment time, in addition, due to the relatively fixed structural design of the arm, it may be difficult to cope with some special and complex grasping tasks, so it is necessary to improve it. Utility Model Content

[0003] The purpose of the utility model is to provide a picking robot with a simple and reasonable structure and easy operation in view of the defects and shortcomings of the prior art. Both the upper arm and the lower arm can be rotated, so that the robot has a larger range of motion, can rotate and flip the clamping claws, has high grasping accuracy, and is more flexible in movement.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] The utility model describes a piece-picking robot, comprising a base, the base is rotatably connected to a large arm, a large arm driving motor is fixedly arranged on the base, the output end of the large arm driving motor is transmission-connected to the front end of the large arm and drives the large arm to rotate, the end of the large arm is rotatably connected to a small arm, the large arm is provided with a small arm driving motor for driving the small arm to rotate, the output end of the small arm driving motor is transmission-connected to the front end of the small arm, the small arm is also provided with a rotating motor and a rotating shaft, the output end of the rotating motor is transmission-connected to the front end of the rotating shaft and drives the rotating shaft to rotate along its axis, the end of the rotating shaft is connected to a clamping cylinder, and the output end of the clamping cylinder is connected to a clamping claw for picking up pieces.

[0006] Furthermore, a flip cylinder is provided between the rotating shaft and the clamping cylinder, and the flip cylinder is fixedly connected to the rotating shaft. A flip shaft and a flip plate are provided at the output end of the flip cylinder, one end of the flip plate is fixedly connected to the flip shaft, and the other end of the flip plate is fixedly connected to the clamping cylinder. The flip cylinder rotates the flip plate via the flip shaft, thereby driving the clamping cylinder to flip.

[0007] Furthermore, a clamping jaw adapter plate is fixedly provided between the flip plate and the clamping jaw cylinder.

[0008] Furthermore, the clamp comprises two clamp connection blocks and a clamp body corresponding to the clamp connection blocks one by one, one end of the clamp connection block is slidably connected to the output end of the clamp cylinder, and the other end of the clamp connection block is fixedly connected to the clamp body.

[0009] Furthermore, a sliding block is provided at one end of the clamping jaw connecting block close to the clamping jaw cylinder, and a sliding rail which is slidably matched with the sliding block is provided on the clamping jaw cylinder.

[0010] Furthermore, the two clamping jaw connecting blocks are symmetrically arranged along the central axis of the clamping jaw cylinder.

[0011] Furthermore, a pick-up portion is provided on one end of the clamp body away from the clamp connection block, and a V-shaped groove is provided on the inner side of the pick-up portion.

[0012] Furthermore, a plurality of anti-slip protrusions are provided on the V-shaped groove.

[0013] Furthermore, a first reduction mechanism is provided between the boom drive motor and the boom.

[0014] Furthermore, a second speed reduction mechanism is provided between the forearm driving motor and the forearm.

[0015] The beneficial effects of the utility model are as follows: the upper arm and the lower arm of the picking robot described in the utility model can both rotate, so that the robot has a larger range of motion and can better adapt to workpieces of different shapes and sizes. The coordinated work between the upper arm and the lower arm can also reduce the movement trajectory of the robot, shorten the picking time, and improve production efficiency. In addition, the picking robot is also provided with a rotating motor and a flip cylinder, which can rotate and flip the gripper to ensure the accuracy of picking up objects. The gripping accuracy is high and can adapt to the needs of picking up objects in different directions, further improving the flexibility of the robot's movements so that it can complete special and complex gripping tasks.

[0016] The working principle of the utility model is as follows: when the manipulator is working, the upper arm driving motor and the lower arm driving motor respectively drive the upper arm and the lower arm to rotate according to the preset program or operation instructions. During the working process, the rotating motor can drive the rotating shaft to rotate as needed to adjust the posture of the clamping cylinder and the clamping jaw to ensure the accuracy and stability of the clamping operation. The clamping cylinder and the clamping jaw can also be flipped by the flipping cylinder. When the clamping jaw and the clamping jaw reach the designated picking position, the clamping jaw cylinder drives the clamping jaw to perform the clamping operation. After the clamping is completed, the upper arm and the lower arm work together again to bring the clamping jaw and the workpiece back to the designated position to complete the entire picking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 It is a schematic diagram of the exploded structure of the utility model;

[0019] Figure 3 It is a schematic diagram of the exploded structure of the gripper, gripper cylinder and gripper adapter plate.

[0020] Figure 1-3 In: 1. Upper arm; 2. Upper arm drive motor; 3. Lower arm; 4. Lower arm drive motor; 5. Rotating motor; 6. Rotating shaft; 7. Gripper adapter plate; 8. Gripper cylinder; 9. Gripper connecting block; 10. Gripper body; 11. Flip cylinder; 12. Flip plate; 13. Sliding block; 14. Slide rail; 15. Pick-up part; 16. V-groove; 17. Anti-slip protrusion; 18. First reduction mechanism; 19. Second reduction mechanism; 20. Base. DETAILED DESCRIPTION

[0021] The utility model is further described below in conjunction with the accompanying drawings.

[0022] like Figure 1-3The piece-picking robot shown in the figure includes a base 20, and the base 20 serves as a supporting structure and can stably and reliably support the robot. A large arm 1 is rotatably connected to the base 20, and a large arm driving motor 2 is fixedly arranged on the base 20. The output end of the large arm driving motor 2 is transmission-connected to the front end of the large arm 1 and drives the large arm 1 to rotate. The end of the large arm 1 is rotationally connected to a small arm 3, and a small arm driving motor 4 for driving the small arm 3 to rotate is arranged on the large arm 1. The output end of the small arm driving motor 4 is transmission-connected to the front end of the small arm 3 and drives the small arm 3 to rotate. Through the coordinated work of the upper arm 1 and the lower arm 3, the manipulator can realize flexible object picking operations. The lower arm 3 is also provided with a rotating motor 5 and a rotating shaft 6. The output end of the rotating motor 5 is transmission-connected to the front end of the rotating shaft 6 and drives the rotating shaft 6 to rotate along its axis. The end of the rotating shaft 6 is connected to a clamping cylinder 8, and the output end of the clamping cylinder 8 is connected to a clamp for picking up objects. When the rotating motor 5 is working, it drives the rotating shaft 6 to rotate, so that the clamping cylinder 8 and the clamping claw rotate, which further expands the operating range of the manipulator and improves the flexibility of object picking.

[0023] Preferably, in this embodiment, a flip cylinder 11 is further provided between the rotating shaft 6 and the gripper cylinder 8. The flip cylinder 11 is fixedly connected to the rotating shaft 6. A flip shaft and a flip plate 12 are provided at the output end of the flip cylinder 11. One end of the flip plate 12 is fixedly connected to the flip shaft, and the other end of the flip plate 12 is fixedly connected to the gripper cylinder 8. The flip cylinder 11 rotates the flip plate 12 via the flip shaft. When the flip cylinder 11 is working, it drives the flip shaft to rotate, and the flip plate 12 rotates synchronously with the flip shaft, thereby driving the gripper cylinder 8 to flip, making the operation of the manipulator more flexible.

[0024] Preferably, in this embodiment, a clamp adapter plate 7 is also fixedly provided between the flip plate 12 and the clamp cylinder 8, so that the connection between the flip plate 12 and the clamp cylinder 8 is more secure. The clamp adapter plate 7 can also play a buffering role, reducing the impact and vibration that may be generated during the flipping process, and protecting the clamp cylinder 8 from damage.

[0025] Preferably, in this embodiment, the clamp includes two clamp connection blocks 9 and a clamp body 10 corresponding to the clamp connection blocks 9 one by one, one end of the clamp connection block 9 is slidingly connected to the output end of the clamp cylinder 8, and the other end of the clamp connection block 9 is fixedly connected to the clamp body 10, and the connection is firm.

[0026] Preferably, in this embodiment, refer to Figure 3The end of the clamping jaw connecting block 9 close to the clamping jaw cylinder 8 is provided with a sliding block 13, and the clamping jaw cylinder 8 is provided with a slide rail 14 that slides with the sliding block 13. Specifically, when the clamping jaw moves to the workpiece, the clamping jaw cylinder 8 works to drive the two sliding blocks 13 to approach each other, thereby driving the clamping jaw connecting block 9 and the clamping jaw body 10 to approach each other to grab the workpiece.

[0027] Preferably, in this embodiment, the two clamping jaw connecting blocks 9 are symmetrically arranged along the central axis of the clamping jaw cylinder 8, which not only makes the clamping jaw look more beautiful, but also ensures the balance and stability of the clamping jaw when clamping an object. The symmetrical structure can also effectively disperse the pressure of the clamping jaw when it is subjected to force, thereby extending the service life of the clamping jaw.

[0028] Preferably, in this embodiment, a pick-up portion 15 is provided on one end of the clamp body 10 away from the clamp connecting block 9, and a V-shaped groove 16 is provided on the inner side of the pick-up portion 15. The V-shaped groove 16 is provided so that it can fit tightly against the outer surface of the workpiece, effectively preventing the workpiece from sliding or shifting during the clamping process, ensuring stable contact and cooperation between the pick-up portion 15 and the workpiece, and ensuring the reliability of clamping.

[0029] Preferably, in this embodiment, a plurality of anti-skid protrusions 17 are provided on the V-shaped groove 16. The provision of the anti-skid protrusions 17 can effectively increase the friction between the pick-up portion 15 and the workpiece, thereby further preventing the workpiece from accidentally falling off during the clamping process.

[0030] Preferably, in this embodiment, refer to Figure 2 A first reduction mechanism 18 is also provided between the boom drive motor 2 and the boom 1. Specifically, the first reduction mechanism 18 is a first planetary gear reducer. The output end of the boom drive motor 2 is transmission-connected to the first planetary gear reducer, and the output end of the first planetary gear reducer is transmission-connected to the boom 1. Preferably, in this embodiment, a second reduction mechanism 19 is also provided between the forearm drive motor 4 and the forearm 3. Specifically, the second reduction mechanism 19 is a second planetary gear reducer. The output end of the forearm drive motor 4 is transmission-connected to the second planetary gear reducer, and the output end of the second planetary gear reducer is transmission-connected to the forearm 3. When the picking robot is working, it needs to frequently perform grasping and carrying operations. The first planetary gear reducer and the second planetary gear reducer have good deceleration and impact resistance, which can ensure the smooth and accurate movement of the robot, and at the same time, withstand impact forces from different directions and angles.

[0031] The planetary gear reducer described in the utility model is composed of a plurality of planetary gears, and the transmission and reduction of power are realized through the interaction between different gears. The specific structure of the planetary gear reducer can be found in the planetary gear reducer disclosed in the Chinese patent (Announcement No. CN103477118A). In view of the fact that the basic structure / principle of the planetary gear reducer has been disclosed in detail in the prior art, it will not be described in detail in this embodiment.

[0032] When the boom drive motor 2 is started, the power generated by the boom drive motor 2 is first transmitted to the first planetary gear reducer. The first planetary gear reducer rotates around the central gear and transmits the power to the output end of the first planetary gear reducer through engagement with the inner ring gear or the sun gear, which can effectively convert the high-speed rotation of the boom drive motor 2 into the low-speed and high-torque motion required by the boom 1.

[0033] When the forearm driving motor 4 is started, the power generated by the forearm driving motor 4 is first transmitted to the second planetary gear reducer. The second planetary gear reducer rotates around the center gear and transmits the power to the output end of the second planetary gear reducer through engagement with the inner ring gear or the sun gear, which can effectively convert the high-speed rotation of the forearm driving motor 4 into the low-speed and high-torque motion required by the forearm 3.

[0034] The working principle of the utility model is as follows: when the manipulator is working, the upper arm driving motor 2 and the lower arm driving motor 4 respectively drive the upper arm 1 and the lower arm 3 to rotate according to the preset program or operation instructions. During the working process, the rotating motor 5 can drive the rotating shaft 6 to rotate as needed to adjust the posture of the clamping cylinder 8 and the clamping jaw to ensure the accuracy and stability of the clamping operation. The clamping cylinder 8 and the clamping jaw can also be flipped by the flipping cylinder 11. When the clamping jaw cylinder 8 and the clamping jaw reach the designated picking position, the clamping jaw cylinder 8 drives the clamping jaw to perform the clamping operation. After the clamping is completed, the upper arm 1 and the lower arm 3 work together again to bring the clamping jaw and the workpiece back to the designated position to complete the entire picking process. The manipulator has high grasping accuracy and flexible movements, can achieve fast picking, and improve work efficiency.

[0035] The above description is only a preferred embodiment of the present utility model, so all equivalent changes or modifications made according to the structure, features and principles described in the scope of the present utility model patent application are included in the scope of the present utility model patent application.

Claims

1. A picking robot, characterized in that: The invention comprises a base (20), wherein a large arm (1) is rotatably connected to the base (20), a large arm driving motor (2) is fixedly provided on the base (20), an output end of the large arm driving motor (2) is drivingly connected to the front end of the large arm (1) and drives the large arm (1) to rotate, a small arm (3) is rotatably connected to the end of the large arm (1), a small arm driving motor (4) for driving the small arm (3) to rotate is provided on the large arm (1), an output end of the small arm driving motor (4) is drivingly connected to the front end of the small arm (3), a rotating motor (5) and a rotating shaft (6) are also provided on the small arm (3), an output end of the rotating motor (5) is drivingly connected to the front end of the rotating shaft (6) and drives the rotating shaft (6) to rotate along its axis, a clamping claw cylinder (8) is connected to the end of the rotating shaft (6), and a clamping claw for picking up a piece is connected to the output end of the clamping claw cylinder (8).

2. A pick-up robot according to claim 1, characterized in that: A flip cylinder (11) is further provided between the rotating shaft (6) and the clamping cylinder (8), the flip cylinder (11) being fixedly connected to the rotating shaft (6), an output end of the flip cylinder (11) being provided with a flip shaft and a flip plate (12), one end of the flip plate (12) being fixedly connected to the flip shaft, and the other end of the flip plate (12) being fixedly connected to the clamping cylinder (8), the flip cylinder (11) rotating the flip plate (12) via the flip shaft, thereby driving the clamping cylinder (8) to flip.

3. A pick-up robot according to claim 2, characterized in that: A clamping claw adapter plate (7) is also fixedly provided between the flip plate (12) and the clamping claw cylinder (8).

4. The object-removing robot according to claim 1, characterized in that: The clamp comprises two clamp connection blocks (9) and a clamp body (10) corresponding to the clamp connection blocks (9) one by one, one end of the clamp connection block (9) is slidably connected to the output end of the clamp cylinder (8), and the other end of the clamp connection block (9) is fixedly connected to the clamp body (10).

5. The object-removing robot according to claim 4, characterized in that: A sliding block (13) is provided at one end of the clamping jaw connecting block (9) close to the clamping jaw cylinder (8), and a sliding rail (14) that slidably cooperates with the sliding block (13) is provided on the clamping jaw cylinder (8).

6. The object-picking robot according to claim 4, characterized in that: The two clamping jaw connecting blocks (9) are symmetrically arranged along the central axis of the clamping jaw cylinder (8).

7. The object-removing robot according to claim 4, characterized in that: A pick-up portion (15) is provided on one end of the clamp body (10) away from the clamp connection block (9), and a V-shaped groove (16) is provided on the inner side of the pick-up portion (15).

8. The object-removing robot according to claim 7, characterized in that: A plurality of anti-slip protrusions (17) are provided on the V-shaped groove (16).

9. The object-removing robot according to claim 1, characterized in that: A first speed reduction mechanism (18) is also provided between the boom drive motor (2) and the boom (1).

10. The object-removing robot according to claim 1, characterized in that: A second speed reduction mechanism (19) is also provided between the forearm drive motor (4) and the forearm (3).

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