Double-layer tray applied to mechanical arm to grab materials

Abstract

A double-layer tray applied to mechanical arm material grabbing relates to the mechanical arm material grabbing technology and is provided with a driver, a driving shaft of the driver is connected with a lead screw, the other end of the lead screw is rotatably connected with a connecting piece, and the connecting piece is fixedly connected with a discharging tray. Belt wheels are arranged at the front and rear positions of the fixed table plate, a conveying belt is arranged on the front and rear belt wheels, and the conveying belt is fixedly connected with the discharging disc and the feeding disc; the driver drives the lead screw to rotate, the connecting piece pushes the discharging disc to move towards one side of the driver, the discharging disc passes through the lower portion of the feeding disc, movement of the feeding disc sliding rail and movement of the discharging disc sliding rail do not interfere with each other, and movement of the feeding disc together with the turnover box and movement of the discharging disc together with the turnover box are relatively independent. According to the double-layer material tray, double-layer switching conveying can be conducted on turnover boxes containing to-be-machined materials at the same time, waiting is not needed when the turnover boxes are replaced through the mechanical arm, operation of the double-layer material tray is achieved only through one driver, and the high application and popularization value is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arm material grasping, in particular to a double-layer tray applied to mechanical arm material grasping. Background Technique

[0002] At present, the material turnover used in conjunction with the robotic arm usually adopts a "one-to-one" mode, that is, one robotic arm is equipped with one bin. In order to improve the working efficiency of the production line, multiple robots are usually introduced for simultaneous operation. At this time, if the "one-to-one" mode is adopted, the floor area of the production line site will be greatly increased. Therefore, there is a need to provide a bin that can make full use of the storage performance of the bin and improve the utilization rate.

[0003] To this end, the utility model with the authorization announcement number CN208453529U discloses a double-layer tray type bin, including a support frame. On both sides of the upper end surface of the support frame, there are relatively parallelly arranged slide rail supports. On the upper end surface of the slide rail supports, there is a first slide rail. On the outer side surface of the slide rail supports, there is a second slide rail. The second slide rail is slidably connected to the second tray support frame through a second slider that matches it. The two relatively parallelly arranged second tray support frames support a second tray. On the upper end surface of the support frame between the two slide rail supports, there is a first conveyor belt. One end of the first conveyor belt is fixed on the first roller, and the other end is fixed on the output end of the first motor. One side of the first conveyor belt is fixedly connected to the bottom of the first tray through a first fixing plate. One end of the second conveyor belt is fixed on the output end of the second motor, and the other end is connected to the second roller. One side of the second conveyor belt is fixedly connected to the upper second tray support frame through a second fixing plate. The bin of the utility model can transport double-layer materials simultaneously. Obviously, the technical solution of this utility model requires a first motor and a second motor, resulting in a significant increase in manufacturing cost.

[0004] In addition, the improved type of the above solution is driven by a cylinder. In actual operation, the cylinder drive requires additional air compression equipment, and its manufacturing cost is even higher. Content of the Utility Model

[0005] This application aims at the problem of high manufacturing cost of the above-mentioned double-layer tray. A double-layer tray applied to the material grasping of a robotic arm includes a workbench, a loading tray, a loading tray slide rail, a loading tray slider, a unloading tray, an unloading tray slide rail, and an unloading tray slider. The workbench is fixed with a loading tray slide rail and an unloading tray slide rail. The loading tray slide rail is matched with a loading tray slider, and the unloading tray slide rail is matched with an unloading tray slider. The unloading tray on the unloading tray slide rail can enter the loading tray on the loading tray slide rail. It is characterized in that it also has a driver, a lead screw, and a conveyor belt. The workbench is fixed with a fixed table board. The driver is fixed on the fixed table board. The drive shaft of the driver is connected to the lead screw. The other end of the lead screw is rotatably connected to a connecting piece. The connecting piece is fixedly connected to the unloading tray. Pulley wheels are arranged at the front and rear positions of the fixed table board. The conveyor belt is arranged on the front and rear two pulley wheels. The conveyor belt is fixedly connected to the unloading tray and the conveyor belt is fixedly connected to the loading tray. The driver drives the lead screw to rotate, and the unloading tray is pushed by the connecting piece to move towards the side of the driver. The unloading tray passes under the loading tray.

[0006] Further, the loading tray frame is fixed on the loading tray vertical plates on both sides, and the unloading tray frame is fixed on the unloading tray vertical plates on both sides.

[0007] Further, the loading tray has a loading tray frame and loading tray vertical plates, and the unloading tray has an unloading tray frame and unloading tray vertical plates. The loading tray frame and the unloading tray frame are used to place turnover boxes, and the turnover boxes contain materials to be processed.

[0008] Further, the driver is selected from a servo motor or a stepper motor.

[0009] Further, the connecting piece is fixed at the bottom of the unloading tray.

[0010] Further, the loading tray slide rail is provided with a loading tray slider matching the loading tray slide rail, and the loading tray slider is fixedly arranged at the bottom of the loading tray vertical plate;

[0011] Further, the unloading tray slide rail is provided with an unloading tray slider matching the unloading tray slide rail, and the unloading tray slider is fixedly arranged at the bottom of the unloading tray vertical plate.

[0012] Further, the unloading tray slide rail is arranged on the outside of the fixed table board, and the loading tray slide rail is arranged on the inside of the fixed table board.

[0013] The drive shaft of the drive in this application is connected to a lead screw. The other end of the lead screw is rotatably connected to a connecting member, and the connecting member is fixedly connected to a blanking tray. Pulley wheels are arranged at the front and rear positions of the fixed platen. A conveyor belt is arranged on the two pulley wheels at the front and rear. The conveyor belt is fixedly connected to the blanking tray and is also fixedly connected to the loading tray. The drive drives the lead screw to rotate, and through the connecting member, the blanking tray is pushed to move towards the side of the drive. The blanking tray passes under the loading tray. The movement of the loading tray slide rail and the blanking tray slide rail does not interfere with each other. The movement of the loading tray together with the turnover box and the movement of the blanking tray together with the turnover box are relatively independent. This enables the turnover box containing the materials to be processed to be transported with double-layer switching simultaneously. The robotic arm does not need to wait when replacing the turnover box. Only one drive is used to realize the operation of the double-layer trays, and its manufacturing cost is relatively low, having high popularization and application value. Description of the Drawings

[0014] Figure 1 is a schematic structural diagram of a double-layer tray applied to a robotic arm for grasping materials in this application;

[0015] Figure 2 is a schematic diagram of the fixed positions of the drive and the lead screw of the double-layer tray structure applied to a robotic arm for grasping materials in this application.

[0016] In the drawings, workbench 1, fixed platen 11, loading tray 2, loading tray frame 201, loading tray vertical plate 202, loading tray slide rail 22, loading tray slider 23, blanking tray 3, blanking tray frame 301, blanking tray vertical plate 302, blanking tray slide rail 32, blanking tray slider 33, drive 4, lead screw 5, connecting member 51, conveyor belt 6. Detailed Embodiments

[0017] The following further describes the detailed embodiments of the present utility model in conjunction with the drawings. It should be noted here that the description of the following embodiments is for helping to understand the present utility model, but does not constitute a limitation to the present utility model. In addition, the technical features involved in the various embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.

[0018] Combined with Figure 1 Figure 2, this application particularly proposes a structure of a double-layer tray for a robotic arm to grasp materials. The double-layer tray of this application is used to improve the working efficiency of the robotic arm in grasping materials and eliminate the waiting time consumed by replacing the turnover box. The double-layer tray includes components such as a workbench 1, a loading tray 2, a loading tray slide rail 22, a loading tray slider 23, a discharging tray 3, a discharging tray slide rail 32, a discharging tray slider 33, a driver 4, a lead screw 5, and a conveyor belt 6. The loading tray 2 has a loading tray frame 201 and a loading tray vertical plate 202, and the discharging tray 3 has a discharging tray frame 301 and a discharging tray vertical plate 302. The loading tray frame 201 and the discharging tray frame 301 are used to place turnover boxes, and the turnover boxes contain materials to be processed. The materials to be processed are grasped by the robotic arm and placed on the machining equipment; the loading tray frame 201 is fixed on the two-sided loading tray vertical plates 202, and the discharging tray frame 301 is fixed on the two-sided discharging tray vertical plates 302. In addition, the above-mentioned driver 4 is selected as a servo motor or a stepper motor, which is convenient for program control. Only one driver 4 can be used to realize the operation of the double-layer tray, and its manufacturing cost is relatively low.

[0019] A fixed table board 11 is fixed on the workbench 1. On both sides of the upper part of the fixed table board 11, a loading tray slide rail 22 and a discharging tray slide rail 32 are arranged in parallel; on the loading tray slide rail 22, there is a loading tray slider 23 that matches the loading tray slide rail 22, and the loading tray slider 23 is fixedly arranged at the bottom of the loading tray vertical plate 202; on the discharging tray slide rail 32, there is a discharging tray slider 33 that matches the discharging tray slide rail 32, and the discharging tray slider 33 is fixedly arranged at the bottom of the discharging tray vertical plate 302; the discharging tray slide rail 32 is arranged on the outside of the fixed table board 11, and the loading tray slide rail 22 is arranged on the inside of the fixed table board 11.

[0020] In Figure 2 (In the figure, the loading tray frame 201 and the discharging tray frame 301 are shown in a perspective state), on the fixed table board 11, there are also arranged a driver 4, a lead screw 5, and a conveyor belt 6 that are parallel to the sliding direction of the discharging tray slider 33 (or the loading tray slider 23). When the driver 4 drives, it can push the discharging tray 3 to move; the drive shaft of the driver 4 is connected to the lead screw 5, and the other end of the lead screw 5 is rotatably connected to a connecting piece 51. The connecting piece 51 is fixedly connected to the discharging tray 3, and the connecting piece 51 is fixed at the bottom of the discharging tray 3. The driver 4 drives the lead screw 5 to rotate, and the driver 4 pushes the connecting piece 51 and the discharging tray 3 to move together. Here, the connecting piece 51 is fixedly connected to the discharging tray 3. As another solution, the connecting piece 51 can be fixed at the bottom of the discharging tray 3.

[0021] The above conveyor belt 6 is used to drive the movement of the loading tray 2 and the unloading tray 3; pulley wheels are arranged at the front and rear positions of the fixed platen 11, the conveyor belt 6 is arranged on the two pulley wheels at the front and rear, the conveyor belt 6 is fixedly connected to the unloading tray 3, and the conveyor belt 6 is fixedly connected to the loading tray 2. When the driver 4 drives the lead screw 5 to rotate and pushes the unloading tray 3 to move towards the side of the driver 4 through the connecting piece 51, the loading tray 2 moves in the opposite direction under the action of the conveyor belt 6. Since the loading tray 2 is higher than the unloading tray 3, the unloading tray 3 can pass under the loading tray 2, thus realizing the position rotation of the turnover boxes without mutual interference, thereby meeting the processing requirements of the robotic arm to continuously grasp the turnover boxes with the materials to be processed, eliminating the drawback of wasting waiting time due to replacing the turnover boxes, and greatly improving both the grasping and processing efficiency.

[0022] During use, select the material to be processed and place it in the turnover box, and place the turnover box on the loading tray 2 and the unloading tray 3 by the robotic arm or manually. Under the drive of the driver 4, the lead screw 5 rotates to push the loading tray 2, and through the conveyor belt 6, the loading tray 2 and the unloading tray 3 are pushed to move back and forth on the loading tray slide rail 22 and the unloading tray slide rail 32. Since the movements of the loading tray slide rail 22 and the unloading tray slide rail 32 do not interfere with each other, and since the height of the unloading tray 3 is higher than the position height of the loading tray 2, therefore, the movements of the loading tray 2 together with the turnover box and the unloading tray 3 together with the turnover box are relatively independent, enabling the turnover boxes with the materials to be processed to be transported in a double-layer switching manner simultaneously, enabling one turnover box to match two robotic arms to simultaneously convey different materials, so that the robotic arm does not need to wait when replacing the turnover box, improving the efficiency of the robotic arm in transporting materials for processing. The double-layer trays applied to the robotic arm to grasp materials in this application can be widely applied to the machining requirements of various robotic arms and have the characteristics of high practical value.

[0023] The above has described in detail the embodiments of the present invention in conjunction with the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, without departing from the principles and spirit of the present invention, various changes, modifications, substitutions, and variations made to these embodiments still fall within the protection scope of the present invention.

Claims

1. A double-layer material tray used for a robot arm to grab materials, comprising a workbench (1), an upper material tray (2), an upper material tray slide rail (22), an upper material tray slider (23), a lower material tray (3), a lower material tray slide rail (32) and a lower material tray slider (33), wherein the upper material tray slide rail (22) and the lower material tray slide rail (32) are fixed on the workbench (1), the upper material tray slide rail (22) is matched with the upper material tray slider (23), the lower material tray slide rail (32) is matched with the lower material tray slider (33), the lower material tray (3) on the lower material tray slide rail (32) can enter the upper material tray (2) on the upper material tray slide rail (22), characterized in that: The invention also comprises a driver (4), a screw rod (5) and a conveyor belt (6); the workbench (1) is fixed with a fixed table plate (11); the driver (4) is fixed on the fixed table plate (11); the driver (4) has a driving shaft connected to the screw rod (5); the other end of the screw rod (5) is rotatably connected to a connecting piece (51); the connecting piece (51) is fixedly connected to a lower material tray (3); pulleys are arranged at the front and rear positions of the fixed table plate (11); the conveyor belt (6) is arranged on the front and rear two pulleys; the conveyor belt (6) is fixedly connected to the lower material tray (3); the conveyor belt (6) is fixedly connected to the upper material tray (2); the driver (4) drives the screw rod (5) to rotate, and pushes the lower material tray (3) to move toward one side of the driver (4) through the connecting piece (51); the lower material tray (3) passes through the lower part of the upper material tray (2).

2. A double-layer material tray for grabbing materials by a robot arm according to claim 1, characterized in that: The loading tray (2) has a loading tray frame (201), and the lowering tray (3) has a lowering tray frame (301). The loading tray frame (201) and the lowering tray frame (301) are used to place turnover boxes, and the turnover boxes contain materials to be processed.

3. The double-layer material tray used for grabbing materials by a robot arm according to claim 2, characterized in that: The upper material tray (2) has an upper material tray upright plate (202), and the upper material tray frame (201) is fixed on the upper material tray upright plates (202) on both sides; the lower material tray (3) has a lower material tray upright plate (302), and the lower material tray frame (301) is fixed on the lower material tray upright plates (302) on both sides.

4. The double-layer material tray used for grabbing materials by a robot arm according to claim 1, characterized in that: The driver (4) is selected from a servo motor or a stepper motor.

5. The double-layer material tray used for grabbing materials by a robot arm according to claim 1, characterized in that: The connecting piece (51) is fixed on the bottom of the unloading tray (3).

6. The double-layer material tray used for grabbing materials by a robot arm according to claim 1, characterized in that: The loading tray slide rail (22) is provided with a loading tray slider (23) matching the loading tray slide rail (22), and the loading tray slider (23) is fixedly arranged at the bottom of the loading tray vertical plate (202).

7. The double-layer material tray used for grabbing materials by a robot arm according to claim 1, characterized in that: A material tray slide block (33) matching the material tray slide rail (32) is provided on the material tray slide rail (32), and the material tray slide block (33) is fixedly arranged at the bottom of the material tray vertical plate (302).

8. The double-layer material tray used for grabbing materials by a robot arm according to claim 1, characterized in that: The lower material tray slide rail (32) is arranged on the outer side of the fixed platform (11), and the upper material tray slide rail (22) is arranged on the inner side of the fixed platform (11).

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