Direction-changing picking manipulator

Abstract

The utility model provides a direction-changing pick-up manipulator which comprises a manipulator fixing assembly, a connecting rod cam assembly and a suction cup assembly, the connecting rod cam assembly is installed on one side of the manipulator fixing assembly, the suction cup assembly is installed on one side of the connecting rod cam assembly, and the suction cup assembly is used for picking up materials. The mechanical arm has the advantages that by means of direction changing of the mechanical arm, materials are picked up in a limited space, the installation space of the mechanical arm in the material picking direction is saved, and the problem that the installation space of the mechanical arm in the material picking direction is insufficient is solved.

Description

Technical Field

[0001] The utility model belongs to the field of manipulators, and particularly relates to a variable-direction picking manipulator. Background Technique

[0002] At present, most manipulators have the same driving direction as the moving direction of the suction cup assembly, and directly drive the lifting of the suction cup assembly to realize the handling of materials. Such manipulators are suitable for occasions where there is sufficient installation space in the material picking direction, but they cannot meet the use requirements in some occasions where the space in the material picking direction is limited, and there is a problem of insufficient installation space of the manipulator in the material picking direction. Content of the Utility Model

[0003] In view of this, the utility model aims to provide a variable-direction picking manipulator to solve at least one problem existing in the prior art.

[0004] To achieve the above object, the technical solution of the utility model is realized as follows:

[0005] A variable-direction picking manipulator includes a manipulator fixing component, a connecting rod cam component and a suction cup component. The connecting rod cam component is installed on one side of the manipulator fixing component, and the suction cup component is installed on one side of the connecting rod cam component. The suction cup component is used for picking up materials.

[0006] The manipulator fixing component includes a gripper mounting bracket, a fixed air joint and a guide sleeve. A relief groove is formed on the surface of the gripper mounting bracket, and a plurality of parallel fixed air joints are installed in the relief groove. Guide sleeves are respectively installed at both ends of the gripper mounting bracket close to the relief groove.

[0007] Further, the connecting rod cam component includes a cylinder, a first connecting rod, a guide shaft fixing block, a horizontal moving guide shaft, a second connecting rod, a guide groove block, a roller, a suction cup component mounting plate and a vertical moving guide shaft. One end of the first connecting rod is connected to the cylinder, and the other end of the first connecting rod is connected to two second connecting rods. Each second connecting rod is slidably connected to a horizontal moving guide shaft. Both ends of each horizontal moving guide shaft are respectively connected to a guide shaft fixing block. The four guide shaft fixing blocks are all installed on the manipulator fixing component. Each guide groove block is respectively connected to one end of the second connecting rod away from the first connecting rod. A guide groove is formed on the surface of the guide groove block, and a roller is slidably installed in the guide groove, and the roller is located on the suction cup component mounting plate. A vertical moving guide shaft is respectively installed at both ends of the suction cup component mounting plate, and the vertical moving guide shaft is used to pass through the guide sleeve.

[0008] Further, the cylinder and the four guide shaft fixing blocks are all installed on the manipulator fixing component by screws.

[0009] Further, the second connecting rod is of a Z-shaped structure, and the corner of the Z-shaped structure is a right-angle structure.

[0010] Further, the suction cup assembly mounting plate is of a rectangular frame structure, and one end of the suction cup assembly mounting plate is connected to the other end of the first connecting rod.

[0011] Further, convex platforms are respectively arranged on both sides of the suction cup assembly mounting plate, and the convex platforms are used for mounting guide groove blocks.

[0012] Further, the suction cup assembly includes a suction cup mounting plate, a suction cup body, and a suction cup air joint. The suction cup mounting plate is mounted on one side of the suction cup assembly mounting plate. A plurality of suction cup air joints are mounted on one side of the suction cup mounting plate, and a plurality of suction cup bodies are mounted on the other side of the suction cup mounting plate. Each suction cup body is respectively communicated with a suction cup air joint.

[0013] Compared with the prior art, the variable-direction picking manipulator of the present invention has the following advantages:

[0014] For the variable-direction picking manipulator of the present invention, through the method of changing the direction of the manipulator, the picking of materials is realized within a limited space, saving the installation space of the manipulator in the material picking direction and solving the problem of insufficient installation space of the manipulator in the material picking direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0016] Figure 1 is a schematic diagram of the overall structure for picking materials in the embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of the overall structure during the material suction process in the embodiment of the present invention;

[0018] Figure 3 is a schematic diagram of the manipulator fixing assembly in the embodiment of the present invention;

[0019] Figure 4 is a schematic diagram of the connecting rod cam assembly in the embodiment of the present invention;

[0020] Figure 5 is a schematic diagram of the suction cup assembly in the embodiment of the present invention;

[0021] Figure 6 is a schematic diagram of the cylinder and four guide shaft fixing blocks being connected to the manipulator fixing assembly by screws in the embodiment of the present invention;

[0022] Figure 7 Schematic diagram of the connection between the vertical moving guide shaft and the guide sleeve according to the embodiment of the present utility model;

[0023] Figure 8 Schematic diagram of the connection between the manipulator fixing component and the connecting rod cam component according to the embodiment of the present utility model;

[0024] Figure 9 Schematic diagram of the overall structure according to the embodiment of the present utility model.

[0025] Description of the reference numerals:

[0026] 100, manipulator fixing component; 101, gripper mounting bracket; 102, fixed air joint; 103, guide sleeve; 200, connecting rod cam component; 201, cylinder; 202, first connecting rod; 203, guide shaft fixing block; 204, horizontal moving guide shaft; 205, second connecting rod; 206, guide groove block; 207, roller; 208, suction cup assembly mounting plate; 209, vertical moving guide shaft; 300, suction cup assembly; 301, suction cup mounting plate; 302, suction cup body; 303, suction cup air joint. Detailed implementation manners

[0027] It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other.

[0028] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more.

[0029] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0030] The present utility model will be described in detail below with reference to the drawings and in conjunction with embodiments.

[0031] As Figure 1 shown, a direction-changing picking manipulator includes a manipulator fixing assembly 100, a connecting rod cam assembly 200, and a suction cup assembly 300, wherein the core component is the connecting rod cam assembly 200.

[0032] This direction-changing picking manipulator saves the installation space of the manipulator in the material picking direction and solves the problem of insufficient installation space of the manipulator in the material picking direction.

[0033] The material suction process of this direction-changing picking manipulator: After the manipulator horizontally moves to directly above the material ( Figure 2 in (a)), the connecting rod cam assembly 200 starts to move, causing the suction cup assembly 300 to descend to the material suction position ( Figure 2 in (b)); after the suction cup assembly 300 sucks the material, the connecting rod cam assembly 200 moves in the reverse direction again, causing the suction cup assembly 300 to rise to the top with the material ( Figure 2 in (c)); the manipulator moves to the next station and drops the material, and this process circulates in sequence.

[0034] In a preferred embodiment of the present utility model, the manipulator fixing assembly 100 includes a gripper mounting bracket 101, a fixed air joint 102, and a guide sleeve 103. The guide sleeve 103 and the fixed air joint 102 are installed on the gripper mounting bracket 101. As Figure 3 shown.

[0035] In a preferred embodiment of the present utility model, the connecting rod cam assembly 200 includes a cylinder 201, a first connecting rod 202, a guide shaft fixing block 203, a horizontally moving guide shaft 204, a second connecting rod 205, a guide groove block 206, a roller 207, a suction cup assembly mounting plate 208, and a vertically moving guide shaft 209.

[0036] As Figure 4As shown in the figure: One end of the first connecting rod 202 is connected to the cylinder 201, and the other end is connected to two second connecting rods 205. The second connecting rods 205 are installed on the horizontal moving guide shaft 204 and can move back and forth along the horizontal moving guide shaft 204. Two guide shaft fixing blocks 203 install the horizontal moving guide shaft 204, and four guide shaft fixing blocks 203 are installed on the manipulator fixing assembly 100. The guide groove block 206 is installed on the second connecting rod 205, and the roller 207 is installed on the suction cup assembly mounting plate 208 and can move along the guide groove of the guide groove block 206. Two vertical moving guide shafts 209 are installed at both ends of the suction cup assembly mounting plate 208.

[0037] In a preferred embodiment of the present invention, the suction cup assembly 300 will change accordingly with the change of materials, mainly including a suction cup mounting plate 301, a suction cup body 302, and a suction cup air joint 303. As Figure 5 shown.

[0038] In a preferred embodiment of the present invention, the cylinder 201 and the four guide shaft fixing blocks 203 in the connecting rod cam assembly 200 are installed on the manipulator fixing assembly 100 by screws. The vertical moving guide shaft 209 passes through the guide sleeve 103 and can move in the guide sleeve 103, as Figure 6 and Figure 7 . The connecting rod cam assembly 200 and the manipulator fixing assembly 100 are completed by screws, as Figure 8 .

[0039] The motion process of a direction-changing picking manipulator:

[0040] As Figure 9 shown, when the cylinder rod of the cylinder 201 extends, it drives the first connecting rod 202, the second connecting rods 205, and the guide groove block 206 to move forward in the horizontal direction along the horizontal moving guide shaft 204. At this time, the roller 207 will move along the guide groove of the guide groove block 206. Due to the combined limitation of the moving pair formed by the roller 207 and the guide groove block 206 in the vertical direction and the moving pair formed by the vertical moving guide shaft 209 and the guide sleeve 103 in the vertical direction, the suction cup assembly mounting plate 208 installed with the roller 207 will drive the suction cup assembly 300 to move vertically downward due to the movement of the roller 207 along the guide groove of the guide groove block 206.

[0041] When the cylinder rod of the cylinder 201 retracts, it drives the first connecting rod 202, the second connecting rods 205, and the guide groove block 206 to move backward in the horizontal direction along the horizontal moving guide shaft 204. At this time, the roller 207 will move reversely along the guide groove of the guide groove block 206. At this time, the suction cup assembly mounting plate 208 installed with the roller 207 will drive the suction cup assembly 300 to move vertically upward due to the movement of the roller 207 along the guide groove of the guide groove block 206.

[0042] The mechanism and method by which this manipulator protects the picking device are applied to transporting strip-shaped materials from one station to another. In the limited space in the vertical direction, this manipulator converts the horizontal movement of the connecting rod and cam mechanism into the vertical movement of the suction cup assembly to pick and place materials. This manipulator realizes the picking of materials in the limited space by changing the direction of the manipulator.

[0043] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A reversible picking robot, characterized in that: It includes a manipulator fixing assembly, a connecting rod cam assembly and a suction cup assembly, wherein the connecting rod cam assembly is installed on one side of the manipulator fixing assembly, and the suction cup assembly is installed on one side of the connecting rod cam assembly, and the suction cup assembly is used to pick up materials; The manipulator fixing assembly includes a gripper mounting bracket, a fixed air joint and a guide sleeve. A clearance groove is opened on the surface of the gripper mounting bracket, and a plurality of parallel fixed air joints are installed in the clearance groove. The gripper mounting bracket is respectively installed with guide sleeves near both ends of the clearance groove.

2. A reversible picking robot according to claim 1, characterized in that: The connecting rod cam assembly includes a cylinder, a first connecting rod, a guide shaft fixing block, a horizontally movable guide shaft, a second connecting rod, a guide groove block, a roller, a suction cup assembly mounting plate and a vertically movable guide shaft, one end of the first connecting rod is connected to the cylinder, the other end of the first connecting rod is connected to two second connecting rods, each second connecting rod is slidably connected to a horizontally movable guide shaft, each horizontally movable guide shaft is connected to a guide shaft fixing block at both ends, four guide shaft fixing blocks are all installed in the manipulator fixing assembly, each of the guide groove blocks is connected to an end of a second connecting rod away from the first connecting rod, a guide groove is provided on the surface of the guide groove block, a roller is slidably installed in the guide groove, and the roller is located on the suction cup assembly mounting plate, and a vertically movable guide shaft is also installed at both ends of the suction cup assembly mounting plate, and the vertically movable guide shaft is used to pass through the guide sleeve.

3. A reversible picking robot according to claim 2, characterized in that: The cylinder and the four guide shaft fixing blocks are all mounted on the manipulator fixing assembly by screws.

4. The reversible picking robot according to claim 2, characterized in that: The second connecting rod is a Z-shaped structure, and the corner of the Z-shaped structure is a right-angle structure.

5. The reversible picking robot according to claim 2, characterized in that: The suction cup assembly mounting plate is a rectangular frame structure, and one end of the suction cup assembly mounting plate is connected to the other end of the first connecting rod.

6. The reversible picking robot according to claim 2, characterized in that: Bosses are respectively arranged on both sides of the suction cup assembly mounting plate, and the bosses are used for mounting the guide groove blocks.

7. The reversible picking robot according to claim 2, characterized in that: The suction cup assembly includes a suction cup mounting plate, a suction cup body and a suction cup air joint. The suction cup mounting plate is installed to one side of the suction cup assembly mounting plate. A plurality of suction cup air joints are installed on one side of the suction cup mounting plate. A plurality of suction cup bodies are installed on the other side of the suction cup assembly. Each suction cup body is respectively connected to a suction cup air joint.

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