Plate collecting manipulator

Abstract

The utility model belongs to the technical field of plate collecting machines, and particularly relates to a plate collecting manipulator which comprises a main support, a main sucker and a plurality of side suckers, a movable seat is arranged at the top of the main support and used for being connected with a driving motor, the main sucker is installed at the bottom of the main support, and the side suckers are evenly distributed on the side face of the main support. The lifting supports are installed on the side faces of the main support correspondingly, each lifting support is provided with a lifting air cylinder, an output shaft of each lifting air cylinder is downwards connected with a side suction cup, the main suction cup and the side suction cups are each provided with a connecting pipe, the connecting pipes are independent from one another, and during grabbing, the main suction cup adsorbs and grabs a plate. The side suction cups are prevented from being triggered by mistake, during grabbing, the main suction cup and the side suction cups are started at the same time to grab the plate, the balance and stability during grabbing are guaranteed, the controllability of the posture of the plate when the plate is put down is better facilitated, and the conveying and grabbing accuracy is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of board collecting machines, in particular to a board collecting manipulator. Background Art

[0002] With the continuous development and progress of automation technology, more and more automated devices are applied to the industrial production and processing process. Among them, for automated devices, in many cases, the grasping and transferring actions of product workpieces are realized through corresponding manipulators, so as to reduce the labor in the intermediate transfer link. There are various types of suction cup manipulator products in the prior art; however, the existing manipulators usually adapt to the grasping of board pieces of different sizes by increasing the coverage area of the suction cups or increasing the number of suction cups. However, when the existing manipulators grasp small board pieces, since the suction cups cannot be far away from the surface of the conveyor belt, occasionally the suction cups of the manipulator that do not need to grasp the board pieces will contact and adsorb the surface of the conveyor belt, resulting in equipment failures. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a board collecting manipulator, aiming to solve the technical problem that in the prior art, since the suction cups cannot be far away from the surface of the conveyor belt, occasionally the suction cups of the manipulator that do not need to grasp the board pieces will contact and adsorb the surface of the conveyor belt, resulting in equipment failures.

[0004] To achieve the above purpose, an embodiment of the utility model provides a board collecting manipulator, which includes a main bracket, a main suction cup and a plurality of side suction cups. A movable seat is arranged at the top of the main bracket for connecting with a driving motor. The main suction cup is installed at the bottom of the main bracket. The side suction cups are evenly distributed on the side surface of the main bracket. A lifting bracket is arranged at the top of each side suction cup. Each lifting bracket is respectively installed on each side surface of the main bracket. A lifting cylinder is installed on each lifting bracket. The output shaft of each lifting cylinder is connected downward with a side suction cup. Connecting pipes are arranged on the main suction cup and each side suction cup, and the connecting pipes are independent of each other.

[0005] Preferably, the number of the side suction cups is at least two groups, and the bottom surface of the side suction cups is flush with the bottom surface of the main suction cup.

[0006] Preferably, a lifting suspension is arranged at the top of each side suction cup for connecting with the output shaft of the lifting cylinder.

[0007] Preferably, the lifting suspension includes a mounting plate and a mounting frame. The mounting plate is installed on both sides of the top of the side suction cup. The middle part of the top surface of the mounting frame is connected with the output shaft of the lifting cylinder, and both sides of the mounting frame are fixedly installed with a mounting plate respectively.

[0008] Preferably, a groove is provided in the middle of the top surface of the mounting plate. The groove is connected to the output shaft of the lifting cylinder. Mounting ears are provided on both sides of the groove for fixed installation on the mounting plate respectively.

[0009] Preferably, a connecting seat extends downward from the main bracket. The bottom of the connecting seat is fixedly installed with the top of the main suction cup. An avoidance groove is provided on one side of the connecting seat for avoiding the connecting pipe mounted on the main bracket.

[0010] Preferably, a three-fork bracket is installed on the top of the movable seat.

[0011] One or more of the above technical solutions in the board collecting manipulator provided by the embodiment of the present invention have at least one of the following technical effects:

[0012] The manipulator is driven by a driving motor to move. The circuit board on the conveyor belt is grabbed by the main suction cup and side suction cups at the bottom of the manipulator. When the board on the conveyor belt is small, the lifting cylinder is used to lift each side suction cup so that the height of each side suction cup is higher than that of the main suction cup. During grabbing, the main suction cup adsorbs and grabs the board to avoid accidentally triggering the side suction cups, which may cause the side suction cups to adsorb on the conveyor belt and result in equipment failure. When the board on the conveyor belt is large, the lifting cylinder is used to lower each side suction cup so that the height of each side suction cup is the same as that of the main suction cup. During grabbing, the main suction cup and each side suction cup are simultaneously activated to grab the board, ensuring the balance and stability during grabbing, and being more conducive to controlling the posture of the board when placing the board, improving the accuracy of transportation and grabbing. Description of the Drawings

[0013] Figure 1 It is a schematic diagram of the overall structure of the board collecting manipulator provided by the embodiment of the present invention;

[0014] Figure 2 It is a schematic diagram of the structure of the main bracket of the board collecting manipulator provided by the embodiment of the present invention;

[0015] Figure 3 It is a schematic diagram of the structure of the bottom of the board collecting manipulator provided by the embodiment of the present invention.

[0016] Among them, the reference numerals in the drawings are as follows:

[0017] 1 - main bracket, 11 - movable seat, 12 - connecting seat, 121 - avoidance groove, 13 - three-fork bracket, 2 - main suction cup, 3 - side suction cup, 31 - lifting bracket, 311 - mounting plate, 312 - mounting frame, 313 - groove, 314 - mounting ear, 32 - lifting cylinder, 33 - connecting pipe, 4 - driving motor. Detailed Embodiment

[0018] Embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the embodiments of the present utility model, and should not be construed as limiting the present utility model.

[0019] In the description of the embodiments of the present utility model, it should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the embodiments of 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 should not be construed as limiting the present utility model.

[0020] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present utility model, the meaning of "a plurality" is two or more unless otherwise specifically defined.

[0021] In the embodiments of the present utility model, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific situations.

[0022] In an embodiment of the present utility model, as Figures 1 to 3 shown, a plate receiving manipulator is provided, which includes a main bracket 1, a main suction cup 2, and a plurality of side suction cups 3. A movable seat 11 is provided at the top of the main bracket 1 for connecting with a driving motor 4. The main suction cup 2 is installed at the bottom of the main bracket 1. The side suction cups 3 are evenly distributed on the side of the main bracket 1. A lifting bracket 31 is provided at the top of each side suction cup 3. Each lifting bracket 31 is respectively installed on each side of the main bracket 1. A lifting cylinder 32 is installed on each lifting bracket 31. The output shaft of each lifting cylinder 32 is connected downward to a side suction cup 3. The main suction cup 2 and each side suction cup 3 are provided with connecting pipes 33, and the connecting pipes 33 are independent of each other.

[0023] Furthermore, the number of the side suction cups 3 is at least two groups, and the bottom surface of the side suction cups 3 is flush with the bottom surface of the main suction cup 2. Specifically, when the side suction cups 3 are set to two groups, the two side suction cups 3 and the main suction cup 2 are linearly distributed. When grasping a larger plate, the two sides of the main suction cup 2 can be assisted to maintain balance, and at the same time, the grasping force of the manipulator during grasping can be strengthened through the cooperation of the side suction cups 3 and the main suction cup 2. The number of the side suction cups 3 can also be set to four groups, and the side suction cups 3 surround the main suction cup 2. During grasping, the side suction cups 3 can balance the forces in four directions of the plate, achieving a better grasping effect.

[0024] Furthermore, a lifting suspension 34 is provided at the top of each of the side suction cups 3 for connecting to the output shaft of the lifting cylinder 32. The lifting suspension 34 includes a mounting plate 341 and a mounting frame 342. The mounting plate 341 is mounted on both sides of the top of the side suction cup 3. The middle part of the top surface of the mounting frame 342 is connected to the output shaft of the lifting cylinder 32, and both sides of the mounting frame 342 are fixedly installed with one of the mounting plates 341 respectively. A groove 343 is provided in the middle of the top surface of the mounting plate 341, and the groove 343 is connected to the output shaft of the lifting cylinder 32. Mounting ears 344 are provided on both sides of the groove 343 for realizing fixed installation with the mounting plate 341 respectively. Specifically, during the lifting process of the side suction cup 3, the output shaft of the lifting cylinder 32 is driven to expand and contract, so as to realize the lifting effect of the side suction cup 3. When the side suction cup 3 rises, the output shaft of the lifting cylinder 32 is driven, and the mounting frame 342 is lifted by the output shaft, so that the side suction cup 3 is lifted upward. During the rising process of the mounting frame 342, the bottom of the lifting cylinder 32 is received in the groove 343 in the middle of the mounting frame 342, ensuring the stable posture of the mounting frame 342 during the lifting process.

[0025] Furthermore, a connecting seat 12 extends downward from the main bracket 1, and the bottom of the connecting seat 12 is fixedly installed with the top of the main suction cup 2. An avoidance groove 121 is provided on one side of the connecting seat 12 for avoiding the connection pipe 33 installed on the main bracket 1.

[0026] Furthermore, a three - pronged bracket 13 is installed on the top of the movable seat 11.

[0027] Working principle: The manipulator is driven by the driving motor 4 to move, and the circuit board on the conveyor belt is grasped by the main suction cup 2 and the side suction cups 3 at the bottom of the manipulator; when the board on the conveyor belt is small, the lifting cylinder 32 is used to lift each side suction cup 3 so that the height of each side suction cup 3 is higher than that of the main suction cup 2. During grasping, the board is adsorbed and grasped by the main suction cup 2 to avoid accidentally triggering the side suction cup 3 and causing the side suction cup 3 to adsorb on the conveyor belt, resulting in equipment failure; when the board on the conveyor belt is large, the lifting cylinder 32 is used to lower each side suction cup 3 so that the height of each side suction cup 3 is the same as that of the main suction cup 2. During grasping, the main suction cup 2 and each side suction cup 3 are started simultaneously to grasp the board, ensuring the balance and stability during grasping, and being more conducive to the controllability of the posture of the board when the board is placed, improving the accuracy of transportation and grasping.

[0028] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and should be covered within the protection scope of the present invention.

Claims

1. A plate collecting robot, characterized in that: It includes a main bracket, a main suction cup and several side suction cups. The top of the main bracket is provided with a movable seat for connecting with a driving motor. The main suction cup is installed at the bottom of the main bracket. The side suction cups are evenly distributed on the sides of the main bracket. The top of the side suction cup is provided with a lifting bracket. The lifting brackets are respectively installed on the sides of the main bracket. Each lifting bracket is installed with a lifting cylinder. The output shaft of each lifting cylinder is downwardly connected to a side suction cup. The main suction cup and each side suction cup are provided with connecting pipes, and the connecting pipes are independent of each other.

2. The plate collecting robot according to claim 1, characterized in that: The number of the side suction cups is at least two groups, and the bottom surface of the side suction cups is flush with the bottom surface of the main suction cup.

3. The plate collecting robot according to claim 1, characterized in that: A lifting suspension is provided on the top of each side suction cup for connecting with the output shaft of the lifting cylinder.

4. The plate collecting robot according to claim 3, characterized in that: The lifting suspension includes a mounting plate and a mounting frame. The mounting plate is mounted on both sides of the top of the side suction cup. The middle of the top surface of the mounting frame is connected to the output shaft of the lifting cylinder. Both sides of the mounting frame are fixedly mounted to one of the mounting plates respectively.

5. The plate collecting robot according to claim 4, characterized in that: A groove body is provided in the middle of the top surface of the mounting plate, and the groove body is connected to the output shaft of the lifting cylinder. Mounting ears are provided on both sides of the groove body for respectively fixing and mounting on the mounting plate.

6. The plate collecting robot according to claim 1, characterized in that: The main bracket extends downwardly with a connecting seat, the bottom of the connecting seat is fixedly installed with the top of the main suction cup, and one side of the connecting seat is provided with an air-avoiding groove for air-avoiding installation of the connecting pipe with the main bracket.

7. The plate collecting robot according to claim 1, characterized in that: A tripod is installed on the top of the movable seat.

Images