Automatic waste sorting manipulator with replaceable grabbing structure

Abstract

The automatic waste sorting manipulator with the replaceable grabbing structure comprises a mechanical arm, a grabbing replacement assembly is arranged on one side of the mechanical arm, the grabbing replacement assembly comprises a rapid installation block detachably installed on the outer wall of the upper side of a grabbing clamp, and a connecting column is fixedly installed on the outer surface of the upper side of the rapid installation block; fixing bolts are slidably connected to the inner walls of the connecting columns, nuts are in threaded connection to the outer walls of the fixing bolts, air inlet nozzles are fixedly mounted on the outer surfaces of one sides of the quick mounting blocks, limiting clamping pieces are slidably connected to the inner walls of the lower sides of the quick mounting blocks, springs are fixedly mounted on the outer surfaces of one sides of the limiting clamping pieces, and the limiting clamping pieces are connected with an air pump through the air inlet nozzles; by means of the structure, gas in the inner cavity on the lower side of the quick mounting block is injected and pumped out, the gas pressure in the inner cavity is changed, and therefore the limiting clamping piece slides in and out, quick mounting and dismounting of the grabbing clamp are facilitated, and the replacement efficiency of the grabbing clamp and the practicability of the mechanical arm are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and more specifically, the utility model relates to a waste automatic sorting manipulator with a replaceable grasping structure. Background Art

[0002] In modern industrial production, the treatment and sorting of waste are important links. With the continuous development and progress of industry, the requirements for the efficiency, accuracy, and adaptability of waste sorting are getting higher and higher. Traditional waste sorting methods often rely on manual operation, which is not only inefficient but also prone to problems such as misjudgment and missed inspection. At the same time, they also face challenges such as high labor costs and heavy work intensity. In order to improve the efficiency and quality of waste sorting, automatic sorting manipulators have emerged. However, the grasping structures of existing sorting manipulators are usually fixedly installed on the robotic arm. When facing waste of different shapes and sizes, a single fixed grasping structure is often difficult to meet the sorting requirements of various wastes, which results in poor practicability of existing sorting manipulators when facing diverse wastes. To solve the deficiencies of the prior art, we propose a waste automatic sorting manipulator with a replaceable grasping structure. Summary of the Utility Model

[0003] In order to overcome the above-mentioned defects of the prior art, the utility model provides a waste automatic sorting manipulator with a replaceable grasping structure to solve the problem that a single fixed grasping structure is often difficult to meet the sorting requirements of various wastes, which results in poor practicability of existing sorting manipulators when facing diverse wastes.

[0004] To solve the above technical problems, the utility model provides the following technical solution: A waste automatic sorting manipulator with a replaceable grasping structure, including a robotic arm, a grasping and replacing assembly is arranged on one side of the robotic arm, and a movable adjusting assembly is arranged on the upper side of the grasping and replacing assembly;

[0005] The grasping and replacing assembly includes that a quick installation block is detachably installed on the outer wall of the upper side of the gripper, a connecting column is fixedly installed on the outer surface of the upper side of the quick installation block, a fixing bolt is slidably connected to the inner wall of the connecting column, a nut is threadedly connected to the outer wall of the fixing bolt, an air inlet nozzle is fixedly installed on the outer surface of one side of the quick installation block, a limiting card is slidably connected to the inner wall of the lower side of the quick installation block, and a spring is fixedly installed on the outer surface of one side of the limiting card.

[0006] Wherein, the spring is fixedly installed on the inner wall of the lower side of the quick installation block, the outer surfaces of both ends of the spring are fixedly installed on the outer surface of one side of the two limiting cards, and the limiting card slides in the inner wall of the gripper.

[0007] Among them, the activity adjustment component includes an activity frame. A first slide bar is fixedly installed on the inner surface of the activity frame. A mounting frame is slidably connected to the outer wall of the first slide bar. A second slide bar is fixedly installed on the upper outer surface of the mounting frame. An auxiliary block is slidably connected to the outer wall of the second slide bar. An activity rod is fixedly installed on one side outer surface of the auxiliary block. An electric crawler is fixedly installed on the upper outer surface of the activity rod. One end of the electric crawler is fixedly installed with a fixed frame. A first air cylinder is fixedly installed on one side outer surface of the mounting frame. A rotating shaft is fixedly installed on one side outer surface of the activity frame. A triangular plate is fixedly sleeved on the outer wall of the rotating shaft. A second air cylinder is clamped inside the triangular plate. The fixed frame is fixedly installed on the upper outer surface of the activity frame. The first air cylinder is fixedly installed on one side outer surface of the activity frame. The second air cylinder is rotatably connected to one side outer surface of the robotic arm. The connecting column is slidably connected to the lower inner wall of the activity rod. The fixing bolt penetrates through the lower inner wall of the activity rod.

[0008] Among them, the lower inner cavity of the quick installation block is a sealed space. A sealing ring is fixedly sleeved on the outer wall of one end of the limit clamping part.

[0009] Among them, an arc-shaped groove is formed on the lower outer surface of the triangular plate. The position of the telescopic end of the second air cylinder can be adjusted at the position of the arc-shaped groove.

[0010] Compared with the prior art, the beneficial effects of the present utility model are:

[0011] By setting the grasping and replacing component of the present utility model, including a gripper, one end of the air pipe of the air pump is fixedly connected to the air inlet nozzle. Then, the air pump is started, and gas is injected into the lower inner cavity of the quick installation block through the air inlet nozzle. At this time, the pressure in the lower inner cavity of the quick installation block is greater than the external pressure, so that the limit clamping part slides outward on the lower inner wall of the quick installation block and slides to the inner wall of the gripper, completing the installation of the gripper. At this time, the spring is stretched. When replacing the gripper, only need to pump out the gas in the lower inner cavity of the quick installation block through the air pump to make the internal and external pressures equal. At this time, the spring contracts and drives the limit clamping part to slide inward to the quick installation block, so that the limit clamping part leaves the inner wall of the gripper, completing the disassembly of the gripper. Using the above structure, by connecting the air pump through the air inlet nozzle, the gas in the lower inner cavity of the quick installation block is injected and pumped out, changing the gas pressure in the inner cavity, so as to realize the sliding in and out of the limit clamping part, and then facilitating the quick installation and disassembly of the gripper, improving the replacement efficiency of the gripper and the practicability of the robotic arm;

[0012] The utility model realizes the change of the grasping position and angle of the device by starting the first cylinder and the second cylinder through the following structure: the movable adjustment component is provided, including a movable frame. By starting the first cylinder, the mounting frame is driven to slide on the outer wall of the first sliding rod, so as to drive the movable rod and the second sliding rod to move horizontally, thereby changing the horizontal grasping position. Then, the second cylinder is started to drive the triangular plate to rotate, and the first sliding rod rotates to drive the rotating shaft to rotate, so as to drive the movable frame to rotate, thereby changing the grasping angle of the device. Then, the electric crawler is started to drive the movable rod to slide on the inner wall of the mounting frame. At this time, the auxiliary block slides on the outer wall of the second sliding rod. Using the above structure, the flexibility and working efficiency of the manipulator are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic diagram of the overall structure of the utility model;

[0014] Figure 2 is a schematic diagram of the structure of the grasping and replacing component of the utility model;

[0015] Figure 3 is a schematic diagram of the internal structure of the quick installation block of the utility model;

[0016] Figure 4 is a schematic diagram of the structure of the movable adjustment component of the utility model.

[0017] [Reference Signs]

[0018] 1, robotic arm; 2, grasping and replacing component; 3, movable adjustment component; 21, gripper; 22, quick installation block; 23, connecting column; 24, fixing bolt; 25, nut; 26, air inlet nozzle; 27, limit clamping part; 28, spring; 31, movable frame; 32, first sliding rod; 33, mounting frame; 34, second sliding rod; 35, auxiliary block; 36, movable rod; 37, electric crawler; 38, fixing frame; 39, first cylinder; 311, rotating shaft; 312, triangular plate; 313, second cylinder. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] In order to make the technical problems, technical solutions and advantages to be solved by the utility model clearer, the following will be described in detail with reference to the drawings and specific embodiments.

[0020] As shown in the attached Figure 1 to the attached Figure 4 An embodiment of the utility model provides a waste automatic sorting manipulator with a replaceable grasping structure, including a robotic arm 1. A grasping and replacing component 2 is arranged on one side of the robotic arm 1, and a movable adjustment component 3 is arranged on the upper side of the grasping and replacing component 2;

[0021] The grasping and replacing component 2 includes that a quick installation block 22 is detachably installed on the outer wall of the upper side of the gripper 21. A connecting column 23 is fixedly installed on the outer surface of the upper side of the quick installation block 22. A fixing bolt 24 is slidably connected to the inner wall of the connecting column 23. A nut 25 is threadedly connected to the outer wall of the fixing bolt 24. An air inlet nozzle 26 is fixedly installed on the outer surface of one side of the quick installation block 22. A limiting card 27 is slidably connected to the inner wall of the lower side of the quick installation block 22. A spring 28 is fixedly installed on the outer surface of one side of the limiting card 27.

[0022] Among them, the spring 28 is fixedly installed on the inner wall of the lower side of the quick installation block 22. The outer surfaces of both ends of the spring 28 are fixedly installed on the outer surface of one side of the two limiting cards 27. The limiting card 27 slides in the inner wall of the gripper 21.

[0023] The air pump is connected through the air inlet nozzle 26 to inject and extract the gas in the inner cavity of the lower side of the quick installation block 22, changing the gas pressure in the inner cavity, thereby realizing the sliding in and out of the limiting card 27, and further facilitating the quick installation and disassembly of the gripper 21.

[0024] Among them, the movable adjustment component 3 includes a movable frame 31. A first sliding rod 32 is fixedly installed on the inner surface of the movable frame 31. A mounting frame 33 is slidably connected to the outer wall of the first sliding rod 32. A second sliding rod 34 is fixedly installed on the outer surface of the upper side of the mounting frame 33. An auxiliary block 35 is slidably connected to the outer wall of the second sliding rod 34. A movable rod 36 is fixedly installed on the outer surface of one side of the auxiliary block 35. An electric crawler 37 is fixedly installed on the outer surface of the upper side of the movable rod 36. One end of the electric crawler 37 is fixedly installed with a fixing frame 38. A first air cylinder 39 is fixedly installed on the outer surface of one side of the mounting frame 33. A rotating shaft 311 is fixedly installed on the outer surface of one side of the movable frame 31. A triangular plate 312 is fixedly sleeved on the outer wall of the rotating shaft 311. A second air cylinder 313 is clamped in the inner wall of the triangular plate 312. The fixing frame 38 is fixedly installed on the outer surface of the upper side of the movable frame 31. The first air cylinder 39 is fixedly installed on the outer surface of one side of the movable frame 31. The second air cylinder 313 is rotatably connected to the outer surface of one side of the robotic arm 1. The connecting column 23 is slidably connected to the inner wall of the lower side of the movable rod 36. The fixing bolt 24 penetrates through the inner wall of the lower side of the movable rod 36.

[0025] By starting the first air cylinder 39 to drive the mounting frame 33 to slide on the outer wall of the first sliding rod 32, thereby driving the movable rod 36 and the second sliding rod 34 to move horizontally, and further changing the horizontal grasping position. Then start the second air cylinder 313 to drive the triangular plate 312 to rotate. The rotation of the first sliding rod 32 drives the rotation of the rotating shaft 311, thereby driving the rotation of the movable frame 31, and further changing the grasping angle of the device. Then start the electric crawler 37 to drive the movable rod 36 to slide in the inner wall of the mounting frame 33. At this time, the auxiliary block 35 slides on the outer wall of the second sliding rod 34.

[0026] Among them, the lower inner cavity of the quick installation block 22 is a sealed space, and a sealing ring is fixedly sleeved on the outer wall of one end of the limit clamping member 27.

[0027] Among them, an arc-shaped groove is formed on the lower outer surface of the triangular plate 312, and the position of the telescopic end of the second cylinder 313 can be adjusted at the position of the arc-shaped groove.

[0028] The working process of the present utility model is as follows:

[0029] First, install the manipulator at a suitable position. When in use, when it is necessary to replace the gripper 21, fix one end of the air pipe of the air pump to the air inlet nozzle 26, and then start the air pump. Inject gas into the lower inner cavity of the quick installation block 22 through the air inlet nozzle 26. At this time, the pressure in the lower inner cavity of the quick installation block 22 is greater than the external pressure, so that the limit clamping member 27 slides outward on the lower inner wall of the quick installation block 22 and slides to the inner wall of the gripper 21 to complete the installation of the gripper 21. At this time, the spring 28 is stretched. When replacing the gripper 21, only need to extract the gas in the lower inner cavity of the quick installation block 22 through the air pump to make the internal and external pressures equal. At this time, the spring 28 contracts and drives the limit clamping member 27 to slide inward to the quick installation block 22, so that the limit clamping member 27 leaves the inner wall of the gripper 21 to complete the disassembly of the gripper 21. Then, start the first cylinder 39 to drive the mounting frame 33 to slide on the outer wall of the first sliding rod 32, thereby driving the movable rod 36 and the second sliding rod 34 to move horizontally, and then changing the horizontal grasping position. Then, start the second cylinder 313 to drive the triangular plate 312 to rotate, and the first sliding rod 32 rotates to drive the rotating shaft 311 to rotate, thereby driving the movable frame 31 to rotate, and then changing the grasping angle of the device. Then, start the electric crawler 37 to drive the movable rod 36 to slide on the inner wall of the mounting frame 33. At this time, the auxiliary block 35 slides on the outer wall of the second sliding rod 34 to realize the grasping effect of the manipulator.

[0030] Finally, several points should be noted: First, in the description of the present application, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, which can be mechanical connection or electrical connection, and can also be the communication inside two components. It can be directly connected. "Up", "down", "left", "right", etc. are only used to represent the relative position relationship. When the absolute position of the described object changes, the relative position relationship may change;

[0031] Secondly: In the attached drawings of the disclosed embodiments of the present utility model, only the structures related to the disclosed embodiments are involved. Other structures can refer to the general design. Without conflict, the same embodiment and different embodiments of the present utility model can be combined with each other;

[0032] Finally, 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 replacements, improvements, etc. made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A waste automatic sorting robot with a replaceable gripping structure, comprising a robot arm (1), characterized in that: A grabbing and replacing component (2) is arranged on one side of the mechanical arm (1), and a movable adjusting component (3) is arranged on the upper side of the grabbing and replacing component (2); The grabbing and replacing assembly (2) comprises a grabbing clamp (21) having an upper outer wall detachably mounted with a quick-installation block (22), an upper outer surface of the quick-installation block (22) having a connecting column (23) fixedly mounted thereon, an inner wall of the connecting column (23) being slidably connected with a fixing bolt (24), an outer wall of the fixing bolt (24) being threadedly connected with a nut (25), an outer surface of one side of the quick-installation block (22) having an air inlet nozzle (26) fixedly mounted thereon, a lower inner wall of the quick-installation block (22) being slidably connected with a limiting clamp (27), and an outer surface of one side of the limiting clamp (27) having a spring (28) fixedly mounted thereon.

2. The automatic waste sorting robot with replaceable gripping structure according to claim 1 is characterized in that: The spring (28) is fixedly mounted on the lower inner wall of the quick mounting block (22), and the outer surfaces of both ends of the spring (28) are fixedly mounted on the outer surface of one side of two limit clamps (27), and the limit clamps (27) slide on the inner wall of the gripping clamp (21).

3. The automatic waste sorting manipulator with replaceable gripping structure according to claim 1 is characterized in that: The movable adjustment component (3) comprises a movable frame (31), a first slide bar (32) is fixedly mounted on the inner surface of the movable frame (31), a mounting frame (33) is slidably connected to the outer wall of the first slide bar (32), a second slide bar (34) is fixedly mounted on the upper outer surface of the mounting frame (33), an auxiliary block (35) is slidably connected to the outer wall of the second slide bar (34), a movable rod (36) is fixedly mounted on the outer surface of one side of the auxiliary block (35), an electric crawler (37) is fixedly mounted on the upper outer surface of the movable rod (36), a fixing frame (38) is fixedly mounted on one end of the electric crawler (37), and a fixing frame (38) is fixedly mounted on the outer surface of one side of the mounting frame (33). A No. 1 cylinder (39) is installed, a rotating shaft (311) is fixedly installed on the outer surface of one side of the movable frame (31), a triangular plate (312) is fixedly sleeved on the outer wall of the rotating shaft (311), a No. 2 cylinder (313) is clamped on the inner wall of the triangular plate (312), the fixed frame (38) is fixedly installed on the upper outer surface of the movable frame (31), the No. 1 cylinder (39) is fixedly installed on the outer surface of one side of the movable frame (31), the No. 2 cylinder (313) is rotatably connected to the outer surface of one side of the mechanical arm (1), the connecting column (23) is slidably connected to the lower inner wall of the movable rod (36), and the fixing bolt (24) passes through the lower inner wall of the movable rod (36).

4. The automatic waste sorting robot with replaceable gripping structure according to claim 1 is characterized in that: The lower inner cavity of the quick installation block (22) is a sealed space, and a sealing ring is fixedly sleeved on the outer wall of one end of the limit clamp (27).

5. The automatic waste sorting robot with replaceable gripping structure according to claim 3 is characterized in that: An arc-shaped groove is provided on the lower outer surface of the triangular plate (312), and the telescopic end position of the second cylinder (313) can be adjusted at the position of the arc-shaped groove.

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