Two-section type mechanical arm and material taking device

Abstract

The utility model provides a two-section type mechanical arm and a material taking device, the mechanical arm comprises a first motor, a mounting plate, a first arm and a second arm, the output end of the first motor penetrates through the back face of the mounting plate and is matched with the back face of the first arm; the first arm is slidably arranged on the mounting plate in parallel, and the second arm is slidably arranged on the first arm in parallel; first belt wheel sets are symmetrically arranged at the two ends of the first arm, the first belt wheel sets are sleeved with first belts, and the two sides of the first belts are connected with the mounting plate and the second arm through belt clamps correspondingly; the first motor drives the first arm to slide on the mounting plate, and the first belt pulls the second arm to slide synchronously. The operation path of the mechanical arm is short, the mechanical arm can integrally move by 2Xmm when the first arm moves by Xmm, the movement speed is increased, the two arm structures are matched with the material taking device, material taking, material detection and feeding can be synchronously carried out, and the production efficiency of a production line is improved.

Description

Technical Field

[0001] The utility model relates to the field of industrial robots, and particularly relates to a two-stage robotic arm and a material taking device. Background Art

[0002] Industrial robotic arms are widely used in the automation of hardware stamping. The robotic arm significantly improves production efficiency. The automated robotic arm can perform operations such as material taking, feeding, shifting, and discharging at high speed and continuously, reducing the stagnation time of the production line. Compared with manual operation, the working speed of the robotic arm is faster, which can greatly shorten the production cycle and improve the overall production capacity. This is particularly important for large-scale and continuous hardware stamping operations. Through an accurate control system, it can maintain extremely high precision in repeated operations, avoiding errors and deviations that may occur in manual operations. Whether it is the precise positioning of material taking or the accurate placement of the material fed into the stamping die, the robotic arm can ensure that the processing of each workpiece meets the expected quality standards, thereby improving the consistency and qualification rate of the products.

[0003] The existing robotic arms generally have the problem of long running paths, which easily leads to reduced production efficiency and increased production costs. Therefore, it is crucial to design a robotic arm with a short running path, high speed, and capable of improving production efficiency. Summary of the Utility Model

[0004] Aiming at the problem that the existing robotic arms generally have long running paths, which easily lead to reduced production efficiency and increased production costs, the utility model provides a two-stage robotic arm and a material taking device to solve the above problems.

[0005] According to the first aspect of the present application, a two-stage robotic arm is provided. The robotic arm includes a first motor, a mounting plate, a first arm, and a second arm. The output end of the first motor passes through the back of the mounting plate and cooperates with the back of the first arm. The first arm is slidably arranged in parallel on the mounting plate, and the second arm is slidably arranged in parallel on the first arm. First pulley sets are symmetrically arranged at both ends of the first arm, a first belt is sleeved on the first pulley sets, and both sides of the first belt are respectively connected to the mounting plate and the second arm through belt clips. The first motor drives the first arm to slide on the mounting plate, and the first belt pulls the second arm to slide synchronously.

[0006] By adopting the above technical solution, the output end of the first motor drives the first arm to slide along both ends. Since both sides of the first belt are fixed to the mounting plate and the second arm by belt clips, when the first arm moves, the mounting plate remains stationary to fix one side of the first belt, causing the entire first belt to rotate on the first pulley set, realizing that the other side of the first belt pulls the second arm to slide synchronously with the first arm. When the first arm slides X mm, the second arm also slides X mm, and the entire robotic arm slides 2X mm.

[0007] Preferably, a first helical gear is provided at the output end of the first motor, and first helical racks are provided along both ends on the back surface of the first arm. The first helical gear meshes with the first helical racks.

[0008] By adopting the above technical solution, the meshing mode of the first helical gear and the first helical racks has higher transmission efficiency and accuracy than spur gears, with a larger tooth surface contact area and more uniform force during meshing. This not only improves the transmission efficiency but also reduces the vibration and noise during meshing, ensuring the smoothness and accuracy of the sliding of the first arm.

[0009] Further preferably, the mating surfaces of the first arm and the second arm are both parallel to the front surface of the mounting plate, and a first suction cup group is provided on the surface of the second arm away from the first arm.

[0010] By adopting the above technical solution, when the mating surfaces of the first arm and the second arm are both parallel to the front surface of the mounting plate, the second arm is parallel to the plane where the material to be picked is located, and the setting position of the first suction cup group is convenient for sucking the material for rapid transportation.

[0011] Preferably, it further includes a second belt. A pair of bearings are provided on the front surface of the mounting plate, and the bearings are placed between the output end of the first motor and the upper surface of the first arm. The middle section of the second belt is wound around the output end of the first motor, and both ends of the second belt pass through the inner sides of the bearings respectively and are fixed to the upper surfaces at both ends of the first arm.

[0012] By adopting the above technical solution, the first motor drives the first arm through the second belt. The setting of the bearings not only improves the smoothness of the sliding of the second belt but also provides a certain amount of tension, ensuring the connection stability between the first motor and the first arm.

[0013] Further preferably, the mating surfaces of the first arm and the second arm are perpendicular to the front surface of the mounting plate, and a second suction cup group is provided on one end surface of the second arm.

[0014] By adopting the above technical solution, when the mating surfaces of the first arm and the second arm are perpendicular to the front surface of the mounting plate, the setting of the second suction cup group is convenient for the second arm to quickly pick up materials along its moving direction.

[0015] Preferably, the first arm faces the second arm, and the mounting plate is respectively provided with a first guide rail and a second guide rail with guiding at both ends. The second arm and the mounting plate are provided with corresponding first slider groups and second slider groups.

[0016] By adopting the above technical solution, in the form of sliding cooperation between the guide rail and the slider group, linear guiding is carried out on the first arm and the second arm. While ensuring the direction consistency, the smoothness of the sliding of the first arm and the second arm is improved.

[0017] According to the second aspect of the present application, a material taking device is proposed, which includes the above mechanical arm, and also includes a device main body. A material conveyor belt is provided on the upper surface of the device main body, and an arm mounting frame is provided above the material conveyor belt. Mechanical arms are provided on both sides of the arm mounting frame corresponding to the conveying direction of the material conveyor belt.

[0018] By adopting the above technical solution, the material conveyor belt is set to cooperate with the mechanical arm. The mechanical arms provided on both sides of the arm mounting frame are respectively used for taking materials and feeding materials, so as to realize the synchronous progress of taking materials and feeding materials.

[0019] Preferably, a second motor is further included. The second motor is fixed on both sides of the arm mounting frame, and the output end of the second motor is in transmission connection with the back surface of the mounting plate by means of gear-rack transmission or belt transmission.

[0020] By adopting the above technical solution, according to the specific structure of the mechanical arm, the second motor can be set to drive the mechanical arm in the horizontal or vertical direction, so as to add the functions of vertical lifting or horizontal movement to the mechanical arm.

[0021] Preferably, an oil passing roller is provided in the middle of the material conveyor belt, and a double sheet detector is provided above the material conveyor belt on one side of the oil passing roller.

[0022] By adopting the above technical solution, the oil passing roller is set to pass oil on the material, and the double sheet detector is used to detect whether the material is two layers or more layers. When it is detected that the material is two sheets, the material is retracted and separated.

[0023] Preferably, a proximity switch is provided at one end of the material conveyor belt on the top surface of the device main body, and the proximity switch is on the same side as the double sheet detector.

[0024] By adopting the above technical solution, the proximity switch is set to detect whether the stacked materials are separated and retracted. When the proximity switch detects that there is a material retracted above it, the material conveyor belt resumes the action of forwarding the material for oil passing.

[0025] This application mainly solves the problems in the prior art that the operating paths of robotic arms are generally long, which easily leads to a decrease in production efficiency and an increase in production costs. This application proposes a two-stage robotic arm and a material handling device. The operating path of this robotic arm is short. When the first arm moves X mm, the whole robotic arm can move 2X mm, greatly improving the movement speed and production efficiency. With the cooperation of the two robotic arm structures of this application and the material handling device, material picking, material detection, and material feeding can be carried out synchronously, greatly improving the production efficiency of the overall production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate the embodiments and, together with the description, are used to explain the principles of the present invention. Other embodiments and many of the intended advantages of the embodiments will be readily apparent as they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale with each other. The same reference numerals refer to corresponding similar components.

[0027] Figure 1 is a schematic structural diagram of a robotic arm according to an embodiment of the present application;

[0028] Figure 2 is a schematic structural diagram of a robotic arm according to another embodiment of the present application;

[0029] Figure 3 is a schematic structural diagram of a material handling device according to an embodiment of the present application;

[0030] Figure 4 is a schematic installation diagram of a robotic arm for material picking according to an embodiment of the present application;

[0031] Figure 5 is a schematic installation diagram of a robotic arm for material feeding according to an embodiment of the present application.

[0032] The meanings of the numbers in the figures are as follows:

[0033] First motor 01, mounting plate 02, first arm 03, second arm 04, first pulley set 05, first belt 06, first helical gear 07, first helical rack 08, first suction cup set 09, second belt 10, bearing 11, second suction cup set 12, first guide rail 13, second guide rail 14, first slider set 15, second slider set 16, device main body 17, material conveyor belt 18, arm mounting frame 19, oil passing roller 20, double sheet detector 21, proximity switch 22, second motor 23, horizontal guide rail 24, small pulley 25, large pulley 26, horizontal slider set 27, longitudinal mounting plate 28, second helical gear 29, longitudinal slider set 30, longitudinal guide rail 31, second helical rack 32. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] In the following detailed description, reference is made to the accompanying drawings which form a part of the detailed description and which illustrate illustrative specific embodiments in which the present utility model can be practiced. In this regard, directional terms such as "top", "bottom", "left", "right", "upper", "lower", etc. are used with reference to the orientation of the described figures. Since the components of the embodiments can be positioned in several different orientations, the directional terms are used for the purpose of illustration and are in no way limiting. It should be understood that other embodiments can be utilized or logical changes can be made without departing from the scope of the present utility model. Therefore, the following detailed description should not be taken in a limiting sense, and the scope of the present utility model is defined by the appended claims.

[0035] According to a first aspect of the present application, a two-stage robotic arm is proposed. Figure 1 A schematic structural diagram of a robotic arm according to an embodiment of the present application is shown, as Figure 1 shown, the robotic arm includes a first motor 01, a mounting plate 02, a first arm 03, and a second arm 04. The output end of the first motor 01 passes through the back surface of the mounting plate 02 and cooperates with the back surface of the first arm 03; the first arm 03 is slidably arranged in parallel on the mounting plate 02, and the second arm 04 is slidably arranged in parallel on the first arm 03; both ends of the first arm 03 are symmetrically provided with first pulley sets 05, a first belt 06 is sleeved on the first pulley sets 05, and both sides of the first belt 06 are respectively connected to the mounting plate 02 and the second arm 04 through belt clips; the first motor 01 drives the first arm 03 to slide on the mounting plate 02, and the first belt 06 pulls the second arm 04 to slide synchronously.

[0036] By adopting the above technical solution, the output end of the first motor 01 drives the first arm 03 to slide along the two ends direction. Since both sides of the first belt 06 are fixed to the mounting plate 02 and the second arm 04 through belt clips, when the first arm 03 moves, the mounting plate 02 remains stationary to fix one side of the first belt 06, so that the whole first belt 06 rotates on the first pulley sets 05, realizing that the other side of the first belt 06 pulls the second arm 04 to slide synchronously with the first arm 03. When the first arm 03 slides X mm, the second arm 04 also slides X mm, and the whole robotic arm slides 2X mm.

[0037] Preferably, in the first embodiment of the present application, a first helical gear 07 is provided at the output end of the first motor 01, and a first helical rack 08 is provided along the two ends direction on the back surface of the first arm 03, and the first helical gear 07 meshes with the first helical rack 08.

[0038] By adopting the above technical solution, the meshing mode of the first helical gear 07 and the first helical rack 08 has higher transmission efficiency and accuracy than that of spur gears, with a larger tooth surface contact area and more uniform force during meshing. This not only improves the transmission efficiency but also reduces vibration and noise during meshing, ensuring the smoothness and accuracy of the sliding of the first arm 03.

[0039] Specifically, in this embodiment, the first motor 01 drives the first arm 03 to slide through the cooperation of the first helical gear 07 and the first helical rack 08. The belt clip on the mounting plate 02 passes through the back of the first arm 03 and clamps the upper side of the first belt 06. A slot for the belt clip to slide is provided at the corresponding position of the first arm 03. The belt clip on the second arm 04 clamps the lower side of the first belt 06.

[0040] Further preferably, the mating surfaces of the first arm 03 and the second arm 04 are both parallel to the front surface of the mounting plate 02, and a first suction cup group 09 is provided on the side of the second arm 04 away from the first arm 03.

[0041] By adopting the above technical solution, when the mating surfaces of the first arm 03 and the second arm 04 are both parallel to the front surface of the mounting plate 02, the second arm 04 is parallel to the plane where the material to be picked is located, and the setting position of the first suction cup group 09 is convenient for sucking the material for rapid transportation.

[0042] Figure 2 The schematic structural diagram of a robotic arm according to another embodiment of the present application is shown, as Figure 2 shown, and it further includes a second belt 10. A pair of bearings 11 are provided on the front surface of the mounting plate 02. The bearings 11 are placed between the output end of the first motor 01 and the upper surface of the first arm 03. The middle section of the second belt 10 is wound around the output end of the first motor 01. Specifically, a driving wheel is provided at the output end of the first motor 01, and the second belt 10 is wound around the driving wheel, and both ends of the second belt 10 pass through the inside of the bearings 11 and are fixed on the upper surfaces at both ends of the first arm 03.

[0043] In this embodiment, the first motor 01 pulls the first arm 03 to slide through the second belt 10. The belt clip on the mounting plate 02 is provided on the side of the bearing 11 away from the mounting plate 02 and clamps the upper side of the first belt 06. In both embodiments, when the first arm 03 slides, the mounting plate 02 remains stationary, so that the upper side of the first belt 06 is pulled, and then the lower side of the first belt 06 drives the second arm 04 to slide.

[0044] By adopting the above technical solution, the first motor 01 drives the first arm 03 through the second belt 10. The setting of the bearing 11 not only improves the smoothness of the sliding of the second belt 10, but also provides a certain tension force to ensure the connection stability between the first motor 01 and the first arm 03.

[0045] Further preferably, the mating surfaces of the first arm 03 and the second arm 04 are perpendicular to the front surface of the mounting plate 02, and a second suction cup group 12 is provided on one end surface of the second arm 04.

[0046] By adopting the above technical solution, when the mating surfaces of the first arm 03 and the second arm 04 are perpendicular to the front surface of the mounting plate 02, the setting of the second suction cup group 12 facilitates the second arm 04 to quickly pick up materials along its moving direction.

[0047] Preferably, the first arm 03 is provided with a first guide rail 13 with two ends guided facing the second arm 04 and the mounting plate 02 respectively, and the second arm 04 and the mounting plate 02 are provided with corresponding first slider groups 15 and second slider groups 16.

[0048] By adopting the above technical solution, in the form of sliding cooperation between the guide rail and the slider group, the first arm 03 and the second arm 04 are linearly guided, and on the premise of ensuring the direction consistency, the smoothness of the sliding of the first arm 03 and the second arm 04 is improved.

[0049] According to the second aspect of the present application, a material picking device is proposed. Figure 3 The structural schematic diagram of the material picking device according to the embodiment of the present application is shown, as Figures 1-3 shown, the material picking device includes the above-mentioned robotic arm, and further includes a device main body 17. A material conveyor belt is provided on the upper surface of the device main body 17, and an arm mounting frame 19 is provided above the material conveyor belt. Robotic arms are provided on both sides of the arm mounting frame 19 corresponding to the conveying direction of the material conveyor belt 18.

[0050] By adopting the above technical solution, the material conveyor belt 18 is set to cooperate with the robotic arm. The robotic arms provided on both sides of the arm mounting frame 19 are respectively used for picking up materials and feeding materials, so as to realize the synchronous progress of picking up materials and feeding materials.

[0051] Preferably, an oil passing roller 20 is provided in the middle of the material conveyor belt 18, and a double sheet detector 21 is provided above the material conveyor belt 18 on one side of the oil passing roller 20.

[0052] Specifically, the oil passing roller 20 can be composed of multiple rollers made of wool material.

[0053] By adopting the above technical solution, an oiling roller 20 is provided to oil the material, and a double-sheet detector 21 is used to detect whether the material is two layers or more. When it is detected that the material is two sheets, the material is retracted and separated.

[0054] Preferably, a proximity switch 22 is provided on the top surface of the device main body 17 at one end of the material conveyor belt 18, and the proximity switch 22 and the double-sheet detector 21 are on the same side.

[0055] By adopting the above technical solution, the proximity switch 22 is provided to detect whether the stacked material is separated and retracted. When the proximity switch 22 detects that there is material retracted above it, the material conveyor belt 18 resumes the action of conveying the material forward for oiling.

[0056] Specifically, in this application, the starting end of the material conveyor belt 18 is the end close to the proximity switch 22, and the other end is the end. A second embodiment of the above mechanical arm is provided near the starting end, and this mechanical arm is used for picking up materials. A first embodiment of the above mechanical arm is provided near the end, and this arm is used for feeding materials.

[0057] Preferably, it further includes a second motor 23. The second motor 23 is fixed on both sides of the arm mounting frame 19, and the output end of the second motor 23 is matched with the back surface of the mounting plate 02 by means of gear-rack transmission or belt transmission.

[0058] By adopting the above technical solution, according to the specific structure of the mechanical arm, the second motor 23 can be set to drive the mechanical arm in the horizontal or vertical direction, adding the function of vertical lifting or horizontal movement to the mechanical arm.

[0059] Figure 4 Shows a schematic installation diagram of a mechanical arm for picking up materials according to an embodiment of the present application, as Figures 1-4As shown, a horizontal transverse guide rail 24 is provided on one side of the arm mounting frame 19. The second motor 23 is arranged on one side perpendicular to the side where the transverse guide rail 24 is located. A small pulley 25 is provided at the output end of the second motor 23. A large pulley 26 is provided at one end of the transverse guide rail 24. The small pulley 25 and the large pulley 26 are connected by a synchronous belt. The robotic arm as a whole is arranged perpendicular to the transverse guide rail 24, and the first suction cup group 09 is arranged vertically downward. A transverse slider group 27 is provided on the back of the mounting plate 02. The transverse slider group 27 is slidably arranged on the transverse guide rail 24. At the same time, a pair of synchronous pulleys (not shown in the figure) are provided at both ends of the transverse guide rail 24. One of the synchronous pulleys is coaxially arranged with the large pulley 26. The two synchronous pulleys are connected by a synchronous belt, and the back of the mounting plate 02 is connected to this synchronous belt through a belt clip. The second motor 23 only needs to rotate a small angle. Through the amplification principle of the small pulley 25 and the large pulley 26, the robotic arm as a whole generates a relatively large lateral displacement. During the material taking process, the second motor 23 drives the robotic arm to move above the material outside the material taking device. The first motor 01 drives the first arm 03 to drive the second arm 04 to move vertically downward. The first suction cup group 09 sucks the material and moves it upward. Then the second motor 23 drives the robotic arm as a whole to move above the material conveyor belt 18 and place the material.

[0060] Figure 5 The schematic diagram of the robotic arm installation for feeding according to an embodiment of the present application is shown. As Figures 1-5 shown, the robotic arm as a whole is arranged parallel to the material conveyor belt 18. A longitudinal mounting plate 28 is vertically upward provided on the back of the mounting plate 02. The output end of the second motor 23 protrudes from the inside of the arm mounting frame 19 and cooperates with the second helical gear 29. A longitudinal slider group 30 is also provided on the arm mounting frame 19. A vertical longitudinal guide rail 31 is correspondingly provided on the longitudinal mounting plate 28. The longitudinal slider group 30 is slidably engaged with the longitudinal guide rail 31. A vertical hole groove is provided in the middle of the longitudinal mounting plate 28. A second helical rack 32 is provided on one side of the hole groove. The second helical gear 29 is engaged with the second helical rack 32. During the feeding process, the second motor 23 drives the robotic arm as a whole to perform longitudinal sliding, so that the second suction cup group 12 reaches above the material conveyor belt 18 to pick up the material. Then the second motor 23 drives the robotic arm as a whole to move upward. At this time, the first motor 01 drives the first arm 03 to drive the second arm 04 to send the material to the next process equipment on the production line in a direction away from the arm mounting frame 19.

[0061] This application mainly solves the problems existing in the prior art that the operating paths of robotic arms are generally long, which easily leads to a decrease in production efficiency and an increase in production costs. This application proposes a two-stage robotic arm and a material taking device. The operating path of this robotic arm is short. When the first arm 03 moves X mm, the whole robotic arm can move 2X mm, greatly improving the movement speed and production efficiency. With the cooperation of the two robotic arm structures of this application and the material taking device, material taking, material detection, and material feeding can be carried out synchronously, greatly improving the production efficiency of the overall production line.

[0062] Obviously, those skilled in the art can make various modifications and changes to the embodiments of the present invention without departing from the spirit and scope of the present invention. In this way, if these modifications and changes are within the scope of the claims of the present invention and their equivalent forms, the present invention also aims to cover these modifications and changes. The word "comprising" does not exclude the presence of other elements or steps not listed in the claims. The simple fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.

Claims

1. A two-stage robotic arm, characterized in that, It includes a first motor, a mounting plate, a first arm, and a second arm. The output end of the first motor passes through the back surface of the mounting plate and mates with the back surface of the first arm. The first arm is slidably arranged in parallel on the mounting plate, and the second arm is slidably arranged in parallel on the first arm. At both ends of the first arm, first pulley sets are symmetrically provided. A first belt is sleeved on the first pulley sets, and both sides of the first belt are respectively connected to the mounting plate and the second arm through belt clips. The first motor drives the first arm to slide on the mounting plate, and the first belt pulls the second arm to slide synchronously.

2. The robotic arm according to claim 1, wherein, A first helical gear is provided at the output end of the first motor, and first helical racks are provided on the back surface of the first arm along the two ends direction. The first helical gear meshes with the first helical racks.

3. The robotic arm according to claim 2, characterized in that, The mating surfaces of the first arm and the second arm are both parallel to the front surface of the mounting plate, and a first suction cup group is provided on the surface of the second arm away from the first arm.

4. The robotic arm according to claim 1, characterized in that, It further includes a second belt. A pair of bearings are provided on the front surface of the mounting plate, and the bearings are placed between the output end of the first motor and the upper surface of the first arm. The middle section of the second belt is wound around the output end of the first motor, and both ends of the second belt respectively pass through the inner sides of the bearings and are fixed on the upper surfaces at both ends of the first arm.

5. The robotic arm according to claim 4, characterized in that, The mating surfaces of the first arm and the second arm are perpendicular to the front surface of the mounting plate, and a second suction cup group is provided on one end surface of the second arm.

6. The robotic arm according to claim 3 or 5, characterized in that The first arm is respectively provided with a first guide rail with two - end guiding towards the second arm and the mounting plate, and corresponding first slider groups and second slider groups are provided on the second arm and the mounting plate.

7. A material taking device, comprising a robotic arm as described in any one of claims 1-6, characterized in that, It further includes a device main body. A material conveyor belt is provided on the upper surface of the device main body, and an arm mounting frame is provided above the material conveyor belt. The robotic arms are provided on both sides of the arm mounting frame corresponding to the conveying direction of the material conveyor belt.

8. The material taking device according to claim 7, wherein It further includes a second motor. The second motor is fixed on both sides of the arm mounting frame, and the output end of the second motor is mated with the back surface of the mounting plate by means of gear - rack transmission or belt transmission.

9. The material taking device according to claim 7, wherein An oil - passing roller is provided in the middle of the material conveyor belt, and a double - sheet detector is provided above the material conveyor belt on one side of the oil - passing roller.

10. The material taking device according to claim 9, characterized in that, A proximity switch is provided at one end of the material conveyor belt on the top surface of the device main body, and the proximity switch and the double - sheet detector are on the same side.

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