Crank arm discharging manipulator

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a crank arm discharging manipulator. Comprising a lifting arm, a mounting base is arranged at the lower end of the lifting arm, and a first adsorption claw and a second adsorption claw are arranged below the mounting base; when materials are grabbed through the first adsorption claw or the second adsorption claw, the materials can be grabbed by adjusting the lifting arm to ascend and descend up and down; the first adsorption claw and the second adsorption claw are used for grabbing target materials and can be switched; corresponding to large plate materials, the plates can be adsorbed through the first adsorption claws, and material transfer is achieved; for plate materials with small sizes, the first adsorption claw can be folded; the materials are clamped and transferred through the second adsorption claw; in this way, the universality of transferring and placing different materials is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a crank-arm material-discharging mechanical arm. Background Art

[0002] The robot is an important component in automated production equipment. It is an automatic operating device that can imitate certain movements and functions of human hands and arms and is used to grasp, move objects or operate tools according to fixed procedures.

[0003] However, when the existing manipulator grabs the product and places it on the processing station, the manipulator's material placement operation method is relatively simple; it can be used to adsorb large plates, but it is not applicable to small plates, so the manipulator needs to be modified before it can be used; in this way, products of different types of plates cannot be transferred alternately.

[0004] At the same time, when the existing manipulator is taking and placing materials, it is necessary to first take out the processed materials and then place the materials to be processed; this will lengthen the replacement cycle and reduce production efficiency. Utility Model Content

[0005] In order to solve the above problems, the present invention proposes a crank-arm material-discharging robot, thereby solving the technical problems raised by the background technology.

[0006] The utility model is achieved through the following technical solutions:

[0007] A crooked arm material discharge robot includes a lifting arm, a mounting seat is provided at the lower end of the lifting arm, and a first suction claw and a second suction claw are provided below the mounting seat; the first suction claw and the second suction claw are both used to grab the target material and the two can be switched; for large plate materials, the first suction claw adsorbs the plate; for small plate materials, the first suction claw is retracted; and the material is clamped and transported by the second suction claw.

[0008] Preferably, the first suction claw includes a cylinder 1, which is arranged on the front side of the mounting base, and an execution block is fixedly provided at the lower end of the piston rod inside the cylinder 1, and racks are provided on both sides of the execution block. The outer side of each rack is meshed with a gear, and each gear is fixed on the transmission shaft; the two transmission shafts are rotatably connected to the lower left and right sides of the mounting base; the front and rear ends of the two transmission shafts are fixed with flip arms; and the lower ends of the flip arms are each provided with a suction cup.

[0009] Preferably, the flip arm is L-shaped.

[0010] Preferably, the height of the second adsorption claw is smaller than the height of the first adsorption claw.

[0011] Preferably, the second suction claw includes a servo motor, and an L-shaped arm is fixedly provided at the output end of the servo motor; the servo motor is arranged inside the mounting seat; a flip cylinder is fixedly provided below the other end of the L-shaped arm, and one side of the lower end of the flip cylinder housing is rotatably connected to a hinge plate through a torsion spring, and a triangular connecting piece is provided below the hinge plate; clamping devices are provided on both planes of the triangular connecting piece.

[0012] Preferably, the clamping device includes a clamping cylinder, which is fixedly arranged on mutually perpendicular planes of the triangular connector; wherein clamping plates are fixedly arranged on the piston rods at the front and rear ends of the triangular connector; and clamping claws are arranged on the clamping plates in the front and rear directions near the clamping station.

[0013] Preferably, the clamping cylinder is provided with a limit assembly in the front-to-rear direction close to the clamping station.

[0014] Preferably, the two clamping devices are symmetrically arranged; the lower end of the pushing piston arranged inside the flip cylinder abuts against the hinge plate.

[0015] Beneficial effects of the utility model:

[0016] 1. When the first or second suction claw is needed to grab a material, the lifting arm can be adjusted up and down to achieve the material grabbing; the first suction claw and the second suction claw are both used to grab the target material, and the two can be switched; for large plate materials, the first suction claw can be used to absorb the plate to achieve the material transfer; for small plate materials, the first suction claw can be retracted, and the second suction claw can be used to clamp and transfer the material; this greatly improves the versatility of the present invention in the transfer and placement of different materials;

[0017] 2. When switching is required, the turning cylinder is activated to move the push piston downward, so that the lower end of the push piston will squeeze the hinge plate; the hinge plate will rotate ninety degrees with the hinged part with the turning cylinder shell as the axis; in this way, the other clamping device is switched to the horizontal position; according to the above switching action, when discharging the material, the clamping device in the vertical state can not clamp the material, and the clamping device in the horizontal state can clamp the material to be processed; in this way, when the lifting arm is located above the material processing station, the water The flat clamp holding the material to be processed is flipped to the vertical workstation, allowing the clamping device that is not holding the material to take off the processed material first; then the two are flipped and adjusted; the material originally clamped to be processed is placed on the processing station; in this way, the switching of multiple materials is realized; at the same time, the second suction claw can be rotated under the action of the servo motor after the first suction claw is retracted; this greatly improves the material transportation efficiency; the robot can adjust and switch different clamping methods at will when clamping and placing large and small materials, greatly improving the applicability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the first suction claw structure of the present utility model;

[0020] Figure 3 This is a schematic diagram of the second adsorption claw structure of the present invention;

[0021] Figure 4 This is a schematic structural diagram of the clamping device of the present utility model.

[0022] The accompanying drawings are numbered as follows: 1. Lifting arm; 11. Mounting seat; 2. First suction claw; 21. Cylinder 1; 22. Execution block; 211. Rack; 23. Gear; 24. Transmission shaft; 25. Flip arm; 26. Suction cup; 3. Second suction claw; 31. Servo motor; 32. L-shaped arm; 33. Flip cylinder; 331. Push piston; 34. Hinge plate; 35. Triangular connector; 36. Clamping device; 361. Clamping cylinder; 362. Clamping plate; 363. Clamp; 364. Limiting assembly. DETAILED DESCRIPTION

[0023] In order to more clearly and completely illustrate the technical solution of the present invention, the present invention will be further described below with reference to the accompanying drawings.

[0024] Please refer to Figure 1 The present invention proposes a crooked arm material discharge robot, comprising a lifting arm 1, a mounting base 11 being provided at the lower end of the lifting arm 1, and a first suction claw 2 and a second suction claw 3 being provided below the mounting base 11; the lifting arm 1 can be lifted up and down; when it is necessary to grab the material by the first suction claw 2 or the second suction claw 3, the lifting arm 1 can be adjusted to lift up and down to achieve the grabbing of the material; the first suction claw 2 and the second suction claw 3 are both used to grab the target material, and the two can be switched; for large plate materials, the first suction claw 2 can be used to adsorb the plate to achieve the transportation of the material; for small plate materials, the first suction claw 2 can be retracted; the material can be clamped and transported by the second suction claw 3; this greatly improves the versatility of the present invention in the transportation and placement of different materials;

[0025] Please refer to Figure 2The first adsorption claw 2 includes a cylinder 21, which is arranged on the front side of the mounting base 11. The lower end of the piston rod inside the cylinder 21 is fixedly provided with an execution block 22, and racks 211 are provided on both sides of the execution block 22. The outer side of each rack 211 is meshed with a gear 23, and each gear 23 is fixedly provided on a transmission shaft 24; the two transmission shafts 24 are rotatably connected to the lower left and right sides of the mounting base 11; the front and rear ends of the two transmission shafts 24 are fixedly provided with a flip arm 25; the flip arm 25 is L-shaped, and the lower end of the flip arm 25 is provided with a suction cup 26; the suction cup 26 generates negative pressure inside when the plate needs to be adsorbed; this facilitates the adsorption of the material;

[0026] When the first suction claw 2 is in the normal suction state, each suction cup 26 is vertically downward; thus, by controlling the lifting arm 1 to move up and down, the target material can be loaded and unloaded and transported; when the first suction claw 2 needs to be stored, or when the first suction claw 2 is not required to be used and the second suction claw 3 needs to be used, the cylinder 1 21 can be activated to push the piston downward, thereby causing the actuator 22 to move downward; thus, since the rack 211 and the gear 23 are meshed, the flip arm 25 will flip downward and be retracted; at this time, each suction cup 26 also flips upward with it to the inactive state;

[0027] The height of the second suction claw 3 is smaller than that of the first suction claw 2; in this way, when the first suction claw 2 is operating, the second suction claw 3 is prevented from interfering with the material;

[0028] Please refer to Figure 3 The second suction claw 3 includes a servo motor 31, an L-shaped arm 32 is fixedly provided at the output end of the servo motor 31; the servo motor 31 is arranged inside the mounting base 11; a flip cylinder 33 is fixedly provided below the other end of the L-shaped arm 32, and one side of the lower end of the flip cylinder 33 shell is rotatably connected to a hinge plate 34 through a torsion spring, and a triangular connector 35 is provided below the hinge plate 34; clamping devices 36 are provided on both planes of the triangular connector 35; the two clamping devices 36 are symmetrically arranged; the lower end of the push piston 331 provided inside the flip cylinder 33 abuts against the hinge plate 34;

[0029] Under the action of the torsion spring, one of the clamping devices 36 is in a horizontal state and the other is in a vertical state; when switching is needed, the push piston 331 is moved downward by activating the flip cylinder 33, so that the lower end of the push piston 331 will squeeze the hinge plate 34; so that the hinge plate 34 will rotate ninety degrees around the hinge point with the flip cylinder 33 shell as the axis; in this way, the other clamping device 36 is switched to the horizontal position; according to the above switching action, when discharging the material, the clamping device 36 in the vertical state can not clamp the material, and the clamping device 36 in the horizontal state can clamp the material to be processed; in this way, the lifting When the lowering arm 1 is located above the material processing station, the horizontal clamp holding the material to be processed can be flipped to the vertical station, allowing the clamping device 36 that is not holding the material to take off the processed material first; then the two are flipped and adjusted; the material originally clamped to be processed is placed on the processing station; in this way, the switching of multiple materials is realized; at the same time, after the first suction claw 2 is retracted, the second suction claw 3 can be rotated under the action of the servo motor 31; this greatly improves the material transportation efficiency; when the manipulator is clamping and taking and placing large and small materials, it can adjust and switch different clamping modes at will, greatly improving the applicability of the manipulator;

[0030] Please refer to Figure 4 The clamping device 36 includes a clamping cylinder 361, which is fixedly arranged on mutually perpendicular planes of the triangular connector 35; wherein clamping plates 362 are fixedly arranged on the piston rods at the front and rear ends of the triangular connector 35; the clamping plates 362 are provided with clamping claws 363 in the front and rear directions near the clamping station; the clamping cylinder 361 is provided with a limiting assembly 364 in the front and rear directions near the clamping station; the limiting assembly 364 is used to adjust the clamping depth of the clamping claws 363; when thicker materials need to be clamped, the limiting assembly 364 can be adjusted a certain distance toward the clamping plate 362.

[0031] Of course, the present invention may have many other implementations. Based on this implementation, other implementations obtained by ordinary technicians in this field without any creative work are all within the scope of protection of the present invention.

Claims

1. A crank arm unloading robot, characterized in that: It includes a lifting arm, a mounting base is provided at the lower end of the lifting arm, and a first adsorption claw and a second adsorption claw are provided below the mounting base; the first adsorption claw and the second adsorption claw are both used to grab the target material and the two can be switched; for large plate materials, the first adsorption claw adsorbs the plate; for small plate materials, the first adsorption claw is retracted; the material is clamped and transported by the second adsorption claw.

2. The crank arm unloading robot according to claim 1, characterized in that: The first suction claw includes a cylinder 1, which is arranged on the front side of the mounting base. An execution block is fixedly provided at the lower end of the piston rod inside the cylinder 1, and racks are provided on both sides of the execution block. A gear is meshed and connected to the outer side of each rack, and each gear is fixed on a transmission shaft; the two transmission shafts are rotatably connected to the lower left and right sides of the mounting base; flip arms are fixedly provided at the front and rear ends of the two transmission shafts; and suction cups are provided at the lower ends of the flip arms.

3. The crank arm unloading robot according to claim 2, characterized in that: The flip arm is L-shaped.

4. The crank arm unloading robot according to claim 1, characterized in that: The second suction claw has a height smaller than that of the first suction claw.

5. The crank arm material discharging robot according to claim 4, characterized in that: The second suction claw includes a servo motor, and an L-shaped arm is fixedly provided at the output end of the servo motor; the servo motor is arranged inside the mounting seat; a flip cylinder is fixedly provided below the other end of the L-shaped arm, and one side of the lower end of the flip cylinder housing is rotatably connected to a hinged plate through a torsion spring, and a triangular connecting piece is provided below the hinged plate; clamping devices are provided on both planes of the triangular connecting piece.

6. The crank arm unloading robot according to claim 5, characterized in that: The clamping device includes a clamping cylinder, which is fixedly arranged on mutually perpendicular planes of the triangular connector; wherein clamping plates are fixedly arranged on the piston rods at the front and rear ends of the triangular connector; and clamping claws are arranged on the clamping plates in the front and rear directions near the clamping station.

7. The crank arm material discharging robot according to claim 6, characterized in that: The clamping cylinder is provided with a limit assembly in the front and rear directions close to the clamping station.

8. The crank arm material discharging robot according to claim 5, characterized in that: The two clamping devices are symmetrically arranged; the lower end of the pushing piston arranged inside the flip cylinder abuts against the hinged plate.

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