Pick-up manipulator

Abstract

The utility model discloses a piece taking mechanical arm. The piece taking mechanical arm is characterized by comprising a connecting base, two air cylinders and two mounting plates, the output ends of the two air cylinders are fixedly connected with the two mounting plates respectively; an adsorption unit is arranged on each mounting plate; the adsorption unit comprises an upper fixed rod, a lower swing rod, a cylindrical spiral pressure spring and a vacuum chuck; a ball socket is arranged at the lower end of the upper fixing rod, and a ball head rotationally matched with the ball socket is arranged at the upper end of the lower swing rod; an upper baffle ring is arranged on the upper fixing rod and above the ball socket; a lower baffle ring is arranged at the lower end of the lower swing rod; the lower swing rod is sleeved with the cylindrical spiral compression spring, and the upper end and the lower end of the cylindrical spiral compression spring abut against the upper baffle ring and the lower baffle ring respectively. And the vacuum chuck is mounted at the lower end of the pressure spring lower positioning disc. The manipulator can be used for effectively sucking products under the special conditions that the appearances of the products are provided with uneven surfaces, step surfaces, inclined surfaces in different directions and the like, and has the advantages of wide application range, capability of automatically rotating and resetting, good grabbing effect and the like.

Description

Technical Field

[0001] The utility model relates to a piece-taking manipulator. Background Art

[0002] The injection molding machine's retrieval robot replaces manual labor to remove the plastic products ejected from the mold after molding on the injection molding machine. This can avoid hand burns caused by manual material removal, and improve the efficiency of removing injection molded parts, shorten the working cycle, and improve production efficiency.

[0003] However, for products with special shapes (such as plastic workpieces such as auto parts decorative panels), whose outer surfaces have unevenness, stepped surfaces, multi-directional slopes and other features, conventional vacuum suction cup robots are used to pick up products. Since they can only contact and adsorb in the vertical direction, at least some of the suction cups may have poor contact, the adsorption direction cannot change adaptively, and the product cannot be adsorbed, resulting in insufficient total suction force and easy product falling. Utility Model Content

[0004] The utility model provides a piece-picking robot, which can solve the technical problem that the existing technology cannot be applied to the situation where the product has uneven surfaces, stepped surfaces, inclined surfaces in different directions, etc. and can adaptively and effectively suck the product.

[0005] To achieve the above-mentioned purpose, the utility model provides a piece-picking robot, which is characterized in that: it includes a connecting seat, two cylinders and two mounting plates; the two cylinders are mounted in parallel on the connecting seat; the output ends of the two cylinders are respectively fixed to the two mounting plates; an adsorption unit is provided on each of the mounting plates; the adsorption unit includes an upper fixed rod, a lower swing rod, a compression spring and a vacuum suction cup; the upper fixed rod is fixed to the mounting plate; the lower end of the upper fixed rod is provided with a compression spring upper positioning plate, and the lower end of the lower swing rod is provided with a compression spring lower positioning plate; the lower end of the compression spring upper positioning plate is provided with a ball socket; the upper end of the lower swing rod is provided with a ball head that rotatably cooperates with the ball socket; the compression spring is sleeved on the lower swing rod and its upper and lower ends are respectively positioned against the compression spring upper positioning plate and the compression spring lower positioning plate; the vacuum suction cup is installed at the lower end of the compression spring lower positioning plate.

[0006] Preferably, the cylinder is a double-axis cylinder.

[0007] Furthermore, two adsorption units are provided on each of the mounting plates.

[0008] Furthermore, the mounting plate is provided with a strip-shaped hole; the two adsorption units are mounted on the strip-shaped hole and the interval or position thereof is adjustable.

[0009] Furthermore, a threaded section is provided on the upper fixing rod above the upper positioning plate of the compression spring; the threaded section is installed on the strip-shaped hole; two nuts are sleeved on the threaded section and are used to clamp the mounting plate up and down.

[0010] Beneficial effects of the utility model:

[0011] First, the utility model can be applied to special situations such as uneven surfaces, stepped surfaces, and inclined surfaces in different directions to adaptively and effectively absorb the product. At the same time, after releasing the product, its adsorption unit will automatically rotate and reset to normal state. Since it does not affect the normal pickup work next time, it can ensure long-term repeated work and meet the requirements of fully automated production.

[0012] Second, the present invention has two adsorption units on each mounting plate, and their respective positions and the distance between them are adjustable, so that the adsorption positions of the two adsorption units on the product surface and the adsorption distance between them can be adjusted and changed as needed. It can be adjusted accordingly according to the appearance characteristics of the product to achieve the best adsorption and grasping effect and meet multi-functional requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a main view of a pickup machine in the utility model when it is used to pick up products with a flat surface.

[0014] Figure 2 It is a three-dimensional diagram of a piece-picking robot in the utility model.

[0015] Figure 3 This is a main view of a pickup machine in the utility model when it is used to pick up products with two height difference surfaces (i.e. step surfaces).

[0016] Figure 4-5 This is a main view of a pickup machine in the utility model when it is used to pick up products with inclined surfaces in different directions.

[0017] Figure 6 This is a main view of a piece-picking mechanism in the utility model when releasing a product and resetting.

[0018] Figure 7 This is a main view of a pickup machine in the utility model when it is used to pick up products with flat surfaces and inclined surfaces. DETAILED DESCRIPTION

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0020] Example 1: See Figure 1-2 A piece-picking robot comprises a connecting seat 1, two cylinders 2 and two mounting plates 3.

[0021] See Figure 1-2In this embodiment, the two cylinders 2 are installed in parallel on the connecting base 1 and are vertically symmetrically spaced apart; the output ends of the two cylinders 2 face downward and are fixed to the two mounting plates 3 respectively; an adsorption unit 4 is provided on each of the mounting plates 3.

[0022] See Figure 1-2 , wherein the adsorption unit 4 includes an upper fixed rod 4-1, a lower swing rod 4-2, a compression spring 4-3 and a vacuum suction cup 4-4; the upper fixed rod 4-1 is fixedly connected to the mounting plate 3; the lower end of the upper fixed rod 4-1 is provided with a compression spring upper positioning plate 4-11, and the lower end of the lower swing rod 4-2 is provided with a compression spring lower positioning plate 4-21; the lower end of the compression spring upper positioning plate 4-11 is provided with a ball socket 4-12; the upper end of the lower swing rod 4-2 is provided with a ball head 4-22 that rotatably cooperates with the ball socket 4-12; the compression spring 4-3 is sleeved on the lower swing rod 4-2 and its upper and lower ends are respectively positioned and counteracted against the compression spring upper positioning plate 4-11 and the compression spring lower positioning plate 4-21; the vacuum suction cup 4-4 is fixedly mounted on the lower end of the compression spring lower positioning plate 4-21.

[0023] See Figure 1-2 The upper positioning plate 4-11 of the compression spring comprises a positioning section and a blocking section; the blocking section has a larger outer diameter than the blocking section. During assembly, the end of the compression spring 4-3 fits over the positioning section to be positioned, while the blocking section abuts against the end of the compression spring 4-3 to limit and block it. Specifically, the upper positioning plate 4-11 and the lower positioning plate 4-21 of the compression spring have the same structure and are symmetrical in vertical direction.

[0024] Preferably, the cylinder 2 is a double-axis cylinder.

[0025] See Figure 1-7 When this embodiment is used for product removal, the two cylinders 2 respectively drive the two mounting plates 3 to move toward the product N, and the adsorption units 4 on the two mounting plates 3 will respectively contact and adsorb the outer surfaces of different locations on the product.

[0026] This embodiment is applicable to the following products with different appearances. The specific working analysis is as follows:

[0027] The first case is for products with regular surface smoothing N:

[0028] See Figure 1 The two cylinders 2 respectively drive the two mounting plates 3 to move vertically toward the product N. The two cylinders 2 respectively drive the adsorption units 4 on the two mounting plates 3 to contact the flat outer surface of the product at the same time and then start vacuum adsorption. At this time, the two cylinders 2 respectively drive the two mounting plates 3 to move with the same stroke.

[0029] The second case is for product N with two height difference surfaces (i.e. stepped surfaces):

[0030] See Figure 3 When the two cylinders 2 drive the two mounting plates 3 to move vertically toward the product N, since the two cylinders 2 work independently, they can achieve different strokes when driving the two mounting plates 3 to move respectively. The adsorption units 4 on the two mounting plates 3 can respectively contact the two surfaces with height difference (i.e., step surfaces) on the product before starting vacuum adsorption.

[0031] The third case is for products with inclined surfaces in different directions N:

[0032] See Figure 4-5 The two cylinders 2 drive the two mounting plates 3 toward the product N. When the vacuum cups 4-4 of the adsorption units 4 on the two mounting plates 3 come into contact with two surfaces of the product, the adsorption units 4 adaptively rotate and cooperate with the ball head 4-22 on the lower swing rod 4-2 and the ball socket 4-12 on the upper fixing rod 4-1, so that the working surface of the vacuum cups 4-4 completely fits the outer surface of the product. Then, the vacuum cups 4-4 are activated to adsorb the outer surface of the product. At this time, the vacuum cups 4-4 of the adsorption units 4 on the two mounting plates 3 can be used to adsorb two inclined surfaces in different directions on the product. At this time, the compression spring 4-3 on the adsorption unit 4 adaptively deforms as the lower swing rod 4-2 rotates.

[0033] See Figure 6 When the vacuum suction cup 4-4 releases the product N, the two cylinders 2 will respectively drive the two mounting plates 3 to reset upward. During this process, the lower swing rod 4-2 on the adsorption unit 4 rotates and resets under the elastic force of its own compression spring 4-3, and then remains coaxial with the upper fixing rod 4-1 to achieve automatic rotation and reset (the lower swing rod 4-2 and the vacuum suction cup 4-4 on it are reset), so it does not affect the normal pickup work next time.

[0034] The fourth case is for product N with flat and inclined surfaces (i.e. with uneven surfaces):

[0035] See Figure 7 , the vacuum suction cup 4-4 of one adsorption unit 4 is used to adsorb the inclined surface, while the vacuum suction cup 4-4 of the other adsorption unit 4 is used to adsorb the flat surface.

[0036] In summary, this embodiment can be used to adaptively and effectively suck products with uneven surfaces, stepped surfaces, inclined surfaces in different directions, etc. At the same time, after releasing the product, the adsorption unit 4 will automatically rotate and reset to normal state without affecting the next normal pickup work, so as to ensure long-term repeated work and meet the requirements of fully automated production.

[0037] Example 2: This example is based on Example 1 and is further improved:

[0038] See Figure 1-2 , two adsorption units 4 are provided on each of the mounting plates 3. This enables the present pick-up manipulator to achieve adsorption in all directions and enhance the adsorption force.

[0039] See Figure 1-2 The mounting plate 3 is provided with a strip-shaped hole 3-1; the two adsorption units 4 are mounted on the strip-shaped hole 3-1, and their spacing or position is adjustable. In this embodiment, the upper fixing rod 4-1 is provided with a threaded section 4-13 above the upper positioning plate 4-11 of the compression spring; the threaded section 4-13 is inserted into the strip-shaped hole 3-1; two nuts 4-5 are mounted on the threaded section 4-13 and used to clamp the mounting plate 3 in place.

[0040] Since the position of the threaded section 4-13 in the strip hole 3-1 is adjustable, the position of the adsorption unit 4 on the mounting plate 3 can be adjusted. Since the two adsorption units 4 can be adjusted along the length direction of the strip hole 3-1, the adsorption positions of the two adsorption units 4 and the adsorption spacing between them can be adjusted and changed. They can be adjusted according to the appearance characteristics of the product, and can meet the best adsorption and grasping effects and meet multi-functional requirements. The preferred specific embodiments of the present utility model are described in detail above. It should be understood that ordinary technicians in this field can make many modifications and changes based on the concept of the present utility model without creative labor. Therefore, all technical solutions that can be obtained by technicians in this technical field based on the concept of the present utility model through logical analysis, reasoning or limited experiments on the basis of existing technology should be within the scope of protection determined by the claims.

Claims

1. A picking robot, characterized by: It comprises a connecting seat (1), two cylinders (2) and two mounting plates (3); the two cylinders (2) are mounted in parallel on the connecting seat (1); the output ends of the two cylinders (2) are fixedly connected to the two mounting plates (3) respectively; an adsorption unit (4) is provided on each of the mounting plates (3); The adsorption unit (4) comprises an upper fixing rod (4-1), a lower swing rod (4-2), a compression spring (4-3) and a vacuum suction cup (4-4); the upper fixing rod (4-1) is fixedly connected to the mounting plate (3); the lower end of the upper fixing rod (4-1) is provided with a compression spring upper positioning disc (4-11), and the lower end of the lower swing rod (4-2) is provided with a compression spring lower positioning disc (4-21); the lower end of the compression spring upper positioning disc (4-11) is provided with a ball socket (4-12); the upper end of the lower swing rod (4-2) is provided with a ball head (4-22) rotatably matched with the ball socket (4-12); the compression spring (4-3) is sleeved on the lower swing rod (4-2) and its upper and lower ends are respectively positioned against the compression spring upper positioning disc (4-11) and the compression spring lower positioning disc (4-21); the vacuum suction cup (4-4) is installed at the lower end of the compression spring lower positioning disc (4-21).

2. A piece-picking robot according to claim 1, characterized in that: The cylinder (2) is a double-axis cylinder.

3. The object-picking robot according to claim 1, characterized in that: Two adsorption units (4) are provided on each of the mounting plates (3).

4. A piece-picking robot according to claim 3, characterized in that: The mounting plate (3) is provided with a strip-shaped hole (3-1); the two adsorption units (4) are mounted on the strip-shaped hole (3-1), and the interval or position thereof is adjustable.

5. The object-picking robot according to claim 4, characterized in that: A threaded section (4-13) is provided on the upper fixing rod (4-1) above the compression spring upper positioning disk (4-11); the threaded section (4-13) is installed on the strip-shaped hole (3-1); two nuts (4-5) are mounted on the threaded section (4-13) and are used to clamp the mounting plate (3) up and down.

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