Manipulator capable of automatically loading, unloading, taking and placing materials

Abstract

The utility model discloses a manipulator capable of automatically loading, unloading, taking and placing materials, which comprises a universal rotating base and a gripping device arranged at the power output end of the universal rotating base, and the power output end of the universal rotating base can promote the gripping device to rotate universally. The grabbing device comprises a power component, a mounting frame and at least two grabbing components, the power component is rotatably connected to the power output end of the universal rotating base and provided with an output shaft capable of rotating in the circumferential direction, the mounting frame is connected to the output shaft, the grabbing components are adjacently arranged on the mounting frame, and each grabbing component comprises a pneumatic claw matched with a workpiece. The workpiece grabbing device is used for grabbing workpieces and transferring the workpieces to a machining station or a storage frame. According to the technical scheme, the working precision is further improved, the problem that due to inaccurate alignment, the pneumatic claw collides with the workpiece, and the pneumatic claw and the workpiece are damaged is solved, and the purposes of automatic feeding and discharging and material taking and discharging are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm capable of automatically loading and unloading materials and taking and placing materials. Background Art

[0002] With the advancement of industrial automation, robotic arms have become widely used in various industrial assembly lines. They typically feature universal or three-dimensional rotation and material handling capabilities, including, but not limited to, automated loading and unloading, as well as material handling and placement on machine tools. The gripping portion of current robotic arms is typically fixed to a universally rotating arm. Due to the large range of motion required by the arm, the gripping jaws or pneumatic grippers inevitably collide with the workpiece or material, potentially damaging both. Utility Model Content

[0003] In view of the above problems existing in the prior art, a robot arm capable of automatically loading and unloading materials and taking and placing materials is provided to overcome at least one of the above technical defects.

[0004] The specific technical solutions are as follows:

[0005] A manipulator capable of automatically loading and unloading materials and picking and placing materials comprises a universal rotating base and a gripping device disposed at a power output end of the universal rotating base, wherein the power output end of the universal rotating base can cause the gripping device to rotate in a universal direction;

[0006] The gripping device includes a power component rotatably connected to the power output end of the universal rotating base and having a circumferentially rotatable output shaft, a mounting frame connected to the output shaft, and at least two adjacent gripping components arranged on the mounting frame. Each gripping component includes an air gripper adapted to the workpiece, which is used to grip the workpiece and transfer it to a processing station or a storage frame.

[0007] Preferably, the universal rotating base includes:

[0008] A rotating base, the upper end surface of which constitutes a first power output end capable of circumferential rotation in a planar direction;

[0009] A first rotating arm, the main body of which is mounted on the first power output end of the rotating base, and the first rotating arm has a first connecting arm capable of turning forward and backward;

[0010] The second rotating arm, the main body is installed on one end of the first connecting arm away from the main body of the first rotating arm, and the second rotating arm has a second connecting arm that can rotate circumferentially relative to the main body of the second rotating arm, and the second connecting arm also has an end away from the main body of the second rotating arm. The connecting end is used to rotatably connect the power component and allows the power component to rotate in the forward and backward directions relative to the connecting end.

[0011] Preferably, a visual device is further included, and the visual device is arranged directly above the grasping device through a frame.

[0012] Preferably, the frame is arranged on the ground adjacent to the rotating base, and a transverse slide rail is formed on the frame, one side of the visual device is installed on the transverse slide rail, and the frame is also provided with a power device to enable the visual device to slide laterally along the transverse slide rail.

[0013] Preferably, the power device includes a first motor fixed on the frame, a screw shaft connected to the output shaft of the first motor, and the visual device is slidably connected to the transverse slide rail through a nut seat, and the end of the screw rod away from the first motor extends into the transverse slide rail and passes through the threaded through hole of the nut seat, so as to drive the visual device to move laterally along the transverse slide rail through the corresponding screw rod and nut seat.

[0014] Preferably, the rotating base is a second motor placed vertically, and the base of the rotating base is fixed on the ground through a support frame. The output shaft of the rotating base is upward and connected to a turntable, and the turntable serves as the first power output end.

[0015] Preferably, the main body of the first rotating arm is a third motor installed horizontally on the turntable, the main body of the second rotating arm is a fourth motor installed on the first connecting arm, and the connecting end is constructed as a double-ear seat structure, the power component is a dual-output motor that is staggered in the horizontal and vertical directions and shares a common shell, one of the output shafts of the dual-output motor is horizontally assembled on the double-ear seat structure to enable the power component to rotate in the forward and backward directions relative to the connecting end, and the other output shaft of the dual-output motor is connected to the mounting frame to enable the mounting frame to rotate circumferentially relative to the dual-output motor.

[0016] Preferably, each gripping member further comprises a vacuum suction cup adapted to the workpiece for sucking the disc-shaped workpiece.

[0017] Preferably, the number of the gripping members is two and they are arranged at 90 degrees apart.

[0018] Preferably, a controller is fixedly mounted on the second rotating arm, and the first motor, the second motor, the third motor, the fourth motor and the visual device are all electrically connected to the controller.

[0019] The beneficial effects of the above technical solution are:

[0020] The robot capable of automatically loading and unloading materials and picking and placing materials includes a universal rotating base and a gripping device. The universal rotating base has a power output end that can rotate universally. The gripping device includes a power component, a mounting frame and a gripping component. The power component is rotatably configured at the power output end of the universal rotating base and has an output shaft that can rotate circumferentially. The gripping component includes an air gripper, so that the gripping device can be first transferred to the position of the workpiece through the universal rotating base, and the air gripper can be accurately adjusted to the position of the clamping part of the workpiece through the rotation between the power component and the power output end and further adjustment of the output shaft of the power component. The workpiece is then clamped by the air gripper for transfer, so that the working accuracy is further improved, and the problem of damage to both caused by the air gripper colliding with the workpiece due to inaccurate alignment is avoided, and the purpose of automatic loading and unloading materials and picking and placing materials is met. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a three-dimensional diagram of the robot arm capable of automatically loading and unloading materials and taking and placing materials according to the utility model;

[0022] Figure 2 This is a three-dimensional diagram of the mechanical arm in the robot that can automatically load and unload materials and take and put materials;

[0023] Figure 3 The utility model is a three-dimensional front-end grasping device of the manipulator that can automatically load and unload materials and take and put materials. Figure 1 ;

[0024] Figure 4 The utility model is a three-dimensional front-end grasping device of the manipulator that can automatically load and unload materials and take and put materials. Figure 2 ;

[0025] Figure 5 This is a schematic diagram of the utility model showing a robot capable of automatically loading and unloading materials and picking and placing materials being applied to a processing station. DETAILED DESCRIPTION

[0026] In order to make the technical means, creative features, objectives and effects of the present invention easier to understand, the following embodiments are combined with the accompanying drawings to explain the present invention in detail. Figure 1 The up, down, left, right, front, and back directions of the manipulator in the physical space shown on the paper are the up, down, left, right, front, and back directions in this embodiment.

[0027] See Figures 1 to 5 As shown in , the robot arm capable of automatically loading and unloading materials and picking and placing materials provided in this embodiment includes a universal rotating base 1, a gripping device 2 configured at the power output end of the universal rotating base 1, and the power output end of the universal rotating base 1 can cause the gripping device 2 to rotate in a universal direction;

[0028] The gripping device 2 includes a power component 21 rotatably connected to the power output end of the universal rotating base 1 and having a circumferentially rotatable output shaft, a mounting frame 22 connected to the output shaft, and at least two adjacent gripping components 23 arranged on the mounting frame 22. Each gripping component 23 includes an air gripper adapted to the workpiece, which is used to grip the workpiece and transfer it to a processing station or a storage frame.

[0029] Based on the above technical solution, a robot capable of automatically loading and unloading materials and picking and placing materials includes a universal rotating base 1 and a gripping device 2. The universal rotating base 1 has a power output end that can rotate universally. The gripping device 2 includes a power component 21, a mounting frame 22 and a gripping component 23. The power component 21 is rotatably configured at the power output end of the universal rotating base 1 and has an output shaft that can rotate circumferentially. The gripping component 23 includes an air gripper, so that the gripping device 2 can be first transferred to the position of the workpiece through the universal rotating base 1, and the air gripper can be accurately adjusted to the position of the clamping part of the workpiece through the rotation between the power component 21 and the power output end and further adjustment of the output shaft of the power component 21. The workpiece is then clamped by the air gripper for transfer, so that the working accuracy is further improved, and the problem of damage to both caused by the air gripper colliding with the workpiece due to inaccurate alignment is avoided, and the purpose of automatic loading and unloading materials and picking and placing materials is met.

[0030] In a preferred embodiment, the universal rotating base 1 comprises:

[0031] The upper end surface of the rotating base 11 constitutes a first power output end capable of circumferential rotation in a planar direction;

[0032] A first rotating arm 12, the main body of which is mounted on the first power output end of the rotating base 11, and the first rotating arm 12 has a first connecting arm 13 that can be turned forward and backward;

[0033] The second rotating arm 14 has a main body installed on one end of the first connecting arm 13 away from the main body of the first rotating arm 12, and the second rotating arm 14 has a second connecting arm 15 that can rotate circumferentially relative to the main body of the second rotating arm 14. The second connecting arm 15 also has an end away from the main body of the second rotating arm 14 for rotatably connecting to the power component 21 of the grasping device 2, and allows the power component 21 to rotate in the forward and backward directions relative to the connecting end.

[0034] In a preferred embodiment, the manipulator capable of automatically loading and unloading materials and picking and placing materials further includes a visual device 3, and the visual device 3 is arranged directly above the grasping device 2 through a frame 5. Furthermore, the frame 5 is arranged on the ground adjacent to the rotating base 11, and a transverse slide 6 is formed on the frame 5. One side of the visual device 3 is mounted on the transverse slide 6. The frame 5 is also provided with a power device for enabling the visual device 3 to slide transversely along the transverse slide 6. Specifically, the power device includes a first motor fixed to the frame 5, a screw shaft connected to the output shaft of the first motor, and the visual device 3 is slidably connected to the transverse slide 6 through a nut seat. The end of the screw shaft away from the first motor extends into the transverse slide 6 and passes through the threaded through-hole of the nut seat, so as to drive the visual device 3 to move transversely along the transverse slide 6 through the corresponding screw shaft and nut seat.

[0035] As a further preferred embodiment, the rotating base 11 is a second motor placed vertically, and the base of the rotating base 11 is fixed to the ground through a support frame 4. The output shaft of the rotating base 11 is upward and connected to a turntable, and the turntable serves as the first power output end.

[0036] As a further preferred embodiment, the main body of the first rotating arm 12 is a third motor installed horizontally on the turntable, the main body of the second rotating arm 14 is a fourth motor installed on the first connecting arm 13, and the connecting end is constructed as a double-ear seat structure, and the power component 21 is a dual-output motor that is staggered in the horizontal and vertical directions and shares a common shell. One of the output shafts of the dual-output motor is horizontally assembled on the double-ear seat structure to enable the power component 21 to rotate in the forward and backward directions relative to the connecting end, and the other output shaft of the dual-output motor is connected to the mounting bracket 22 to enable the mounting bracket 22 to rotate circumferentially relative to the dual-output motor.

[0037] As a further preferred embodiment, each gripping member 23 also includes a vacuum suction cup 24 adapted for the workpiece, for picking up the disc-shaped workpiece. Furthermore, the number of gripping members 23 is two, arranged 90 degrees apart. Furthermore, a controller 7 is also fixedly mounted on the second rotating arm 14, and the first motor, second motor, third motor, fourth motor, and visual device 3 are all electrically connected to the controller 7 to achieve unified control. Furthermore, the vacuum suction cup 24 is connected to an external air supply device via a valve actuator to pick up the workpiece, and the valve actuator is electrically connected to the controller 7.

[0038] Specific as Figure 5As shown in , the manipulator is arranged between two grinders 8, and a material frame 9 is placed between the two grinders 8. The visual device 3 is generally located directly above the material frame 9 to instruct the manipulator's grasping device 2 to accurately grasp the workpiece. The processing station on the grinder 8 is a fixed position, so its position can be set by the program in the controller 7. Obviously, the position of the material frame 9 and the position of the internal workpiece can also be designed as a fixed position through external structure, and is not limited to this. In addition, the pneumatic gripper output is a commonly used component in this field. It is mainly driven by air and electrically connected to the controller 7 through an actuator, but it can also be realized by electric drive. It is a conventional component, so it is omitted here.

[0039] The above description is merely a preferred embodiment of the present invention and is intended to be illustrative rather than restrictive of the present invention. Those skilled in the art will appreciate that many changes, modifications, and even equivalents may be made to the present invention within the spirit and scope of the claims, and all of these changes will fall within the scope of protection of the present invention.

Claims

1. A manipulator capable of automatically loading and unloading materials and taking and placing materials, characterized in that: It comprises a universal rotating base (1), and a grabbing device (2) arranged at a power output end of the universal rotating base (1), wherein the power output end of the universal rotating base (1) can cause the grabbing device (2) to rotate in a universal direction; The gripping device (2) comprises a power component (21) rotatably connected to the power output end of the universal rotating base (1) and having a circumferentially rotatable output shaft, a mounting frame (22) connected to the output shaft, and at least two gripping components (23) adjacently arranged on the mounting frame (22), each of the gripping components (23) comprising an air gripper adapted to a workpiece, for gripping the workpiece and transferring it to a processing station or a storage frame.

2. The robot capable of automatically loading and unloading materials and taking and placing materials as claimed in claim 1 is characterized in that: The universal rotating base (1) comprises: A rotating base (11), the upper end surface of which forms a first power output end capable of circumferentially rotating in a planar direction; A first rotating arm (12), the main body of which is mounted on the first power output end of the rotating base (11), and the first rotating arm (12) has a first connecting arm (13) capable of turning in a forward and backward direction; The second rotating arm (14) has a main body mounted on an end of the first connecting arm (13) away from the main body of the first rotating arm (12), and the second rotating arm (14) has a second connecting arm (15) capable of circumferentially rotating relative to the main body of the second rotating arm (14), and the end of the second connecting arm (15) away from the main body of the second rotating arm (14) also has a connecting end for rotatably matching the power component (21), and allowing the power component (21) to rotate in a forward and backward direction relative to the connecting end.

3. The robot capable of automatically loading and unloading materials and taking and placing materials as claimed in claim 2, characterized in that: It also includes a visual device (3), and the visual device (3) is arranged directly above the grasping device (2) through a frame (5).

4. The robot capable of automatically loading and unloading materials and taking and placing materials as claimed in claim 3 is characterized in that: The frame (5) is arranged on the ground adjacent to the rotating base (11), and a transverse slide rail (6) is formed on the frame (5). One side of the visual device (3) is installed on the transverse slide rail (6). The frame (5) is also provided with a power device for enabling the visual device (3) to slide transversely along the transverse slide rail (6).

5. The robot capable of automatically loading and unloading materials and taking and placing materials as claimed in claim 4 is characterized in that: The power device includes a first motor fixed on the frame (5), a screw connected to the output shaft of the first motor, and the visual device (3) is slidably connected to the transverse slide rail (6) through a nut seat, and the end of the screw away from the first motor extends into the transverse slide rail (6) and passes through the threaded through hole of the nut seat, so as to drive the visual device (3) to move laterally along the transverse slide rail (6) through the corresponding screw and nut seat.

6. The robot capable of automatically loading and unloading materials and taking and placing materials as claimed in claim 5, characterized in that: The rotating base (11) is a second motor placed vertically, and the base of the rotating base (11) is fixed on the ground through a support frame (4). The output shaft of the rotating base (11) is upward and connected to a turntable, and the turntable serves as the first power output end.

7. The robot capable of automatically loading and unloading materials and taking and placing materials as claimed in claim 6, characterized in that: The main body of the first rotating arm (12) is a third motor installed transversely on the turntable, the main body of the second rotating arm (14) is a fourth motor installed on the first connecting arm (13), and the connecting end is configured as a double-ear seat structure. The power component (21) is a dual-output motor that is staggered in the horizontal and vertical directions and shares a shell. One of the output shafts of the dual-output motor is transversely assembled on the double-ear seat structure to enable the power component (21) to rotate in a forward and backward direction relative to the connecting end. The other output shaft of the dual-output motor is connected to the mounting frame (22) to enable the mounting frame (22) to rotate circumferentially relative to the dual-output motor.

8. The robot capable of automatically loading and unloading materials and taking and placing materials as claimed in claim 7, characterized in that: Each of the gripping components (23) further comprises a vacuum suction cup (24) adapted to the workpiece for sucking the disc-shaped workpiece.

9. The robot capable of automatically loading and unloading materials and taking and placing materials as claimed in claim 8, characterized in that: The number of the grabbing members (23) is two and is arranged at an interval of 90 degrees.

10. The robot capable of automatically loading and unloading materials and taking and placing materials as claimed in claim 5, characterized in that: A controller (7) is also fixedly mounted on the second rotating arm (14), and the first motor, the second motor, the third motor, the fourth motor and the visual device (3) are all electrically connected to the controller (7).

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