Grabbing manipulator for conveying wood boards

Abstract

The utility model discloses a grabbing mechanical arm for conveying wood boards. The grabbing mechanical arm comprises a mechanical arm body, a lifting rotating mechanism, a clamping mechanism and a CCD detection camera. The mechanical arm body is connected with the clamping mechanism through the lifting rotating mechanism, the CCD detection camera is arranged on the clamping mechanism, and the clamping mechanism comprises a driving motor, a lead screw, a threaded seat, a mounting seat, a first connecting rod arm, a second connecting rod arm and a clamping arm. After the CCD detection camera collects position information of a wood board, the lifting rotating mechanism and the mechanical arm body can adjust the height and the rotating angle of the clamping mechanism according to the position information of the wood board, so that the clamping mechanism can align at the wood board to clamp the wood board, and the clamping accuracy and efficiency are improved; according to the clamping mechanism, a driving motor is matched with a lead screw to clamp the wood board, the clamping stability of the wood board is effectively improved, and the problem that a traditional mechanical arm is loosened or unstable in clamping due to air pressure changes of an air cylinder is solved.

Description

Technical Field

[0001] The utility model relates to the field of manipulators, in particular to a grabbing manipulator for transporting wooden boards. Background Art

[0002] With the continuous improvement of the automation level of industrial production lines, the stable handling of materials has become a crucial link in the production process, especially in the fields of wood processing and furniture manufacturing. Wood boards, as the main material, need to be frequently handled and transferred.

[0003] In the existing technology, the traditional method of transporting wooden boards is mainly operated by robots. Traditional robots usually adopt a cylinder-driven clamping structure, which is often difficult to ensure sufficient stability and safety when handling large, heavy or irregularly shaped wooden board materials; and the existing robots generally have a single clamping structure, which makes it difficult for the robot to grasp the wooden board material stably when the position is offset or the angle is incorrect, resulting in grasping failure or the need to adjust the angle of the robot multiple times, affecting the grasping efficiency; in addition, the functions of the existing robots are relatively single, and it is difficult to adapt to the multi-angle and multi-position handling requirements of complex production lines.

[0004] Therefore, the prior art has defects and needs to be improved. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a grabbing manipulator for transporting wooden boards, which has stable clamping and effectively improves the grabbing efficiency.

[0006] To achieve this purpose, the utility model adopts the following technical solutions: a grabbing manipulator for transporting wooden boards, comprising a manipulator body, a lifting and rotating mechanism, a clamping mechanism and a CCD detection camera;

[0007] The robotic arm body is connected to the clamping mechanism through the lifting and rotating mechanism. The CCD detection camera is provided on the clamping mechanism. The CCD detection camera is used to collect the position of the wood material. The clamping mechanism is used to clamp the wood material.

[0008] The clamping mechanism includes a driving motor, a screw rod, a threaded seat, a mounting seat, a first connecting rod arm, a second connecting rod arm and a clamping arm, wherein the screw rod is rotatably connected to the mounting seat, the output shaft of the driving motor is connected to the screw rod, the threaded seat is connected to the screw rod through a thread, and the threaded seat is used to move along the extension direction of the screw rod as the screw rod rotates;

[0009] The two clamping arms are respectively hingedly connected to the mounting seat through the first connecting arm, and the threaded seat is hingedly connected to the clamping arm through the second connecting arm. The two clamping arms are used to close or separate as the threaded seat moves, and the clamping arms are provided with an anti-slip tooth structure.

[0010] According to the above technical solution, in the grabbing manipulator for transporting wooden boards, the lifting and rotating mechanism includes a fixed seat, a lifting cylinder, a connecting plate and a rotating cylinder;

[0011] The fixed seat is connected to the robotic arm body, and the two lifting cylinders are respectively arranged on both sides of the fixed seat. The movable ends of the lifting cylinders are set downward and are connected to the rotating cylinders through the connecting plate. The movable ends of the rotating cylinders are connected to the clamping mechanism.

[0012] By adopting the above-mentioned technical solutions, in the grabbing robot for transporting wooden boards, a slide rail is provided on the surface of the lifting cylinder, and a slide groove adapted to be connected to the slide rail is provided on the connecting plate.

[0013] In the above-mentioned technical solutions, in the grabbing robot for transporting wooden boards, the robot arm body includes a rotary base, a first swing mechanism, a first swing arm, a second swing mechanism, a second swing arm, a third swing mechanism and a third swing arm;

[0014] The rotating base is connected to the bottom of the first swing arm through the first swing mechanism, the top of the first swing arm is connected to one end of the second swing arm through the second swing mechanism, the other end of the second swing arm is connected to the third swing arm through the third swing mechanism, and the third swing arm is connected to the lifting and rotating mechanism.

[0015] By adopting the above-mentioned technical solutions, in the grabbing manipulator for transporting wooden boards, the clamping mechanism further includes a guide rod and a sliding bearing;

[0016] The two guide rods are respectively arranged in the mounting seats on both sides of the screw rod, the sliding bearing is arranged in the threaded seat, and the sliding bearing is sleeve-connected with the guide rod.

[0017] By adopting the above-mentioned technical solutions, in the grabbing robot for transporting wooden boards, each of the clamping arms is hingedly connected to the mounting base through two of the first connecting rod arms.

[0018] By adopting the above-mentioned technical solutions, in the grabbing robot for transporting wooden boards, the mounting seat is provided with a hinge seat, the CCD detection camera is arranged on the hinge seat, and the hinge seat is used to adjust the shooting angle of the CCD detection camera.

[0019] By adopting the above-mentioned technical solutions, in the grabbing robot for transporting wooden boards, the second connecting rod arm has an arc-shaped structure.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] After the CCD detection camera of the present invention collects the position information of the wooden board, the lifting and rotating mechanism and the robotic arm body can adjust the height and rotation angle of the clamping mechanism according to the position information of the wooden board, so that the clamping mechanism can clamp the wooden board, thereby improving the accuracy and efficiency of clamping; the present clamping mechanism adopts a driving motor in conjunction with a screw rod to clamp the wooden board, effectively improving the clamping stability of the wooden board, and avoiding the problem of looseness or unstable clamping caused by changes in the air pressure of the cylinder in traditional robots; and the number of clamping mechanisms is two groups. Compared with a single clamping arm structure, it can not only grasp two wooden boards at the same time, reducing the number of transports in a single operation, but also improve the stability of clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] The structures, proportions, sizes, etc. depicted in the drawings of this specification are only used to match the contents disclosed in this specification so as to facilitate understanding and reading by those familiar with this technology. They are not intended to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modifications, changes in proportional relationships, or adjustments in size, without affecting the efficacy and objectives that can be achieved by the present invention, should still fall within the scope of the technical contents disclosed in the present invention.

[0024] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0025] Figure 2 This is a schematic diagram of the lifting and rotating mechanism structure of the utility model;

[0026] Figure 3 This is a schematic diagram of the structure of the clamping mechanism of the present utility model;

[0027] Figure 4 It is a schematic diagram of the cross-sectional structure of the clamping mechanism of the present utility model. DETAILED DESCRIPTION

[0028] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] In the description of the present invention, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. It should be noted that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally located component.

[0030] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0031] like Figure 1 As shown, the embodiment of the present utility model provides a grabbing robot for transporting wooden boards, comprising a robot arm body 1, a lifting and rotating mechanism 2, a clamping mechanism 3 and a CCD detection camera 4;

[0032] The robotic arm body 1 is connected to the clamping mechanism 3 through the lifting and rotating mechanism 2. The CCD detection camera 4 is arranged on the clamping mechanism 3. The CCD detection camera 4 is used to collect the position of the wooden board material, and the clamping mechanism 3 is used to clamp the wooden board material. When the CCD detection camera 4 collects the position information of the wooden board, the lifting and rotating mechanism 2 and the robotic arm body 1 can adjust the height and rotation angle of the clamping mechanism 3 according to the position information of the wooden board, so that the clamping mechanism 3 can align with the wooden board for clamping, thereby improving the accuracy and efficiency of clamping.

[0033] like Figure 3 and Figure 4As shown, the clamping mechanism 3 includes a driving motor 31, a screw rod 32, a threaded seat 33, a mounting seat 34, a first connecting rod arm 35, a second connecting rod arm 36 and a clamping arm 37. The screw rod 32 can be rotatably connected to the mounting seat 34. The output shaft of the driving motor 31 is connected to the screw rod 32. The threaded seat 33 is connected to the screw rod 32 by a thread. The threaded seat 33 is used to move along the extension direction of the screw rod 32 as the screw rod 32 rotates. The two clamping arms 37 are respectively hingedly connected to the mounting seat 34 through the first connecting rod arm 35, and the threaded seat 33 is hingedly connected to the clamping arm 37 through the second connecting arm 36. The two clamping arms 37 are used to close or separate as the threaded seat 33 moves. The clamping arm 37 is provided with an anti-slip tooth structure 370. When the drive motor 31 rotates, it drives the screw 32 to rotate. As the screw 32 rotates, the threaded seat 33 moves along the extension direction of the screw 32, and then the second link arm 36 pushes the two clamping arms 37 to synchronously close or separate, thereby clamping or releasing the wooden board. The provision of the anti-slip tooth structure 370 can increase the friction between the clamping arms 37 and the wooden board, preventing the wooden board from slipping during the clamping process. In this embodiment, the clamping mechanism 3 uses the drive motor 31 in conjunction with the screw 32 to clamp the wooden board, thereby improving the clamping stability of the wooden board and being less susceptible to air pressure fluctuations, thereby avoiding the loosening or unstable clamping problem caused by air pressure fluctuations in the cylinder of traditional manipulators. In addition, the number of clamping mechanisms 3 is two. Compared with a single clamping structure, not only can two wooden boards be grasped simultaneously, reducing the number of handling times in a single operation, but also the simultaneous clamping of the wooden board at two different positions can be performed, thereby improving the clamping stability. Especially when handling large or heavy wooden boards, the provision of the dual clamping mechanisms 3 can achieve more stable support.

[0034] like Figure 2 As shown, further, the lifting and rotating mechanism 2 includes a fixed base 21, a lifting cylinder 22, a connecting plate 23, and a rotating cylinder 24. The fixed base 21 is connected to the robot arm body 1, and the two lifting cylinders 22 are respectively arranged on both sides of the fixed base 21. The movable ends of the lifting cylinders 22 are arranged downward and are connected to the rotating cylinders 24 through the connecting plate 23. The movable ends of the rotating cylinders 24 are connected to the clamping mechanism 3. The setting of the lifting and rotating mechanism 2 allows the clamping mechanism 3 to be adjusted with multiple degrees of freedom in the vertical direction and the rotational direction, thereby adapting to complex working environments and diverse processing requirements, and increasing the flexibility and adaptability of the robot.

[0035] like Figure 2As shown, further, a slide rail 221 is provided on the surface of the lifting cylinder 22, and a slide groove 231 is provided on the connecting plate 23 to be adapted to connect with the slide rail 221. The provision of the slide rail 221 and the slide groove 231 can improve the smoothness of the lifting movement, prevent deviation and shaking caused by lateral loads, and improve operational accuracy.

[0036] As shown in the figure, further, the robot arm body 1 includes a rotating base 11, a first swinging mechanism 12, a first swing arm 13, a second swinging mechanism 14, a second swing arm 15, a third swinging mechanism 16 and a third swing arm 17. The rotating base 11 is connected to the bottom of the first swing arm 13 through the first swinging mechanism 12, the top of the first swing arm 13 is connected to one end of the second swing arm 15 through the second swinging mechanism 14, the other end of the second swing arm 15 is connected to the third swing arm 17 through the third swinging mechanism 16, and the third swing arm 17 is connected to the lifting and rotating mechanism 2. With such an arrangement, the robot arm body 1 can achieve multiple degrees of freedom adjustment to perform precise grasping and carrying operations on wooden boards of different positions, angles and heights.

[0037] like Figure 3 and Figure 4 As shown, the clamping mechanism 3 further includes a guide rod 38 and a sliding bearing 39. The two guide rods 38 are respectively disposed in the mounting seat 34 on both sides of the screw rod 32. The sliding bearing 39 is disposed in the threaded seat 33 and is sleeved and connected to the guide rod 38. The provision of the guide rod 38 and the sliding bearing 39 can improve the stability of the threaded seat 33 during movement, thereby preventing tilting or shaking when clamping a wooden board.

[0038] like Figure 4 As shown, further, each of the clamping arms 37 is hingedly connected to the mounting base 34 via two first link arms 35. During movement, the clamping arms 37 are subjected to torsional forces or lateral forces from different directions. The provision of two first link arms 35 can enhance the torsional rigidity of the clamping mechanism 3, prevent the clamping arms 37 from twisting or deflecting when subjected to force, and improve clamping stability.

[0039] like Figure 3 As shown, the mounting base 34 is further provided with an articulated base 341, on which the CCD inspection camera 4 is mounted. The articulated base 341 is used to adjust the shooting angle of the CCD inspection camera 4. Since different wooden boards have different sizes, shapes, or placement methods, the provision of the articulated base 341 facilitates the CCD inspection camera 4 to adjust the shooting angle according to actual conditions to adapt to different workpiece processing scenarios.

[0040] like Figure 4As shown, further, the second connecting arm 36 is in an arc-shaped structure. The arc-shaped second connecting arm 36 can avoid interference with other structural components during movement, making the clamping movement of the clamping mechanism 3 smoother and not affecting the operation due to contact or collision between other components.

[0041] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A grabbing manipulator for transporting wooden boards, characterized in that: It includes the robot body, lifting and rotating mechanism, clamping mechanism and CCD detection camera; The robotic arm body is connected to the clamping mechanism through the lifting and rotating mechanism. The CCD detection camera is provided on the clamping mechanism. The CCD detection camera is used to collect the position of the wood material. The clamping mechanism is used to clamp the wood material. The clamping mechanism includes a driving motor, a screw rod, a threaded seat, a mounting seat, a first connecting rod arm, a second connecting rod arm and a clamping arm, wherein the screw rod is rotatably connected to the mounting seat, the output shaft of the driving motor is connected to the screw rod, the threaded seat is connected to the screw rod through a thread, and the threaded seat is used to move along the extension direction of the screw rod as the screw rod rotates; The two clamping arms are respectively hingedly connected to the mounting seat through the first connecting arm, and the threaded seat is hingedly connected to the clamping arm through the second connecting arm. The two clamping arms are used to close or separate as the threaded seat moves, and the clamping arms are provided with an anti-slip tooth structure.

2. The grabbing robot for transporting wooden boards according to claim 1, characterized in that: The lifting and rotating mechanism includes a fixed seat, a lifting cylinder, a connecting plate and a rotating cylinder; The fixed seat is connected to the robotic arm body, and the two lifting cylinders are respectively arranged on both sides of the fixed seat. The movable ends of the lifting cylinders are set downward and are connected to the rotating cylinders through the connecting plate. The movable ends of the rotating cylinders are connected to the clamping mechanism.

3. The grabbing robot for transporting wooden boards according to claim 2, characterized in that: A slide rail is provided on the surface of the lifting cylinder, and a slide groove adapted to be connected to the slide rail is provided on the connecting plate.

4. The grabbing robot for transporting wooden boards according to claim 1, characterized in that: The robotic arm body includes a rotary base, a first swing mechanism, a first swing arm, a second swing mechanism, a second swing arm, a third swing mechanism and a third swing arm; The rotating base is connected to the bottom of the first swing arm through the first swing mechanism, the top of the first swing arm is connected to one end of the second swing arm through the second swing mechanism, the other end of the second swing arm is connected to the third swing arm through the third swing mechanism, and the third swing arm is connected to the lifting and rotating mechanism.

5. The grabbing robot for transporting wooden boards according to claim 1, characterized in that: The clamping mechanism also includes a guide rod and a sliding bearing; The two guide rods are respectively arranged in the mounting seats on both sides of the screw rod, the sliding bearing is arranged in the threaded seat, and the sliding bearing is sleeve-connected with the guide rod.

6. The grabbing robot for transporting wooden boards according to claim 1, characterized in that: Each of the clamping arms is hingedly connected to the mounting seat via two of the first connecting rod arms.

7. The grabbing robot for transporting wooden boards according to claim 1, characterized in that: An articulated seat is provided on the mounting seat, and the CCD detection camera is arranged on the articulated seat. The articulated seat is used to adjust the shooting angle of the CCD detection camera.

8. The grabbing robot for transporting wooden boards according to claim 1, characterized in that: The second connecting rod arm has an arc-shaped structure.

Images