Clamping turnover type robot

Abstract

The utility model relates to a clamping turnover type robot which comprises a mechanical arm and further comprises a frame body detachably connected to the output end of the mechanical arm, a frame hinged to the frame body and a rotating device driving the frame to rotate, and clamping plates moving oppositely to clamp a material frame are arranged on the frame. The frame is further provided with a first driving device for driving the clamping plates to move. According to the material frame overturning device, overturning of the material frame is achieved through the arrangement of the rotating device and the frame, and clamping of the material frame is achieved through the arrangement of the clamping plates; according to the scheme, after a material frame is clamped by a clamping plate, a mechanical arm drives the material frame to move upwards to be lifted by a certain height, then a second rotating device is driven to drive a fixing plate to move towards the material frame, two limiting plates are inserted into the upper portion and the lower portion of the material frame correspondingly, and then a third driving device is driven to drive the two limiting plates to move oppositely; and the two limiting plates clamp the material frame from the upper portion and the lower portion correspondingly, and therefore stable fixing of the material frame is achieved.

Description

Technical Field

[0001] The utility model relates to the field of machinery, in particular to the field of robot technology, and specifically refers to a clamping and flipping robot. Background Art

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines used in the industrial sector. They can perform tasks autonomously, relying on their own power and control capabilities to achieve various functions. They can operate under human command or according to pre-programmed procedures. Modern industrial robots can also operate according to principles developed using artificial intelligence technology.

[0003] Currently, a robot is needed to move the materials in the material frame into the cleaning pool for cleaning. The material frame full of materials needs to be grabbed and destackered, and then the material frame is moved to the material pouring place, flipped over, and the material is poured out of the material frame. Then the material frame is flipped over and reset, and then the material frame is palletized. Traditional palletizing robots can only transfer material trays or material frames, and cannot pour out the materials in the material frame. Therefore, a robot that can realize this process is needed. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a clamping and flipping robot which can realize the depalletizing, flipping and stacking of material frames to meet production needs.

[0005] The utility model is realized through the following technical scheme: a clamping and flipping robot, including a robotic arm, a frame detachably connected to the output end of the robotic arm, a frame hinged on the frame, and a rotating device for driving the frame to rotate. The frame is provided with clamping plates that move toward each other to clamp the material frame, and the frame is also provided with a first driving device that drives the clamping plate to move.

[0006] When this preferred solution is in use, the driving mechanical arm drives the frame and the frame to move to the loading position. At this time, the clamping plates are located on both sides of the material frame. The first driving device is then driven to drive the clamping plates to move toward the material frame, so that the two clamping plates move toward each other, thereby clamping the material frame. The mechanical arm is then driven to drive the material frame to move to the unloading position. The rotating device is then driven to drive the frame to rotate, and the frame drives the material frame to rotate through the clamping plates, thereby realizing the flipping of the material frame. After the material frame is flipped, the material is poured into the unloading position. The rotating device is then driven to drive the frame and the material frame to reset, and move to the unloading position under the drive of the mechanical arm. The clamping plates are then moved in the direction away from the material frame by the first driving device, thereby releasing the restraint on the material frame, thereby realizing the unloading of the material frame.

[0007] Preferably, the frame is also provided with fixed plates located on both sides of the clamping plate, and a second driving device that drives the fixed plate to move toward the material frame. The fixed plate is provided with two limit plates arranged along the height direction and moving along the height direction. The material frame is located between the two limit plates. The fixed plate is also provided with a third driving device that drives the two limit plates to move.

[0008] When this preferred solution is in use, since the clamping plate uses an extrusion method when clamping the material frame, when the extrusion force is small, the clamping of the material frame is unstable when the material frame is flipped, and when the extrusion force is large, the material frame will be damaged. Therefore, in this solution, after the clamping plate clamps the material frame, the robotic arm drives the material frame to move upward to a certain height, and then drives the second rotating device to drive the fixed plate to move toward the material frame, so that the two limit plates are respectively inserted into the upper and lower parts of the material frame, and then drives the third driving device to drive the two limit plates to move toward each other, so that the two limit plates clamp the material frame from the top and bottom respectively, thereby achieving stable fixation of the material frame.

[0009] Preferably, the third driving device includes a bidirectional cylinder whose protruding end extends in the height direction, and the two limit plates are respectively connected to the two protruding ends of the bidirectional cylinder.

[0010] This preferred solution is to use a bidirectional cylinder to facilitate the synchronous movement of the two limit plates.

[0011] Preferably, a loading rack and a unloading rack for holding material frames are provided on both sides of the robotic arm, the loading rack, the robotic arm and the unloading rack are arranged in sequence along the horizontal direction, and the material unloading point and the robotic arm are arranged along the vertical direction.

[0012] This preferred solution facilitates the orderly and smooth depalletizing, flipping and stacking by arranging the loading rack, the mechanical arm and the unloading rack relative to the material unloading location.

[0013] Preferably, the clamping plate is further provided with a weight-reducing hole adapted to the position of the material frame handle. This preferred solution reduces the weight of the clamping plate by providing the weight-reducing hole, and at the same time, during the clamping process, the handle is inserted into the weight-reducing hole, so that the clamping plate avoids the handle.

[0014] Preferably, the base of the robotic arm is bolted to a support platform, and the support platform is bolted to the ground.

[0015] This preferred solution facilitates adjustment of the height of the robotic arm by providing a support platform, and also facilitates removal of the robotic arm from the ground.

[0016] The beneficial effects of the present invention are as follows: the material frame is flipped by the setting of the rotating device and the frame, and the material frame is clamped by the setting of the supporting plate; since the clamping plate adopts an extrusion method when clamping the material frame, when the extrusion force is small, the clamping of the material frame is unstable when the material frame is flipped, and when the extrusion force is large, the material frame will be damaged. Therefore, in this solution, after the clamping plate clamps the material frame, the mechanical arm drives the material frame to move upward to a certain height, and then drives the second rotating device to drive the fixed plate to move toward the material frame, so that the two limit plates are respectively inserted into the upper and lower parts of the material frame, and then drives the third driving device to drive the two limit plates to move toward each other, so that the two limit plates clamp the material frame from the top and bottom respectively, thereby achieving stable fixation of the material frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a three-dimensional schematic diagram of the structure of the utility model after the material frame is turned over;

[0018] Figure 2 for Figure 1 A in the middle is an enlarged schematic diagram;

[0019] Figure 3 This is the main view of the structure of the utility model after the material frame is turned over;

[0020] Figure 4 for Figure 3 The enlarged schematic diagram of point B in the middle;

[0021] Figure 5 This is a top view of the structure of the utility model after the material frame is turned over;

[0022] Figure 6 for Figure 5 Enlarged schematic diagram at point C in the middle;

[0023] Figure 7 A three-dimensional schematic diagram of the structure of the utility model from another angle;

[0024] As shown in the figure:

[0025] 1. Robotic arm, 2. Loading rack, 3. Unloading rack, 4. Frame, 5. Frame, 6. Rotating device, 7. Fixed plate, 8. Material frame, 9. Limiting plate, 10. Clamping plate, 11. First driving device, 12. Second driving device, 13. Third driving device. DETAILED DESCRIPTION

[0026] In order to clearly illustrate the technical features of this solution, this solution is described below through specific implementation methods.

[0027] Refer to the attached Figure 1-7The utility model is a clamping and flipping robot, including a robotic arm 1, the base of the robotic arm 1 is bolted to a support platform, the support platform is bolted to the ground, and a loading rack 2 and a unloading rack 3 for holding a material frame 8 are provided on both sides of the robotic arm. The loading rack 2, the robotic arm 1, and the unloading rack 3 are arranged in sequence along the horizontal direction, and the material unloading point and the robotic arm 1 are arranged longitudinally. The loading rack 2 and the unloading rack 3 are both existing technologies.

[0028] The output end of the robot arm 1 is connected to a frame 4 by bolts, and the frame 4 is connected to a frame 5 by a hinge shaft. The frame 4 is also provided with a rotating device 6 for rotating the hinge shaft, and the rotating device 6 includes a motor whose output end is connected to the hinge shaft.

[0029] A first driving device 11 is bolted to the frame 5. The first driving device 11 is a cylinder. The protruding end of the first driving device 11 protrudes inward. There are two first driving devices 11. The two first driving devices 11 are arranged opposite to each other. The material frame 8 is located between the two first driving devices 11, that is, the material frame 8 is located on the inner side of the two first driving devices 11. A clamping plate 10 is fixed to the protruding end of the first driving device 11. The clamping plate 10 is provided with a weight-reducing hole that is adapted to the handle position of the material frame 8.

[0030] The frame 5 is also provided with fixed plates 7 located on both sides of the clamping plate 10, and a second driving device 12 that drives the fixed plates 7 to move toward the material frame 8, that is, there are four fixed plates 7 in total, two fixed plates 7 are arranged corresponding to one clamping plate 10, and the fixed plates 7, clamping plates 10, and fixed plates 7 on the same side are arranged in sequence, and the four fixed plates 7 are arranged in a rectangular shape.

[0031] The fixed plate 7 is located between the second drive device 12 and the material frame 8. The extended end of the second drive device 12 extends inward and is fixed to the fixed plate 7. A third drive device 13 is fixed to the inner side of the fixed plate 7. The third drive device 13 is a bidirectional cylinder with an extended end extending in the height direction. The two extended ends of the bidirectional cylinder are fixed to the limit plates 9. The two limit plates 9 are arranged in the height direction and move toward or away from each other in the height direction.

[0032] The material frame 8 is located between two limiting plates 9 , that is, one limiting plate 9 is located above the material frame 8 , and the other limiting plate 9 is located below the material frame 8 .

[0033] When the utility model is in use, the driving mechanical arm 1 drives the frame 4 and the frame 5 to move to the loading position. At this time, the clamping plates 10 are located on both sides of the material frame 8. Then, the first driving device 11 is driven to drive the clamping plates 10 to move toward the material frame 8, so that the two clamping plates 10 move toward each other, thereby clamping the material frame 8.

[0034] The robot arm 1 drives the material frame 8 to move upward to a certain height, then drives the second rotating device 6 to drive the fixed plate 7 to move toward the material frame 8, so that the two limit plates 9 are respectively inserted above and below the material frame 8, and then drives the third driving device 13 to drive the two limit plates 9 to move toward each other, so that the two limit plates 9 clamp the material frame 8 from above and below respectively, thereby achieving stable fixation of the material frame 8;

[0035] Then drive the robot arm 1 to drive the material frame 8 to move to the unloading place, and then drive the rotating device 6 to drive the frame 5 to rotate. The frame 5 drives the material frame 8 to rotate through the clamping plate 10, thereby realizing the flipping of the material frame 8. After the material frame 8 is flipped, the material is poured into the unloading place;

[0036] Then drive the rotating device 6 to drive the frame 5 and the material frame 8 to reset, and move them to the unloading position under the drive of the robotic arm 1, and then drive the third drive device 13 to drive the two limit plates 9 to move backward, and drive the second drive device 12 to drive the fixed plate 7 and the limit plate 9 to move outward, that is, move away from the material frame 8, so that the two limit plates 9 move to the side of the material frame 8, and then drive the robotic arm 1 to move downward, place the material frame 8 on the unloading rack 3, and then drive the first drive device 11 to drive the two clamping plates 10 to reset, thereby realizing the stacking of the material frame 8.

[0037] Of course, the above description is not limited to the above examples. The technical features not described in the present invention can be achieved through or by adopting existing technologies, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solution of the present invention and are not limitations of the present invention. The present invention is described in detail with reference to the preferred implementation methods. Ordinary technicians in this field should understand that the changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention do not depart from the purpose of the present invention and should also fall within the scope of protection of the claims of the present invention.

Claims

1. A gripping and flipping robot, comprising a robotic arm (1), characterized in that: The invention also includes a frame (4) detachably connected to the output end of the robot arm (1), a frame (5) hinged on the frame (4), and a rotating device (6) for driving the frame (5) to rotate. The frame (5) is provided with a clamping plate (10) for moving toward each other to clamp the material frame (8). The frame (5) is also provided with a first driving device (11) for driving the clamping plate (10) to move.

2. The gripping and flipping robot according to claim 1, characterized in that: The frame (5) is further provided with a fixing plate (7) located on both sides of the clamping plate (10), and a second driving device (12) for driving the fixing plate (7) to move toward the material frame (8). The fixing plate (7) is provided with two limiting plates (9) arranged in a height direction and moving in the height direction. The material frame (8) is located between the two limiting plates (9). The fixing plate (7) is further provided with a third driving device (13) for driving the two limiting plates (9) to move.

3. The gripping and flipping robot according to claim 2, characterized in that: The third driving device (13) comprises a bidirectional cylinder whose protruding end protrudes in the height direction, and two limit plates (9) are respectively connected to the two protruding ends of the bidirectional cylinder.

4. The gripping and flipping robot according to claim 1, characterized in that: A loading rack (2) and a unloading rack (3) for holding a material frame (8) are provided on both sides of the robotic arm (1); the loading rack (2), the robotic arm (1), and the unloading rack (3) are arranged in sequence along the transverse direction, and a material unloading position and the robotic arm (1) are arranged along the longitudinal direction.

5. The gripping and flipping robot according to claim 1, characterized in that: The clamping plate (10) is also provided with a weight-reducing hole adapted to the position of the handle of the material frame (8).

6. The gripping and flipping robot according to claim 1, characterized in that: The base of the mechanical arm (1) is bolted to a support platform, and the support platform is bolted to the ground.

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