Six-axis mechanical arm material taking and moving device

Abstract

A mounting plate is arranged at the output end of a six-axis mechanical arm, at least one multi-claw air cylinder is arranged at the output end of the six-axis mechanical arm, a plurality of material taking tools are arranged at the output end of the multi-claw air cylinder, each material taking tool comprises a positioning plate, an outer supporting plate and a pressing plate, each positioning plate is of an L-shaped structure and arranged at the output end of the corresponding multi-claw air cylinder, and each outer supporting plate is arranged at the output end of the corresponding multi-claw air cylinder. The outer supporting plate is of a cuboid structure, the pressing plate is of an L-shaped structure and arranged on the outer supporting plate, the end of the pressing plate protrudes out of the outer supporting plate, when the outer supporting plate is vertically arranged on the positioning plate, the pressing plate is located on the inner side of the outer supporting plate, and the outer supporting plate drives the outer side wall of the outer supporting plate to support and take products outwards. When the outer supporting plate is horizontally arranged on the positioning plate, the end portion of the pressing plate protrudes downwards out of the outer supporting plate and is driven to clamp products inwards, the material taking tool can be suitable for products of different types (with different sizes of middle holes) only by adjusting the installation state of the outer supporting plate, the application range is expanded, the whole material taking tool does not need to be replaced, and the material taking efficiency is improved. The structure is simple and easy to adjust.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arm devices, in particular to a six-axis mechanical arm material taking and moving device. Background Art

[0002] Because the multi-axis robot arm has multi-directional movement and extension functions, it is often used in conjunction with the material handling tooling to realize automatic material handling and transfer, thereby improving the efficiency of product loading and unloading. Based on the above settings, the material handling tooling generally takes the product by supporting it outward or clamping it inward. Figure 6 As shown, after forming, the product 100 can be placed on a rack for storage, or transported to the side of a multi-axis manipulator for picking up and moving the product. Depending on the specifications of the product 100, the size of the center hole 100a is different. For products with a larger center hole, the center hole is hung on a hanger 102 located on a stand 101, and the material picking tool can be extended into the center hole to support the product outward for picking up the material. However, for products with a smaller center hole, the center hole is also smaller. In order to ensure the stability of the product during storage or transportation, a thin hanger 102′ needs to be used to match it, and it does not have the conditions for the material picking tool to extend into the center hole.

[0003] In the prior art, for example, a loading and unloading robot for mechanical manufacturing with application number 202021065583.3 has a material picking tool that can only perform clamping. Similarly, the material picking tool in other technologies can only perform external support. If the material picking method needs to be changed (clamping and external support methods are interchangeable), the entire tooling needs to be replaced, and the applicability of the tooling is not strong. For example, in the prior art, both clamping tooling and supporting tooling can be set at the output end of a multi-axis robot, but only one type of tooling can be used for the same type of product, resulting in a waste of resources. Utility Model Content

[0004] The purpose of the present utility model is to provide a six-axis robotic arm material picking and moving device, which can use a vertical outer support plate to extend into the product to support the product outward, or use a horizontal outer support plate and a pressure plate located on the outer support plate to abut against the side wall of the product to clamp the product inward. It only needs to adjust the installation state of the outer support plate to be suitable for different types of products (with different center hole sizes) without replacing the entire set of material picking tooling.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a six-axis robot arm material picking and moving device, including a six-axis robot, a mounting plate, a multi-claw cylinder and a material picking tool, the mounting plate is arranged on the output end of the six-axis robot, and its output end is provided with at least a multi-claw cylinder, the output end of the multi-claw cylinder is provided with multiple material picking tooling, the material picking tooling includes a positioning plate, an outer support plate and a pressure plate, the positioning plate is an L-shaped structure, which is arranged on the output end of the multi-claw cylinder, the outer support plate is a rectangular structure, and the pressure plate is an L-shaped structure, which is arranged on the outer support plate and its end protrudes from the outer support plate, when the outer support plate is vertically arranged on the positioning plate, the pressure plate is located on the inner side of the outer support plate, and the outer support plate is driven by the multi-claw cylinder to support the product outward through its outer wall, and when the outer support plate is horizontally arranged on the positioning plate, the end of the pressure plate protrudes downward from the outer support plate and is driven inward by the multi-claw cylinder to clamp the product.

[0006] As a further optimization, a positioning groove in an inverted L-shaped structure is provided on the outer support plate. When the outer support plate is vertically arranged on the positioning plate, the positioning plate is at least partially embedded in the positioning groove.

[0007] As a further optimization, the outer side wall of the outer support plate is in an arc structure, which can better match the center hole of the product when the product is supported outward.

[0008] As a further optimization, an auxiliary groove is provided on the outer side wall of the outer support plate, which can be nested with the positioning plate when the outer support plate is installed in a horizontal state to ensure installation accuracy and installation stability.

[0009] As a further optimization, a first horizontal hole is provided on the positioning plate, and a second horizontal hole is provided on the outer support plate. When the outer support plate is vertically arranged on the positioning plate, the outer support plate is locked on the positioning plate by a bolt that passes horizontally through the first horizontal hole and extends into the second horizontal hole.

[0010] As a further optimization, a first vertical hole is provided on the positioning plate. When the outer support plate is horizontally arranged on the positioning plate, the outer support plate is locked on the positioning plate by a bolt that vertically passes through the second horizontal hole and extends into the first vertical hole.

[0011] As a further optimization, a waist hole is provided on the pressure plate, and a third horizontal hole is provided on the outer support plate below the second horizontal hole. The pressure plate is locked on the outer support plate by a bolt passing through the waist hole and extending into the third horizontal hole. The installation position of the pressure plate on the outer support plate can be adjusted to adapt to products of different widths.

[0012] As a further optimization, the multi-claw cylinder is a three-claw cylinder, and one multi-claw cylinder is provided with three material-retrieving tools.

[0013] As further optimization, the number of the multi-claw air cylinders is two, and the two multi-claw air cylinders are vertically arranged on the mounting plate to alternately drive the material taking tool to improve the work efficiency.

[0014] As further optimization, the mounting plate comprises a bottom plate and a pair of side plates, the bottom plate is mounted on the output end of the six-axis manipulator, the pair of side plates are vertically arranged on the bottom plate, and each side plate is provided with a multi-claw air cylinder.

[0015] Compared with the prior art, the utility model has the beneficial effects that:

[0016] 1. The installation state of the outer support plate on the positioning plate can realize two different material taking modes, the outer support plate in the vertical state extends into the product to outwardly support and take the product, or the outer support plate in the horizontal state and the pressing plate located on the outer support plate abut against the side wall of the product to inwardly clamp and take the product, only the installation state of the outer support plate needs to be adjusted to be applicable to different types (different hole sizes) of products, thereby expanding the application range and not needing to replace the whole material taking tool;

[0017] 2. The adjustment of the material taking mode of the material taking tool is completed through the cooperation between the first horizontal hole, the second horizontal hole and the first vertical hole and the adjustment of the state of the outer support plate, and the structure is simple and more easy to adjust. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a structural diagram of the utility model.

[0019] Figure 2 It is a structural diagram of the material taking tool of the utility model.

[0020] Figure 3 It is an exploded view of the material taking tool of the utility model.

[0021] Figure 4 It is a structural diagram of another side view of the outer support plate of the utility model.

[0022] Figure 5 It is a structural diagram of the mounting plate of the utility model.

[0023] Figure 6 It is a schematic diagram of the product placed on the hanger.

[0024] Figure 7 It is another structural schematic diagram of the hanger. DETAILED DESCRIPTION

[0025] The following is a specific embodiment of the utility model and further describes the technical scheme of the utility model in combination with the drawings, but the utility model is not limited to these embodiments.

[0026] As Figures 1 to 3 As shown, a six-axis manipulator material picking and moving device includes a six-axis manipulator 10, a mounting plate 20, a multi-claw cylinder 30 and a picking tool 40. The mounting plate 20 is arranged at the output end of the six-axis manipulator 10, and at least one multi-claw cylinder 30 is provided at its output end. The output end of the multi-claw cylinder 30 is provided with multiple picking tooling 40. Preferably, the multi-claw cylinder 30 is a three-claw cylinder, then three picking tooling 40 need to be provided on a three-claw cylinder. The picking tooling 40 includes a positioning plate 41, an outer support plate 42 and a pressing plate 43. The positioning plate 41 is an L-shaped structure, which has a first horizontal plate 411 and a first vertical plate 412. The positioning plate 41 is provided with a first vertical plate 412 through its first horizontal plate 411. A horizontal plate 411 is provided at the output end of the multi-claw cylinder 30, the outer support plate 42 is a rectangular parallelepiped structure, and the pressing plate 43 is an L-shaped structure, which has a second horizontal plate 431 and a second vertical plate 432. The pressing plate 43 is provided on the outer support plate 42 through its second vertical plate 432 and its end (lower end) protrudes from the outer support plate 42. The material-retrieving fixture 40 forms two states by adjusting the installation position and installation posture of the outer support plate 42: one is that when the outer support plate 42 is vertically provided on the positioning plate 41, the pressing plate 43 is located on the inner side of the outer support plate 42, and the outer support plate 42 is driven by the multi-claw cylinder 30 through the outer wall of the outer support plate 42 to support the product outward (i.e. Figure 2 and Figure 3 The other is that when the outer support plate 42 is in a horizontal state and is arranged on the positioning plate 41, the end of the pressing plate 43 (that is, the second transverse plate 431 is in a vertical state) protrudes downward from the outer support plate 42 and is driven by the multi-claw cylinder 30 to clamp the product inward through the second transverse plate 431 in a vertical state, and at this time, it can be connected to the first transverse plate 411 through the outer support plate 42.

[0027] When using this six-axis robotic arm material removal and transfer device, for example Figure 6 The product 100 is placed in the state shown (the product 100 is placed on the hanger 102 on the stand 101 through its larger center hole 100a), and the six-axis manipulator 10 drives the multi-claw cylinder 30 to drive the material picking tool 40 to extend into the center hole 100a. In this case, the material picking and moving of the product 100 is to support the product outward, that is, the outer support plate 42 is vertically arranged on the positioning plate 41, and the multi-claw cylinder 30 pushes the positioning plate 41 outward to drive the outer support plate 42 to move outward so that the outer wall of the outer support plate 42 The material is removed by the movement of the six-axis manipulator 10. When the material removal tool 40 is unloading, the positioning plate 41 is pulled inward by the multi-claw cylinder 30 to drive the outer support plate 42 to move inward and separate from the inner wall of the middle hole 100a, thus completing the unloading. However, if the product 100 does not have a middle hole, or has only a smaller middle hole, it is not suitable for the above-mentioned outward-supporting material removal method. For example, the product 100 is placed on the smaller middle hole as shown in FIG. Figure 7When the material picking tool 40 is on the fine hanger 102′ shown in the figure, the material picking tool 40 does not have the conditions to extend into the middle hole through the outer support plate 42. In this case, the installation state of the outer support plate 42 on the positioning plate 41 is adjusted, and the material picking and moving of the product is adjusted to clamp the product inward, that is, the outer support plate 42 is arranged on the positioning plate 41 in a horizontal state, and the positioning plate 41 is pulled inward by the multi-claw cylinder 30 to drive the outer support plate 42 and the pressure plate 43 (second horizontal plate 431) located on the outer support plate 42 to move inward and abut against the side wall of the product 100 to complete the inward clamping of the product. After the material picking action is completed, the material is moved by the movement of the six-axis manipulator 10. When the material picking tool 40 unloads the material, the multi-claw cylinder 30 pushes the positioning plate 41 outward to drive the outer support plate 42 and the pressure plate 43 (second horizontal plate 431) located on the outer support plate 42 to move outward and separate from the side wall of the product 100 to complete the unloading.

[0028] The material-picking tool 40 of the present invention can realize two different material-picking methods by adjusting the installation state of the outer support plate 42 on the positioning plate 41, namely, the outer support plate 42 in a vertical state is extended into the middle hole of the product 100 to support the product 100 outward, or the outer support plate 42 in a horizontal state and the pressure plate 43 (the second horizontal plate 431 in a vertical state) located on the outer support plate 42 are in contact with the side wall of the product 100 to clamp the product 100 inward. Therefore, it is only necessary to adjust the installation state of the outer support plate 42 to be suitable for different types of products (with different sizes of middle holes), thereby expanding the scope of application and eliminating the need to replace the entire set of material-picking tooling.

[0029] For example Figure 3 As shown, when the outer support plate 42 is installed on the positioning plate 41 in a vertical state or a horizontal state, specifically: a first horizontal hole 41a is provided on the positioning plate 41, and a second horizontal hole 42a is provided on the outer support plate 42. When the outer support plate 42 is installed on the positioning plate 41 in a vertical state, the outer support plate 42 is locked to the positioning plate 41 by a bolt that passes horizontally through the first horizontal hole 41a and extends into the second horizontal hole 42a. In addition, a first vertical hole 41b is provided on the positioning plate 41. When the outer support plate 42 is installed on the positioning plate 41 in a horizontal state, the outer support plate 42 is locked to the positioning plate 41 by a bolt that passes vertically through the second horizontal hole 42a and extends into the first vertical hole 41b. As described above, the adjustment of the material retrieving tooling form and the material retrieving method can be completed only through the coordination between the first horizontal hole 41a, the second horizontal hole 42a and the first vertical hole 41b, and the adjustment of the state of the outer support plate 42. The structure is simpler and easier to adjust.

[0030] In order to ensure the accurate installation position of the outer support plate 42 and the positioning plate 41, a positioning groove 4201 with an inverted L-shaped structure is provided on the outer support plate 4. When the outer support plate 42 is vertically arranged on the positioning plate 41, the first horizontal plate 411 and the first vertical plate 412 on the positioning plate 41 are respectively embedded in the positioning groove 4201 to ensure accurate installation position and stable installation.

[0031] When the product 100 is supported outward, the outer wall of the outer support plate 42 is in an arc structure to match the inner wall of the middle hole 100a; based on this, as Figure 4 As shown, an auxiliary groove 4202 is provided on the outer wall of the outer support plate 42, and the auxiliary groove 4202 is connected to the positioning groove 4201, so that when the outer support plate 42 is set in a horizontal state on the positioning plate 41, the positioning plate 41 can also be embedded in the corresponding groove to ensure accurate installation position and stable installation.

[0032] A waist hole 43a is provided on the pressure plate 43 (second vertical plate 432), and a third horizontal hole 42b is provided on the outer support plate 42 below the second horizontal hole 42a. The second vertical plate 432 is locked on the outer support plate 42 by a bolt passing through the waist hole 43a and extending into the third horizontal hole 42b; further, the positioning groove 4201 extends downward to the lower end of the outer support plate 42, and the second vertical plate 432 can be embedded in the positioning groove 4201 to ensure the vertical accuracy of the pressure plate installation; and the installation position of the second vertical plate 432 (pressure plate 43) can be adjusted through the waist hole 43a to match the width of the product 100 as much as possible.

[0033] In the present invention, the number of the multi-claw cylinders 30 is preferably two, and the two multi-claw cylinders 30 are vertically arranged on the mounting plate 20, which can complete the material removal and transfer of two products 100 at a time, thereby improving work efficiency; specifically, Figure 5 As shown, the mounting plate 20 includes a base plate 21 and a pair of side plates 22. The base plate 21 is mounted on the output end of the six-axis manipulator 10. The pair of side plates 22 are arranged on the base plate 21 in a perpendicular state. A multi-claw cylinder 30 is provided on each side plate 22, which can alternately take materials by rotating 90° to avoid mutual interference.

[0034] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope defined by the appended claims.

Claims

1. A six-axis manipulator material picking and moving device, comprising a six-axis manipulator, a mounting plate, a multi-claw cylinder, and a material picking fixture, wherein the mounting plate is arranged at the output end of the six-axis manipulator, and at least one multi-claw cylinder is provided at the output end thereof, and a plurality of material picking fixtures are provided at the output end of the multi-claw cylinder, characterized in that: The material-retrieving tooling includes a positioning plate, an outer support plate and a pressure plate. The positioning plate is in an L-shaped structure and is arranged at the output end of the multi-claw cylinder. The outer support plate is in a rectangular structure. The pressure plate is in an L-shaped structure and is arranged on the outer support plate and its end protrudes from the outer support plate. When the outer support plate is vertically arranged on the positioning plate, the pressure plate is located on the inner side of the outer support plate, and the outer support plate is driven by the multi-claw cylinder to support the product outward through its outer side wall. When the outer support plate is horizontally arranged on the positioning plate, the end of the pressure plate protrudes downward from the outer support plate and is driven by the multi-claw cylinder to clamp the product inward.

2. The six-axis robotic arm material picking and moving device according to claim 1, characterized in that: The outer support plate is provided with a positioning groove in an inverted L-shaped structure. When the outer support plate is vertically arranged on the positioning plate, the positioning plate is at least partially embedded in the positioning groove.

3. The six-axis robotic arm material picking and moving device according to claim 1, characterized in that: The outer side wall of the outer support plate is in a curved structure.

4. The six-axis robotic arm material picking and moving device according to claim 3, characterized in that: An auxiliary groove is provided on the outer side wall of the outer support plate.

5. The six-axis robotic arm material taking and moving device according to claim 1 or 2, characterized in that: A first horizontal hole is provided on the positioning plate, and a second horizontal hole is provided on the outer support plate. When the outer support plate is vertically arranged on the positioning plate, the outer support plate is locked on the positioning plate by a bolt that passes horizontally through the first horizontal hole and extends into the second horizontal hole.

6. The six-axis robotic arm material taking and moving device according to claim 1, 2 or 4, characterized in that: The positioning plate is provided with a first vertical hole. When the outer support plate is horizontally arranged on the positioning plate, the outer support plate is locked on the positioning plate by a bolt that vertically passes through the second horizontal hole and extends into the first vertical hole.

7. The six-axis robotic arm material taking and moving device according to claim 5, characterized in that: The pressure plate is provided with a waist hole, and the outer support plate is provided with a third horizontal hole below the second horizontal hole. The pressure plate is locked on the outer support plate by a bolt that passes through the waist hole and extends into the third horizontal hole.

8. The six-axis robotic arm material taking and moving device according to claim 1, characterized in that: The multi-claw cylinder is a three-claw cylinder, and one multi-claw cylinder is provided with three material taking fixtures.

9. The six-axis robotic arm material taking and moving device according to claim 1 or 8, characterized in that: There are two multi-claw cylinders, and the two multi-claw cylinders are vertically arranged on the mounting plate.

10. The six-axis robotic arm material taking and moving device according to claim 9, characterized in that: The mounting plate includes a base plate and a pair of side plates. The base plate is mounted on the output end of the six-axis manipulator. The pair of side plates are vertically arranged on the base plate, and each side plate is provided with a multi-claw cylinder.

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