Automatic material taking mechanical device

Abstract

The utility model relates to the field of automatic material taking, and discloses an automatic material taking mechanical device which comprises a mechanical arm, a mounting cylinder is arranged on the front side of the mechanical arm, a base is connected to the inner wall of the mounting cylinder in an inserted mode, a mechanical claw is fixedly connected to the front side of the base, and a connecting mechanism is arranged on the inner wall of the mounting cylinder. And the connecting mechanism comprises a clamping assembly and a driving assembly, the clamping assembly comprises an inserting column, the inserting column is fixedly connected to the rear side of the base, a limiting groove is formed in the outer side of the inserting column, and the inserting column is inserted into the inner wall of the mounting cylinder. According to the device, the mechanical arm, the mechanical claw and the connecting mechanism are used in cooperation, when the mechanical claw of the mechanical arm needs to be replaced, the driving motor drives the gear ring to rotate, the protrusion on the inner side of the gear ring slides out of the inner wall of the limiting groove, then the mechanical claw can be rapidly taken down, and therefore the operation difficulty of the device is reduced, and the replacement efficiency is improved. And the working efficiency of the equipment is improved.

Description

Technical Field

[0001] This utility model relates to the field of automated material handling, and in particular to an automated material handling mechanical device. Background Technology

[0002] Robotic arms play a vital role in many fields such as automated production, logistics, and processing. Their end effectors, as the part that directly interacts with materials, come in various types to adapt to different operational needs.

[0003] The end effector of a robotic arm is a component that directly contacts the material and completes the material handling operation. Depending on the type of material and the material handling requirements, end effectors come in various forms, such as gripper-type end effectors and suction cup-type end effectors. In some special cases, such as when handling fragile items, end effectors can also be equipped with flexible materials or special cushioning devices to avoid damage to the material.

[0004] However, in actual industrial applications, with the diversification of production tasks, the end effector of the robotic arm needs to be replaced frequently. Traditional connection methods often use complex bolt and nut fixing or high-precision plug-and-play connections that require professional tools. When replacing them, workers need to use specific wrenches and tighten or loosen the bolts in a strict sequence. This is not only time-consuming, but also increases the difficulty of operation and reduces the efficiency of the equipment in confined spaces or when replacement is frequent. Therefore, an automated material handling device is proposed to solve the above problems. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides an automated material handling machine, which aims to improve the problem in the prior art that "workers need to use specific wrenches when changing materials, and the operation is more difficult and the efficiency of the equipment is reduced in confined spaces or when changing materials frequently".

[0006] To achieve the above objectives, this utility model adopts the following technical solution: an automated material handling machine, including a robotic arm, a mounting cylinder provided on the front side of the robotic arm, a base inserted into the inner wall of the mounting cylinder, a robotic claw fixedly connected to the front side of the base, a connecting mechanism provided on the inner wall of the mounting cylinder, the connecting mechanism including a snap-fit ​​component and a drive component, the snap-fit ​​component including a pin, the pin fixedly connected to the rear side of the base, a limiting groove formed on the outer side of the pin, the pin inserted into the inner wall of the mounting cylinder, a connecting ring rotatably connected to the inner wall of the mounting cylinder, a protrusion provided on the inner side of the connecting ring, the protrusion inserted into the inner wall of the limiting groove, and a toothed ring fixedly connected to the outer side of the connecting ring.

[0007] As a further description of the above technical solution:

[0008] The drive assembly includes a drive motor, which is fixedly connected to the upper side of the robotic arm. A gear is fixedly connected to the front side of the output shaft of the drive motor, and the outer side of the gear meshes with the outer side of the gear ring.

[0009] As a further description of the above technical solution:

[0010] The insertion post is provided in multiple sets, and the inner wall of the mounting cylinder is provided with insertion holes, and the insertion post slides on the inner wall of the insertion hole.

[0011] As a further description of the above technical solution:

[0012] The outer side of the base is attached to the inner wall of the mounting cylinder.

[0013] As a further description of the above technical solution:

[0014] The mounting cylinder has a movable groove on its outer side, and the connecting ring has a connecting post on its outer side. The connecting post slides on the inner wall of the movable groove, and one end of the connecting post is fixedly connected to the inner wall of the gear ring.

[0015] As a further description of the above technical solution:

[0016] A protective assembly is provided on the outside of the mounting cylinder. The protective assembly includes a first protective shell, which is inserted into the outside of the mounting cylinder. A second protective shell is inserted into the upper right side of the first protective shell. The second protective shell is inserted into the inner wall of the mounting cylinder. A limit plate is slidably connected to the inner wall of the bottom end of the second protective shell. A quick-release groove is provided at the bottom of the second protective shell.

[0017] As a further description of the above technical solution:

[0018] The upper part of the limiting plate is elastically connected to the second protective shell by a compression spring, and the left side of the limiting plate is inserted into the inner wall of the slot.

[0019] As a further description of the above technical solution:

[0020] The limiting plate is U-shaped, and the lower left side of the limiting plate is an inclined surface.

[0021] This utility model has the following beneficial effects:

[0022] 1. In this utility model, by using the robotic arm, robotic claw and connecting mechanism in combination, when it is necessary to replace the robotic claw of the robotic arm, the drive motor drives the gear ring to rotate, so that the protrusion on the inner side of the gear ring slides out from the inner wall of the limiting groove. At this time, the robotic claw can be quickly removed, thereby reducing the operation difficulty of the device and improving the working efficiency of the equipment.

[0023] 2. In this utility model, by using the protective components and the mounting cylinder together, when it is necessary to maintain the gear ring and gear, the protective shell one and the protective shell two can be quickly opened by pressing the limiting plate, thereby carrying out maintenance and improving the maintenance efficiency of the device. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of the overall device in this utility model;

[0025] Figure 2 This is a three-dimensional structural diagram showing the disassembled base, mounting cylinder, and protective shell II of this utility model;

[0026] Figure 3 This is a right-side perspective three-dimensional cross-sectional view of the mounting cylinder in this utility model;

[0027] Figure 4 This is a three-dimensional structural diagram of the gear ring and gear in this utility model;

[0028] Figure 5 This is a three-dimensional structural diagram of the limiting plate and compression spring in this utility model.

[0029] Legend:

[0030] 1. Robotic arm; 2. Robotic claw; 3. Base; 41. Insert post; 42. Connecting ring; 43. Gear ring; 44. Gear; 45. Drive motor; 46. Limiting groove; 51. Protective shell one; 52. Protective shell two; 53. Slot; 54. Limiting plate; 55. Compression spring; 6. Mounting cylinder. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Reference Figure 1 - Figure 3This utility model provides an embodiment of an automated material handling device, including a robotic arm 1, which serves as the main support structure of the entire material handling device, providing an installation position and a stable working platform for the mounting cylinder 6, the connecting mechanism, and the robotic claw 2. This technology is prior art and will not be described in detail. The mounting cylinder 6 is provided on the front side of the robotic arm 1, providing installation space for the base 3 of the robotic claw 2, and also facilitating the replacement of different types of robotic claws 2 to adapt to different material handling tasks. The inner wall of the mounting cylinder 6 has an insertion hole, and the base 3 is inserted into the inner wall of the mounting cylinder 6. The robotic claw 2 is fixedly connected to the front side of the base 3, directly contacting the material and used to grasp materials of various shapes and sizes. This technology is prior art and will not be described in detail. The inner wall of the mounting cylinder 6 is provided with a connecting mechanism, which includes a snap-fit ​​component and a drive component. The snap-fit ​​component includes a pin 41, which slides on the inner wall of the insertion hole and cooperates with the insertion hole of the mounting cylinder 6 to play a role in initial positioning and connection. Multiple sets of pins 41 are provided to increase stability.

[0033] Furthermore, the insertion post 41 is fixedly connected to the rear side of the base 3. A limiting groove 46 is formed on the outer side of the insertion post 41, and the protrusion on the inner side of the connecting ring 42 cooperates to achieve circumferential fixation of the mechanical claw 2 in the mounting cylinder 6, preventing the mechanical claw 2 from rotating freely relative to the mounting cylinder 6, ensuring the stability and accuracy of the mechanical claw 2 during material handling. At the same time, the limiting of the mechanical claw 2 can be quickly released by rotating the connecting ring 42. The insertion post 41 is inserted into the inner wall of the mounting cylinder 6, and the inner wall of the mounting cylinder 6 is rotatably connected to the connecting ring 42. The limiting of the insertion post 41 is achieved by the inner protrusion and the limiting of the insertion post 41. The groove 46 engages to lock and limit the base 3. A protrusion is provided on the inner side of the connecting ring 42, which is inserted into the inner wall of the limiting groove 46. A gear ring 43 is fixedly connected to the outer side of the connecting ring 42, serving as an intermediate transmission component connecting the drive motor 45 and the connecting ring 42. It meshes with the gear 44 on the output shaft of the drive motor 45. When the drive motor 45 rotates, the power is transmitted to the connecting ring 42 through the transmission between the gear 44 and the gear ring 43, thereby realizing the rotation of the connecting ring 42 and completing the installation and disassembly operations of the mechanical claw 2 and the base 3.

[0034] Reference Figure 2 - Figure 4The drive assembly includes a drive motor 45, which is fixedly connected to the upper side of the robotic arm 1 and serves as the power source for the connection mechanism. According to the instructions of the control system, the drive motor 45 starts and rotates, and the output shaft drives the gear 44 to rotate, thereby completing the connection and separation operation between the robotic claw 2 and the mounting cylinder 6, which facilitates the replacement of the robotic claw 2. The gear 44 is fixedly connected to the front side of the output shaft of the drive motor 45, which transmits the rotational motion of the drive motor 45 to the gear ring 43. The outer side of the gear 44 meshes with the outer side of the gear ring 43, and the outer side of the base 3 is attached to the inner wall of the mounting cylinder 6, which can improve the stability of the mounting of the base 3. The outer side of the mounting cylinder 6 is provided with a movable groove, and a connecting post is provided on the outer side of the connecting ring 42. The connecting post slides on the inner wall of the movable groove, and one end of the outer side of the connecting post is fixedly connected to the inner wall of the gear ring 43. The rotation angle of the gear ring 43 is controlled and limited by the movable groove, thereby controlling the rotation angle of the connecting ring 42.

[0035] Reference Figure 2 , Figure 3 and Figure 5 A protective assembly is provided on the outside of the mounting cylinder 6. The protective assembly includes a first protective shell 51, which is inserted into the outside of the mounting cylinder 6. A second protective shell 52 is inserted into the upper right side of the first protective shell 51. A slot is provided on the upper side of the first protective shell 51, and a protrusion is provided on the upper side of the second protective shell 52. The slot and the protrusion cooperate to protect the gear 44 and the gear ring 43 and prevent external dust and debris from entering. The first protective shell 51 and the upper part of the second protective shell 52 are fixed together. The second protective shell 52 is inserted into the inner wall of the mounting cylinder 6. A limit plate 54 is slidably connected to the inner wall of the bottom end of the second protective shell 52. The limit plate 54 is U-shaped.

[0036] Furthermore, the lower left side of the limiting plate 54 is set as an inclined surface. Under normal conditions, due to the elastic force of the compression spring 55, the inclined surface of the lower left side of the limiting plate 54 inserts into the slot 53 of the protective shell 1 51, which facilitates the connection between the protective shell 1 51 and the protective shell 2 52. When it is necessary to disassemble the protective shell, by applying external force to overcome the spring force, the limiting plate 54 can be disassembled from the slot 53, thereby realizing the disassembly of the protective shell, which facilitates the operation of adding lubricating oil to the device for maintenance. The lower part of the protective shell 1 51 has a slot 53, which cooperates with the limiting plate 54 to fix the lower side of the protective shell 1 51 and the protective shell 2 52. The upper part of the limiting plate 54 is elastically connected to the protective shell 2 52 through the compression spring 55. One end is connected to the upper part of the limiting plate 54, and the other end is connected to the protective shell 2 52, providing elastic restoring force for the limiting plate 54. The left side of the limiting plate 54 is inserted into the inner wall of the slot 53.

[0037] Working principle: When it is necessary to replace the end effector of the robotic arm 1, start the drive motor 45. The output shaft of the drive motor 45 drives the gear 44 to rotate. The gear 44 meshes with the gear ring 43, causing the gear ring 43 to rotate. The gear ring 43 drives the connecting ring 42 to rotate through the connecting post and is limited by the movable groove, so that the protrusion on the inner side of the connecting ring 42 disengages from the limiting groove 46 of the insert post 41, releasing the limitation on the base 3 on the robotic claw 2. At this time, the robotic claw 2 with the base 3 can be pulled out from the mounting cylinder 6, completing the disassembly of the robotic claw 2, so that other types of end effectors can be replaced.

[0038] When it is necessary to disassemble the protective assembly to maintain the internal device, such as by adding lubricating oil, press the part of the protective shell 52 protruding from the right side of the limiting plate 54, apply external force to overcome the elastic force of the compression spring 55, so that the limiting plate 54 is disengaged from the slot 53, and then the protective shell 52 can be pulled out from the outside of the mounting cylinder 6, and then the protective shell 52 can be removed from the inner wall of the mounting cylinder 6 to complete the disassembly of the protective assembly, thereby enabling quick lubrication or maintenance of the gear 44 and gear ring 43.

[0039] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automated material handling device, comprising a robotic arm (1), characterized in that: The robotic arm (1) has a mounting cylinder (6) on its front side. A base (3) is inserted into the inner wall of the mounting cylinder (6). A robotic claw (2) is fixedly connected to the front side of the base (3). A connecting mechanism is provided on the inner wall of the mounting cylinder (6). The connecting mechanism includes a snap-fit ​​component and a drive component. The snap-fit ​​component includes a pin (41). The pin (41) is fixedly connected to the rear side of the base (3). A limiting groove (46) is opened on the outer side of the pin (41). The pin (41) is inserted into the inner wall of the mounting cylinder (6). A connecting ring (42) is rotatably connected to the inner wall of the mounting cylinder (6). A protrusion is provided on the inner side of the connecting ring (42). The protrusion is inserted into the inner wall of the limiting groove (46). A toothed ring (43) is fixedly connected to the outer side of the connecting ring (42).

2. The automated material handling device according to claim 1, characterized in that: The drive assembly includes a drive motor (45), which is fixedly connected to the upper side of the robotic arm (1). A gear (44) is fixedly connected to the front side of the output shaft of the drive motor (45), and the outer side of the gear (44) meshes with the outer side of the gear ring (43).

3. The automated material handling device according to claim 1, characterized in that: Multiple sets of inserts (41) are provided, and the inner wall of the mounting cylinder (6) is provided with insertion holes. The inserts (41) slide on the inner wall of the insertion holes.

4. The automated material handling device according to claim 1, characterized in that: The outer side of the base (3) is attached to the inner wall of the mounting cylinder (6).

5. An automated material handling device according to claim 1, characterized in that: The mounting cylinder (6) has a movable groove on its outer side, and the connecting ring (42) has a connecting post on its outer side. The connecting post slides on the inner wall of the movable groove, and one end of the outer side of the connecting post is fixedly connected to the inner wall of the toothed ring (43).

6. The automated material handling device according to claim 1, characterized in that: A protective assembly is provided on the outside of the mounting cylinder (6). The protective assembly includes a first protective shell (51), which is inserted into the outside of the mounting cylinder (6). A second protective shell (52) is inserted into the upper right side of the first protective shell (51). The second protective shell (52) is inserted into the inner wall of the mounting cylinder (6). A limit plate (54) is slidably connected to the inner wall of the bottom end of the second protective shell (52). A slot (53) is quickly provided at the lower part of the first protective shell (51).

7. An automated material handling device according to claim 6, characterized in that: The upper part of the limiting plate (54) is elastically connected to the second protective shell (52) by a compression spring (55), and the left side of the limiting plate (54) is inserted into the inner wall of the slot (53).

8. An automated material handling device according to claim 6, characterized in that: The limiting plate (54) is configured in a U-shape, and the lower left side of the limiting plate (54) is configured as an inclined surface.

Images