Manipulator for discharging

Abstract

The utility model relates to the technical field of plastic workpiece machining, in particular to a discharging manipulator which comprises a rack, a first sliding seat is arranged on the rack in a sliding mode, a first driving structure used for driving the first sliding seat to slide in the height direction of the rack is arranged on the rack, and a second sliding seat is arranged on the first sliding seat in a sliding mode. A second driving structure used for driving the second sliding base to slide in the length direction of the rack is arranged on the first sliding base, and a synchronous discharging assembly used for synchronously discharging the multiple plastic workpieces is arranged on the second sliding base. The synchronous discharging assembly is driven to move through the first driving structure and the second driving structure, so that the multiple plastic workpieces are adsorbed and conveyed to the designated position through the synchronous discharging assembly at the same time, the overall discharging process is simple and rapid, and the discharging efficiency is higher.

Description

Technical Field

[0001] This application relates to the field of plastic workpiece processing technology, and in particular to a robotic arm for unloading materials. Background Technology

[0002] A plastic workpiece is processed and formed as follows: A strip of material is installed at the initial end of a conveyor belt. The strip is gradually unwound and driven on the conveyor belt. During the transmission process, the flattened strip is first subjected to hot pressing, thereby forming multiple plastic parts of a specified shape on the strip. The multiple plastic parts are evenly distributed on the strip. Subsequently, the strip with plastic parts is cooled by a cooling device. Finally, the strip is cut into multiple plastic sheets by a cutter. Each plastic sheet has multiple plastic parts distributed in a rectangle. Then, the workers arrange the plastic sheets and place them one by one on a second conveyor belt. The second conveyor belt drives the plastic sheets to the punching station. Then, a positioning fixture positions each plastic sheet. Subsequently, the punching equipment punches the plastic sheet. After punching, the positioning fixture is opened, and the plastic sheet is moved away from the punching station by the transmission action of the second conveyor belt. At this time, one plastic sheet is punched into multiple plastic workpieces.

[0003] For the aforementioned plastic workpieces, the existing material handling method is that after the plastic sheet is punched, the workers take out the cut plastic workpieces one by one and store them in a collection box. This completes the processing of the plastic workpieces. Subsequently, the entire box of plastic workpieces can be transported to the packaging station for packaging.

[0004] However, in actual use, since a plastic sheet can be punched into a large number of plastic parts, the manual cutting of plastic parts requires workers to cut the plastic parts one by one, which is a cumbersome process and the overall cutting efficiency is low. Utility Model Content

[0005] To address the problem that manually unloading plastic parts one by one after punching them into multiple plastic parts is cumbersome and has low overall efficiency, this application provides a robotic arm for unloading.

[0006] This application provides a robotic arm for unloading materials, which adopts the following technical solution:

[0007] A material unloading robot includes a frame, a first sliding seat slidably disposed on the frame, a first driving structure disposed on the frame for driving the first sliding seat to slide along the height direction of the frame, a second sliding seat slidably disposed on the first sliding seat, a second driving structure disposed on the first sliding seat for driving the second sliding seat to slide along the length direction of the frame, and a synchronous unloading assembly disposed on the second sliding seat for synchronously unloading multiple plastic workpieces.

[0008] By adopting the above technical solution, when in use, the first driving structure, in conjunction with the synchronous feeding component, enables the synchronous adsorption and transportation of multiple plastic workpieces. Then, the second driving structure moves the synchronous feeding component above the collection frame, and the first driving structure again feeds multiple plastic workpieces into the collection frame at once, thereby achieving the purpose of synchronous feeding of multiple plastic workpieces. It is simple and convenient to use and also improves the feeding efficiency of plastic workpieces.

[0009] Preferably, the first drive structure includes a linear motor fixed on the frame, and the first sliding seat is fixed on the slide of the linear motor.

[0010] By adopting the above technical solution, when in use, the sliding table of the linear motor drives the first sliding seat to slide, thereby realizing the sliding of the second sliding seat and the synchronous feeding component, which is simple and convenient to use.

[0011] Preferably, the second drive structure includes a drive motor mounted on the first sliding seat, a gear coaxially fixed on the output shaft of the drive motor, and a rack fixed on the second sliding seat. The gear and the rack mesh with each other, and the length direction of the rack is parallel to the length direction of the frame.

[0012] By adopting the above technical solution, when in use, the output shaft of the drive motor rotates to drive the gear to rotate, thereby driving the rack to slide. The rack slides synchronously to drive the second sliding seat to slide, thereby achieving the purpose of driving the synchronous feeding component to move back and forth between the conveyor belt and the collection box.

[0013] Preferably, the synchronous feeding assembly includes a mounting frame fixed on the second sliding seat, a fixed seat fixed on the mounting frame, and a pneumatic suction cup disposed on the fixed seat for adsorbing plastic workpieces. The fixed seats are provided in a plurality of manner, and the plurality of fixed seats are evenly distributed at intervals along the length direction of the mounting frame. The pneumatic suction cups are also provided in a plurality of manner, and the plurality of pneumatic suction cups are evenly distributed at intervals along the width direction of the mounting frame.

[0014] By adopting the above technical solution, when in use, multiple pneumatic suction cups on several fixed seats work together. When the pneumatic suction cups come into contact with the plastic workpiece, the plastic workpiece can be adsorbed onto the pneumatic suction cups by drawing a vacuum, thereby achieving the purpose of synchronously transporting multiple plastic workpieces.

[0015] Preferably, the fixed base is slidably disposed on the mounting frame along the length direction of the mounting frame, and the mounting frame is provided with a first positioning structure for positioning the fixed base. The pneumatic suction cup is slidably disposed on the fixed base along the width direction of the mounting frame, and the fixed base is provided with a second positioning structure for positioning a plurality of pneumatic suction cups.

[0016] By adopting the above technical solution, the installation position of the pneumatic suction cup can be adjusted through the combined use of the first and second positioning structures, thereby enabling the synchronous feeding assembly to adsorb and feed plastic workpieces of different sizes, thus improving the applicability of the synchronous feeding assembly.

[0017] Preferably, the first positioning structure includes a connecting plate fixed on the fixed base and an abutting bolt disposed on the connecting plate. The abutting bolt is threadedly connected to the connecting plate, and one end of the abutting bolt passes through the connecting plate and abuts against the mounting bracket.

[0018] By adopting the above technical solution, when in use, after sliding the fixed seat to the designated position, the end of the abutment bolt can be made to abut against the mounting bracket by screwing the abutment bolt, thereby achieving the positioning of the fixed seat through the friction between the abutment bolt and the mounting bracket.

[0019] Preferably, the second positioning structure includes a guide rod fixed on the fixed base, a mounting plate slidably disposed on the guide rod, and a limiting nut threadedly connected to the guide rod. The mounting plate is slidably engaged with the fixed base, the pneumatic suction cup is fixed on the mounting plate, and multiple mounting plates are evenly spaced along the width direction of the mounting frame. A return spring is disposed between two adjacent mounting plates, the return spring is sleeved on the guide rod, and both ends of the return spring abut against an adjacent mounting plate.

[0020] By adopting the above technical solution, during use, the distance between the mounting plates at both ends of the guide rod can be changed by turning the limit nut, and then the elastic force of the return spring can be used to adjust the distance between several mounting plates on the guide rod, thereby adjusting the position of the pneumatic suction cup, so as to adapt to plastic workpieces of different sizes.

[0021] Preferably, the mounting bracket is provided with a first scale line, and the fixing base is provided with a second scale line.

[0022] By adopting the above technical solution, the combination of the first and second scale lines makes it easier for operators to accurately adjust the position of the pneumatic suction cup, thus making it suitable for unloading plastic workpieces of different sizes.

[0023] Preferably, the frame is also fixed with a placement platform for placing the collection box.

[0024] By adopting the above technical solution, the placement position of the collection box is limited by setting a placement platform, thereby ensuring that the synchronous feeding component can send all the plastic workpieces into the collection box.

[0025] In summary, this application includes at least one of the following beneficial technical effects:

[0026] 1. Through the cooperation of the first drive structure, the second drive structure and the synchronous feeding component, several plastic workpieces can be fed to the designated position at one time, thereby improving the feeding efficiency of plastic workpieces. The overall use is simple and convenient.

[0027] 2. In use, the setting of the first positioning structure and the second positioning structure realizes the purpose of adjusting the setting distance of the pneumatic suction cup, so as to be suitable for adsorbing plastic workpieces of different sizes, thereby improving the applicability of the synchronous feeding component;

[0028] 3. The setting of the first and second scale lines makes it easier for workers to adjust the position of the pneumatic suction cup, which is beneficial for unloading plastic workpieces of different sizes. Attached Figure Description

[0029] Figure 1 This is an isometric schematic diagram of the main overall structure in Embodiment 1 of this application;

[0030] Figure 2 This is an isometric schematic diagram of the first driving structure, which is the main feature of Embodiment 1 of this application.

[0031] Figure 3 This is an isometric schematic diagram of the second drive structure, which is the main feature of Embodiment 1 of this application.

[0032] Figure 4 This is an isometric schematic diagram of the main synchronous feeding component structure in Embodiment 1 of this application;

[0033] Figure 5 This is an isometric schematic diagram of the main overall structure in Embodiment 2 of this application;

[0034] Figure 6 This is an isometric schematic diagram of the main synchronous feeding component structure in Embodiment 2 of this application;

[0035] Figure 7 This is an isometric schematic diagram of the first positioning structure, which is the main feature of Embodiment 2 of this application;

[0036] Figure 8 This is an isometric schematic diagram of the second positioning structure, which is the main feature of Embodiment 2 of this application.

[0037] Reference numerals: 1. Frame; 2. First sliding seat; 3. First drive structure; 31. Linear motor; 4. Second sliding seat; 5. Second drive structure; 51. Drive motor; 52. Gear; 53. Rack; 6. Synchronous feeding assembly; 61. Mounting frame; 62. Fixed seat; 63. Pneumatic suction cup; 7. First positioning structure; 71. Connecting plate; 72. Abutment bolt; 8. Second positioning structure; 81. Guide rod; 82. Mounting plate; 83. Limit nut; 84. Return spring; 9. First scale line; 10. Second scale line; 20. Placement table. Detailed Implementation

[0038] The following is in conjunction with the appendix Figure 1 - Appendix Figure 8 This application will be described in further detail.

[0039] This application discloses a robotic arm for unloading materials.

[0040] Example 1:

[0041] Reference Figure 1 A material unloading robot includes a horizontally placed frame 1, a first sliding seat 2 slidably connected to the frame 1 along the vertical direction, a first driving structure 3 provided on the frame 1 for driving the first sliding seat 2 to slide, a second sliding seat 4 slidably connected to the first sliding seat 2 for sliding along the length of the frame 1, a second driving structure 5 provided on the first sliding seat 2 for driving the second sliding seat 4 to slide, and a synchronous unloading assembly 6 provided on the second sliding seat 4 for synchronously unloading multiple plastic workpieces.

[0042] Reference Figure 1 In use, the frame 1 is fixed in the designated position so that the punched plastic sheet can be moved to the underside of the synchronous unloading component 6 under the transmission action of the conveyor belt. Then, the synchronous unloading component 6 can be driven down by the first drive structure 3 to approach the plastic workpiece. Thus, the synchronous unloading component 6 can adsorb and fix multiple plastic workpieces on a plastic sheet. Then, through the cooperation of the first drive structure 3 and the second drive structure 5, multiple plastic workpieces are transported to the designated position at one time, thus completing the unloading.

[0043] Reference Figure 1 and Figure 2 The first drive structure 3 is composed of a linear motor 31, which is fixed vertically on the frame 1 so that the upper slide of the linear motor 31 can be raised and lowered in the vertical direction. The first sliding seat 2 is fixed to the slide of the linear motor 31 by bolts. In use, the slide of the linear motor 31 is slid to drive the first sliding seat 2 to slide.

[0044] Reference Figure 1 and Figure 3 The second drive structure 5 consists of a drive motor 51, a gear 52, and a rack 53. The drive motor 51 is fixedly connected to the first sliding seat 2 by bolts. The gear 52 rotates on the first sliding seat 2 and is coaxially fixedly connected to the output shaft of the drive motor 51. The rack 53 is fixed to the second sliding seat 4 by bolts. The gear 52 and the rack 53 are meshed, and the length direction of the rack 53 is parallel to the length direction of the frame 1. In use, the output shaft of the drive motor 51 rotates to drive the gear 52 to rotate. When the gear 52 rotates, it synchronously drives the rack 53 to slide along the length direction of the frame 1, thereby achieving the purpose of driving the second sliding seat 4 to slide.

[0045] Reference Figure 1 and Figure 4 The synchronous feeding component 6 consists of a mounting frame 61, a fixed seat 62, and a pneumatic suction cup 63. The mounting frame 61 is fixedly connected to the second sliding seat 4 by bolts, and the fixed seat 62 is fixedly connected to the bottom surface of the mounting frame 61 by bolts. Multiple fixed seats 62 are provided, and the multiple fixed seats 62 are evenly spaced along the width direction of the frame 1. In this embodiment, the fixed seats 62 are preferably set to six, and each fixed seat 62 is provided with several pneumatic suction cups 63. The several pneumatic suction cups 63 are evenly spaced along the length direction of the frame 1. The pneumatic suction cups 63 are locked to the pneumatic suction cup 63 by bolts, and the air inlet of the pneumatic suction cup 63 is set downward.

[0046] Reference Figure 1 and Figure 4 In this embodiment, the multiple pneumatic suction cups 63 on the mounting frame 61 are arranged in a rectangular array, and each of the multiple pneumatic suction cups 63 corresponds to a multiple plastic workpiece formed by punching on a plastic plate. In use, under the action of the linear motor 31, the pneumatic suction cups 63 are brought close to the plastic workpiece until the suction end of the pneumatic suction cup 63 abuts against the upper surface of the plastic workpiece. Then, the operator can control the simultaneous suction of air into the multiple pneumatic suction cups 63 to adsorb the plastic workpiece onto the pneumatic suction cups 63. Afterwards, the multiple pneumatic suction cups 63 can be taken away from the conveyor belt by the slide table of the linear motor 31, thereby completing the unloading operation.

[0047] Reference Figure 1 In addition, a placement platform 20 is welded and fixed on the frame 1. The placement platform 20 is located at one end of the frame 1 along its length and away from the synchronous feeding component 6. The placement platform 20 is used to place the collection box. In use, the placement platform 20 restricts the placement position of the collection box, thereby preventing the operator from deviating from the position when placing the collection box. This avoids the situation where one or more plastic workpieces cannot be accurately placed into the collection box during the process of the synchronous feeding component 6 feeding several plastic workpieces.

[0048] The implementation principle of this application embodiment is as follows: When the punched plastic sheet is conveyed to the underside of the synchronous unloading component 6, the linear motor 31 is started, causing the slide of the linear motor 31 to descend, thereby driving the mounting frame 61 and the pneumatic suction cup 63 to descend until they are close to the plastic sheet. At this time, the multiple pneumatic suction cups 63 correspond one-to-one with the multiple plastic workpieces formed by punching. Then, the operator controls the multiple pneumatic suction cups 63 to suck air synchronously, thereby adsorbing all the multiple plastic workpieces onto the pneumatic suction cups 63. Subsequently, with the cooperation of the linear motor 31 and the drive motor 51, the multiple plastic workpieces can be synchronously carried away from the conveyor belt and moved to the top of the collection frame. Finally, the pneumatic suction cups 63 can be controlled to unload the multiple plastic workpieces, thereby achieving the purpose of unloading multiple plastic workpieces into the collection frame. The overall unloading process is simple and convenient, and the unloading efficiency is higher.

[0049] The difference between Example 2 and Example 1 is that:

[0050] Reference Figure 5 and Figure 6 In this embodiment, the fixed base 62 is slidably connected to the mounting frame 61 along the length direction of the mounting frame 61. A first positioning structure 7 is provided on the mounting frame 61. The first positioning structure 7 is used to adjust and position the fixed base 62. The pneumatic suction cup 63 is slidably connected to the fixed base 62 along the width direction of the mounting frame 61. A second positioning structure 8 is provided on the fixed base 62. The second positioning structure 8 is used to adjust and position the pneumatic suction cup 63.

[0051] Reference Figure 6 and Figure 7 The first positioning structure 7 consists of a connecting plate 71 and an abutting bolt 72. The connecting plate 71 is fixedly connected to the fixed seat 62 by bolts. In this embodiment, there are two connecting plates 71, and the two connecting plates 71 are arranged opposite each other at both ends of the length direction of the fixed seat 62. The abutting bolt 72 is arranged one-to-one with the connecting plate 71. The abutting bolt 72 is threadedly connected to the connecting plate 71, and one end of the abutting bolt 72 passes through the connecting plate 71 and abuts against the mounting bracket 61.

[0052] Reference Figure 6 and Figure 7 When in use, first adjust the position by sliding the fixed seat 62. After adjustment, tighten the two abutting bolts 72 one by one until they abut against the side wall of the mounting bracket 61. The fixed seat 62 is positioned by the cooperation of the two abutting bolts 72. In order to facilitate the operator to ensure the distance between two adjacent fixed seats 62 when sliding the fixed seat 62, a first scale line 9 is formed on the mounting bracket 61 to assist the operator in adjusting the position of the fixed seat 62.

[0053] Reference Figure 6 and Figure 8The second positioning structure 8 consists of a guide rod 81, a mounting plate 82, and a limiting nut 83. The length direction of the guide rod 81 is parallel to the length direction of the fixed base 62, and both ends of the guide rod 81 are fixed to the fixed base 62 by bolts. The mounting plate 82 is slidably connected to the guide rod 81 along the length direction of the guide rod 81. There are two limiting nuts 83, which are symmetrically arranged at the ends of the guide rod 81 along the length direction. The limiting nuts 83 are threadedly connected to the guide rod 81. The mounting plate 82 is also slidably connected to the fixed base 62. There are multiple mounting plates 82, which are evenly distributed on the fixed base 62 along the width direction of the mounting frame 61.

[0054] Reference Figure 6 and Figure 8 Multiple mounting plates 82 are correspondingly set with multiple pneumatic suction cups 63. The pneumatic suction cups 63 are fixed to the side of the mounting plate 82 away from the guide rod 81 by bolts. A return spring 84 is set between two adjacent mounting plates 82. The return spring 84 is sleeved on the guide rod 81, and one end of the return spring 84 abuts against the side wall of one mounting plate 82, and the other end of the return spring 84 abuts against the side wall of another adjacent mounting plate 82. In addition, a second scale line 10 is formed on the fixed base 62.

[0055] Reference Figure 6 and Figure 8 In use, the operator will adjust the distance between the two limit nuts 83 by turning the limit nuts 83 at both ends of the guide rod 81. The change in the distance between the two limit nuts 83, under the elastic force of the return spring 84, causes the corresponding mounting plate 82 to move. During this process, the cooperation of multiple return springs 84 can realize the synchronous adjustment of the surrounding plates of several mounting plates 82, and also ensure that the distance between multiple mounting plates 82 always remains the same length, thereby ensuring the stability of subsequent adsorption and fixation of multiple plastic workpieces.

[0056] The implementation principle of this application embodiment is as follows: In use, the operator first adjusts the number and position of the pneumatic suction cups 63 according to the size and quantity of the plastic workpieces to be cut. Then, the synchronous feeding assembly 6 is installed on the second sliding seat 4. When the punched plastic sheet is driven to directly below the synchronous feeding assembly 6, the linear motor 31 is started, causing the slide of the linear motor 31 to descend, thereby driving the mounting frame 61 and the pneumatic suction cups 63 to descend until they are close to the plastic sheet. At this time, the multiple pneumatic suction cups 63 correspond one-to-one with the multiple plastic workpieces formed by punching. Then, the operator controls multiple pneumatic suction cups 63 to simultaneously suction air, thereby adsorbing all the plastic workpieces onto the pneumatic suction cups 63. Subsequently, with the cooperation of the linear motor 31 and the drive motor 51, the multiple plastic workpieces can be simultaneously carried away from the conveyor belt and moved to the top of the collection box. Finally, the pneumatic suction cups 63 can be controlled to unload the multiple plastic workpieces, thereby achieving the purpose of unloading multiple plastic workpieces into the collection box. The overall unloading process is simple and fast, and at the same time, the synchronous unloading component 6 is suitable for unloading plastic workpieces of different quantities or sizes, which is more conducive to use.

[0057] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A robotic arm for unloading materials, characterized in that: The system includes a frame (1), on which a first sliding seat (2) is slidably disposed, and on which a first driving structure (3) is disposed for driving the first sliding seat (2) to slide along the height direction of the frame (1). On which a second sliding seat (4) is slidably disposed, and on which a second driving structure (5) is disposed for driving the second sliding seat (4) to slide along the length direction of the frame (1), and on which a synchronous feeding assembly (6) is disposed for synchronously feeding multiple plastic workpieces.

2. The unloading robot according to claim 1, characterized in that: The first drive structure (3) includes a linear motor (31) fixed on the frame (1), and the first sliding seat (2) is fixed on the slide of the linear motor (31).

3. The unloading robot according to claim 1, characterized in that: The second drive structure (5) includes a drive motor (51) mounted on the first sliding seat (2), a gear (52) coaxially fixed on the output shaft of the drive motor (51), and a rack (53) fixed on the second sliding seat (4). The gear (52) and the rack (53) mesh with each other, and the length direction of the rack (53) is parallel to the length direction of the frame (1).

4. The unloading robot according to claim 1, characterized in that: The synchronous feeding assembly (6) includes a mounting frame (61) fixed on the second sliding seat (4), a fixed seat (62) fixed on the mounting frame (61), and a pneumatic suction cup (63) for adsorbing plastic workpieces on the fixed seat (62). There are several fixed seats (62) and they are evenly distributed along the length of the mounting frame (61). There are also several pneumatic suction cups (63) and they are evenly distributed along the width of the mounting frame (61).

5. A material unloading robot according to claim 4, characterized in that: The fixed base (62) is slidably disposed on the mounting frame (61) along the length direction of the mounting frame (61). The mounting frame (61) is provided with a first positioning structure (7) for positioning the fixed base (62). The pneumatic suction cup (63) is slidably disposed on the fixed base (62) along the width direction of the mounting frame (61). The fixed base (62) is provided with a second positioning structure (8) for positioning a plurality of pneumatic suction cups (63).

6. A robotic arm for unloading materials according to claim 5, characterized in that: The first positioning structure (7) includes a connecting plate (71) fixed on the fixed base (62) and an abutting bolt (72) provided on the connecting plate (71). The abutting bolt (72) is threaded on the connecting plate (71), and one end of the abutting bolt (72) passes through the connecting plate (71) and abuts against the mounting bracket (61).

7. A robotic arm for unloading materials according to claim 5, characterized in that: The second positioning structure (8) includes a guide rod (81) fixed on the fixed base (62), a mounting plate (82) slidably disposed on the guide rod (81), and a limiting nut (83) threadedly connected to the guide rod (81). The mounting plate (82) is slidably engaged with the fixed base (62). The pneumatic suction cup (63) is fixed on the mounting plate (82). Multiple mounting plates (82) are evenly spaced along the width direction of the mounting frame (61). A return spring (84) is disposed between two adjacent mounting plates (82). The return spring (84) is sleeved on the guide rod (81), and the two ends of the return spring (84) abut against an adjacent mounting plate (82) respectively.

8. A robotic arm for unloading materials according to claim 5, characterized in that: The mounting bracket (61) is provided with a first scale line (9), and the fixing base (62) is provided with a second scale line (10).

9. A robotic arm for unloading materials according to claim 1, characterized in that: The frame (1) is also fixed with a placement platform (20) for placing the collection box.

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