Module loading and unloading manipulator
By introducing guide rails and auxiliary components into the module loading and unloading robot, the problem of the robot's inability to automatically and cyclically load and unload corrugated pipe forming modules was solved, achieving stable clamping of the corrugated pipe forming modules and improving production efficiency and safety.
Patent Information
- Application Number
- CN202520059052.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-10
- Publication Date
- 2025-12-19
- Estimated Expiration
- 2035-01-10
AI Technical Summary
Existing modular loading and unloading robots cannot automatically load and unload corrugated pipe forming modules in a cyclical manner, and the corrugated pipe forming modules are prone to tipping over and slipping during the loading and unloading process, which affects production efficiency.
A modular loading and unloading robot was designed, comprising a gantry frame, a support plate, a guide rail, a robotic arm, an end effector gripper, and auxiliary components. The position of the robotic arm is adjusted by the guide rail, and the width of the gripper is adjusted by the auxiliary plate and the return spring of the auxiliary components, thereby increasing the stable clamping of the corrugated pipe forming module.
The automatic cyclic loading and unloading of the corrugated pipe forming module has been realized, which has prevented the module from tipping over and slipping, thus improving production efficiency and safety.
Smart Images
Figure CN223685454U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application relates to the technical field of mechanical grippers, in particular to a module loading and unloading mechanical gripper. BACKGROUND
[0002] The module loading and unloading mechanical gripper is a kind of efficient automatic logistics handling equipment, which is mainly used for loading, unloading, carrying and stacking of goods, and can greatly improve the logistics operation efficiency and reduce the labor cost. The module loading and unloading mechanical gripper can imitate some action functions of human hands and arms, and automatically load, unload, carry and stack according to a fixed program. It can realize accurate grabbing, carrying and placing of goods through precise mechanical structure and advanced control system. The module loading and unloading mechanical gripper is mainly applied to the technical field of production lines, and the corrugated pipe is often used in the production process.
[0003] The existing module loading and unloading mechanical gripper is usually composed of a support, a mechanical arm and a mechanical gripper. The position of the mechanical gripper can be adjusted by the mechanical arm, and the mechanical gripper can be controlled to clamp the required module and place it at a specified position. Only manual assistance is required, which saves time and effort.
[0004] Although the above device realizes clamping and placing of the module, in the production process of the corrugated pipe, the worker usually needs to control the mechanical hand to repeatedly load and unload the corrugated pipe forming module to meet the batch production of the corrugated pipe. Different models of corrugated pipe forming modules need to be used when producing different models of corrugated pipes. Since the weight and length of the corrugated pipe forming modules of different models are different, if the mechanical hand cannot automatically cycle to load and unload the corrugated pipe forming module, and when grabbing the corrugated pipe forming module with a longer length and a heavier weight, if the width of the mechanical gripper is not enough, the corrugated pipe forming module may fall off from the side of the mechanical gripper, thereby affecting the production efficiency of the corrugated pipe. Therefore, it is necessary to provide a module loading and unloading mechanical gripper to solve the above problems.
[0005] It should be noted that the above information disclosed in the background section of this application is only used to understand the background of the concept of the application, and therefore, it can contain information that does not constitute prior art. SUMMARY
[0006] Based on the above problems existing in the prior art, the application solves the problem that the mechanical hand cannot automatically cycle to load and unload the corrugated pipe forming module and the corrugated pipe forming module may fall off during the loading and unloading process.
[0007] The technical scheme adopted by the application to solve its technical problems is: a module loading and unloading manipulator, comprising a portal frame, a support plate is fixedly installed on the portal frame, a control box is fixedly installed on one side of the support plate; a guide rail is fixedly installed on both sides of the support plate, a vertical slide rail is slidingly installed on the guide rail; a mechanical arm is slidingly installed on the vertical slide rail, an adjusting device is fixedly installed at the bottom of the mechanical arm; an end gripper is fixedly installed on one side of the adjusting device; an auxiliary assembly is fixedly installed on one side of the end gripper, the auxiliary assembly comprises a shell, the shell is fixedly connected with one side of the end gripper, first sliding grooves are formed in both sides of the shell; two groups of auxiliary plates are slidingly installed in the shell, sliding blocks are fixedly installed at the top of the auxiliary plates, and the sliding blocks are slidingly installed in the first sliding grooves.
[0008] Further, a slide is arranged on the bottom of the auxiliary plate, a stop block is fixedly installed in the shell, reset springs are fixedly installed on both sides of the stop block, the reset springs are located in the slide, and the bottom of the auxiliary plate on the side away from the reset springs is fixedly connected with the bottom of the auxiliary plate on both sides.
[0009] Further, first inclined surfaces are formed in the bottom of the auxiliary plate on the corresponding side, an adjusting plate is arranged at the top in the shell, an adjusting block is fixedly installed on one side of the adjusting plate, second sliding grooves are formed in the side wall of the inner cavity of the shell, the adjusting block is slidingly installed in the second sliding grooves, a second inclined surface is arranged at the bottom of the adjusting plate, and the second inclined surface is in contact with the first inclined surface.
[0010] Further, a pressing plate is fixedly installed on one side of the adjusting plate, the pressing plate penetrates the shell, a pressing groove is formed in the surface of the shell, and the pressing plate is located in the pressing groove.
[0011] Further, vertical plates are fixedly installed on both sides of the surface of the shell, at least two groups of limiting holes are formed in the vertical plates, a limiting plate is placed between the vertical plates, the limiting plate mainly comprises a plate body arranged between the vertical plates and limiting pins fixedly connected with both sides of the plate body, the limiting pins are matched with the limiting holes, and the width of the plate body is matched with the width between the vertical plates.
[0012] Further, clamping discs are fixedly installed on both sides of the bottom of the end gripper, and flexible pads are fixedly installed on the corresponding side of the clamping discs.
[0013] The beneficial effects of the present application are: the module loading and unloading manipulator provided by the present application is provided with a guide rail, a control box and an auxiliary assembly, when the module loading and unloading manipulator is loading and unloading the corrugated pipe forming module, the position of the manipulator can be adjusted through the guide rail, and the pre-set program is implanted into the control box, so as to realize the cycle loading and unloading work of the corrugated pipe forming module, and secondly, the auxiliary assembly is provided, the worker presses the pressing plate, the pressing plate generates extrusion force on the two sides of the auxiliary plate, the auxiliary plate extends from the two sides of the mechanical claw, the two sides of the mechanical claw become wider, so that the mechanical claw can assist in lifting the bottom of the corrugated pipe forming module which is longer and heavier, so as to avoid the corrugated pipe forming module from falling off from the two sides of the clamp, and the clamping is more stable.
[0014] In addition to the purposes, features and advantages described above, the present application has other purposes, features and advantages. The present application will be further described below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS
[0015] The drawings accompanying the specification of the present application form a part thereof, serve to provide further understanding of the present application, and together with the description of the exemplary embodiments of the present application and the explanation thereof serve to explain the present application, and do not constitute an improper limitation of the present application.
[0016] In the drawings:
[0017] Figure 1 It is the overall schematic diagram of the module loading and unloading manipulator in the present application;
[0018] Figure 2 It is the overall structure side view of the module loading and unloading manipulator in the present application; Figure 1
[0019] It is the overall structure side view of the module loading and unloading manipulator in the present application; Figure 3 Figure 2 It is the overall structure side view of the module loading and unloading manipulator in the present application;
[0020] Figure 4 Figure 3 It is the overall structure side view of the module loading and unloading manipulator in the present application;
[0021] Figure 5 It is the overall structure side view of the module loading and unloading manipulator in the present application; Figure 4
[0022] It is the overall structure side view of the module loading and unloading manipulator in the present application; Figure 6 Figure 4 It is the overall structure side view of the module loading and unloading manipulator in the present application;
[0023] In the drawings, various reference signs:
[0024] 1, guide rail; 2, mechanical arm; 3, control box; 4, end gripper; 41, chuck; 5, gantry; 6, calibration device; 7, flexible pad; 8, auxiliary assembly; 81, shell; 82, auxiliary plate; 821, first inclined surface; 83, adjusting plate; 831, second inclined surface; 84, pressing plate; 85, vertical plate; 86, limiting plate; 87, stop block; 88, return spring; 89, sliding block; 810, second sliding groove. DETAILED DESCRIPTION
[0025] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings and in combination with the embodiments.
[0026] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.
[0027] As shown in Figures 1-2 The present application provides a module loading and unloading manipulator, which comprises a gantry 5, that is, a support part of the module loading and unloading manipulator. A support plate (not marked in the figure) is installed on the gantry 5. Guide rails 1 are fixedly installed on both sides of the support plate. The guide rails 1 are arranged in the horizontal direction. A vertical sliding rail (not shown in the figure) is slidingly installed on the guide rails 1. A mechanical arm 2 is slidingly installed on one side of the vertical sliding rail. Thus, the mechanical arm 2 can move vertically on the vertical sliding rail. An operator can move horizontally on the guide rails 1 through the vertical sliding rail to adjust the horizontal position of the mechanical arm 2. An end gripper 4 is fixedly installed at the bottom of the mechanical arm 2. The end gripper 4 is a conventional pneumatic gripper. The end gripper 4 is mainly used for grabbing or placing a corrugated pipe forming module.
[0028] A control box 3 is fixedly installed on one side of the support plate. The control box 3 is a conventional PLC control system. An operator can implant a numbered program in the control box 3 in advance to facilitate subsequent material production. Referring to Figures 1-2 A calibration device 6 is also installed at the bottom of the gantry 5. The calibration device 6 is mainly used for calibrating the grabbed corrugated pipe forming module to prevent it from deviating.
[0029] When loading and unloading the corrugated pipe forming module, the operator can control the end gripper 4 to grasp the corrugated pipe forming module. At the same time, the position of the end gripper 4 can be adjusted by the vertical slide rail and guide rail 1 to grasp the corrugated pipe forming module at different positions. Furthermore, the pre-written program can be implanted into the control box 3 to facilitate the cyclic operation of the end gripper 4. A calibration device 6 is also provided to calibrate and warn of the clamping of the corrugated pipe forming module, preventing it from tilting after clamping, and further improving the safety of the module loading and unloading robot during operation.
[0030] Furthermore, such as Figures 2-3 As shown, clamping plates 41 are fixedly installed on both sides of the bottom of the end gripper 4. A flexible pad 7 is also fixedly installed on the corresponding side of the clamping plate 41. The flexible pad 7 is made of flexible material. Since the clamping plate 41 is mainly made of rigid material and the corrugated tube forming module is also rigid, it is easy to produce an end after contacting the clamping plate 41. Therefore, by setting the flexible pad 7, the friction between the corrugated tube forming module and the clamping plate 41 can be reduced. Furthermore, by setting the flexible pad 7, the clamping plate 41 can adapt to the clamping of corrugated tube forming modules of different diameters. When gripping, the flexible pad 7 is always in contact with the surface of the corrugated tube forming module, which can play an auxiliary clamping role.
[0031] Furthermore, in order to more stably clamp longer bellows forming modules, such as... Figures 3-6 As shown, an auxiliary component 8 is fixedly installed on the side of the clamping plate 41 that is far away from it. The auxiliary component 8 includes a housing 81 that is fixedly connected to the clamping plate 41. The housing 81 is hollow inside and has openings on both sides. An auxiliary plate 82 is slidably installed on both sides inside the housing 81. A slider 89 is fixedly installed on the corresponding side of the auxiliary plate 82. At the same time, a first horizontal sliding groove is opened on both sides of the housing 81. The slider 89 is slidably installed in the first sliding groove. When subjected to external force, the auxiliary plates 82 on both sides are adapted to move away from each other.
[0032] It should be noted that, by Figures 3-4 It is understood that the bottom of the outer shell 81 is lower than the horizontal height of the clamping plate 41, so that when the bellows forming module is clamped, the outer shell 81 is suitable to play a certain auxiliary supporting role on the bottom of the bellows forming module.
[0033] A slide is provided on the corresponding side of the bottom of the auxiliary plate 82, and a stop 87 is fixedly installed inside the outer shell 81. A return spring 88 is fixedly installed on both sides of the stop 87. The return spring 88 is located inside the slide. The side of the return spring 88 that is far away from the bottom of the two auxiliary plates 82 is fixedly connected to the bottom of the two auxiliary plates 82. So when the auxiliary plates 82 are moved away from each other after being subjected to force, if the external force is released, the auxiliary plates 82 will automatically reset under the action of the return spring 88.
[0034] With further reference to Figures 5-6 , the first inclined surface 821 is arranged on the bottom of the auxiliary plate 82 on one side, and the adjusting plate 83 is arranged on the top of the shell 81, one side of the adjusting plate 83 is fixedly installed with an adjusting block, and a second sliding groove 810 in the vertical direction is arranged on the side wall of the inner cavity of the shell 81, and the adjusting block is slidingly installed in the second sliding groove 810, and when subjected to an external force, the adjusting plate 83 is adapted to slide downward, and the adjusting block slides in the second sliding groove 810;
[0035] The bottom of the adjusting plate 83 is conical and is provided with a second inclined surface 831, the second inclined surface 831 is in contact with the first inclined surface 821, and the pressing plate 84 is fixedly installed on the side of the adjusting plate 83 away from the chuck 41, the pressing plate 84 penetrates the shell 81, and a pressing groove is arranged on the surface of the shell 81, and the pressing plate 84 is adapted to slide up and down in the pressing groove;
[0036] When the end gripper 4 needs to clamp a corrugated pipe forming module with a longer length, the worker can press down the pressing plate 84, the pressing plate 84 slides in the pressing groove, at the same time, the adjusting plate 83 slides downward, the adjusting block slides in the second sliding groove 810, at the same time, the second inclined surface 831 exerts a pressing effect on the first inclined surface 821, the sliding block 89 slides in the first sliding groove, and the auxiliary plates 82 on both sides move away from each other and extend from both sides of the shell 81, so that the two sides of the chuck 41 are widened, and the widened chuck 41 is adapted to clamp a corrugated pipe forming module with a longer length, and the auxiliary plates 82 on both sides are adapted to assist in lifting the bottom of the corrugated pipe forming module, so as to prevent it from falling from the side;
[0037] With further reference to Figure 4 Vertical plates 85 are fixedly installed on both sides of the surface of the shell 81 away from the chuck 41, at least two groups of limiting holes are arranged on the vertical plates 85, and a limiting plate 86 is placed between the vertical plates 85, the limiting plate 86 mainly comprises a plate body arranged between the vertical plates 85 and limiting pins fixedly connected to both sides of the plate body, the width of the plate body is adapted to the width between the vertical plates 85, and the diameter of the limiting pins is adapted to the diameter of the limiting holes, so that the limiting pins on the limiting plate 86 are adapted to be inserted into the limiting holes, and the plate body is located between the vertical plates 85;
[0038] In this way, after the worker presses the pressing plate 84 to the specified position, the limiting pins on the limiting plate 86 are inserted into the corresponding limiting holes, and the plate body limits the pressing plate 84, at this time, even if the reset spring 88 has a certain rebound force, the pressing plate 84 cannot move upward by itself due to the action of the limiting pins, so as to be fixed at a certain horizontal height, in this way, the extension length of the auxiliary plate 82 can be controlled, so as to adjust the width of the widened chuck 41.
[0039] The above descriptions are only the preferred embodiments of the present application, and are not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A module-handling robot, characterized by: Include: Gantry (5), which is fixedly installed with a support plate, one side of the support plate is fixedly installed with a control box (3); Guide rail (1), which is fixedly installed on both sides of the support plate, the vertical slide rail is slidably installed on the guide rail (1); Mechanical arm (2), which is slidably installed on the vertical slide rail, the bottom of the mechanical arm (2) is fixedly installed with an adjusting device; End gripper (4), which is fixedly installed on one side of the adjusting device; Auxiliary assembly (8), which is fixedly installed on one side of the end gripper (4), the auxiliary assembly (8) comprises a shell (81), the shell (81) is fixedly connected with one side of the end gripper (4), and first sliding grooves are formed in both sides of the shell (81); Two groups of auxiliary plates (82), which are slidably installed in the shell (81), the top of the auxiliary plate (82) is fixedly installed with a sliding block (89), and the sliding block (89) is slidably installed in the first sliding groove.
2. The module-handling robot according to claim 1, characterized in that: The bottom of the auxiliary plate (82) is provided with a slide, the shell (81) is fixedly installed with a stop block (87), the stop block (87) is fixedly installed with a reset spring (88) on both sides, the reset spring (88) is located in the slide, and the reset spring (88) is fixedly connected with the bottom of the auxiliary plate (82) on both sides away from each other.
3. The module-handling robot according to claim 2, characterized in that: The bottom of the auxiliary plate (82) on both sides is provided with a first inclined surface (821), the top of the shell (81) is provided with an adjusting plate (83), one side of the adjusting plate (83) is fixedly installed with an adjusting block, a second sliding groove (810) is formed in the side wall of the shell (81), the adjusting block is slidably installed in the second sliding groove (810), and the bottom of the adjusting plate (83) is provided with a second inclined surface (831).
4. The module-handling robot according to claim 3, characterized in that: One side of the adjusting plate (83) is fixedly installed with a pressing plate (84), the pressing plate (84) penetrates the shell (81), a pressing groove is formed in the surface of the shell (81), and the pressing plate (84) is located in the pressing groove.
5. The module-handling robot according to claim 4, characterized in that: Vertical plates (85) are fixedly installed on both sides of the surface of the shell (81), at least two groups of limiting holes are formed in the vertical plates (85), a limiting plate (86) is placed between the vertical plates (85), the limiting plate (86) mainly comprises a plate body arranged between the vertical plates (85) and a limiting pin fixedly connected with both sides of the plate body, the limiting pin is matched with the limiting hole, and the width of the plate body is matched with the width between the vertical plates (85).
6. The module-handling robot according to claim 5, characterized in that: Two sides of the bottom of the end gripper (4) are fixedly installed with chuck plates (41), and one side of the chuck plate (41) is fixedly installed with a flexible pad (7).