Discharging manipulator

Abstract

The utility model provides a blanking manipulator, relates to medium blanking manipulator technical field, including: vacuum chuck and mechanical arm mechanism, the upper end of vacuum chuck is connected with mechanical arm mechanism, the right side of vacuum chuck is provided with L-shaped pillar, the upper end of L-shaped pillar is movably connected with fixed plate, and the fixed plate is connected with the lower end of L-shaped pillar. A servo motor is connected to the upper end of the L-shaped supporting column through a coupler, a lifting driving block is fixedly connected to the left side end of the fixing plate in a screwed mode, a nut block is fixedly embedded in the middle of the lifting driving block, the lifting driving block is connected with a lifting screw through the nut block, and a stepping motor is connected to the lower end of the lifting screw through a shaft. A material supporting table plate is welded to the surfaces of the L-shaped supporting columns, the upper end of the material supporting table plate is connected with a material pressing plate through a limiting rod, and the lower surface of the material pressing plate is connected with a supporting spring. The suction cup type discharging manipulator solves the problem that an existing suction cup type discharging manipulator is prone to being affected by external force vibration and the like in the moving process, and accordingly adsorbed objects are prone to disengagement and falling off.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of blanking manipulator, specifically relates to a blanking manipulator. BACKGROUND

[0002] The blanking manipulator realizes the complete automation of the manufacturing process of machine tools, adopts integrated machining technology, is suitable for feeding and discharging, workpiece overturning and workpiece sequence changing of production lines, and is commonly pneumatic clamping jaw type and vacuum chuck type, but the existing vacuum chuck type blanking manipulator is easy to be affected by external force vibration during movement and cause the adsorbed articles to separate and fall off. UTILITY MODEL CONTENTS

[0003] In order to overcome the defects of the prior art, the blanking manipulator is provided to solve the problem that the existing vacuum chuck type blanking manipulator is easy to be affected by external force vibration during movement and cause the adsorbed articles to separate and fall off.

[0004] In order to achieve the above purpose, the blanking manipulator comprises a vacuum chuck and a mechanical arm mechanism, the vacuum chuck is connected with the mechanical arm mechanism at the upper end,

[0005] The right side of the vacuum chuck is provided with an L-shaped support, the upper end of the L-shaped support is movably connected with a fixed plate, the upper end of the L-shaped support is connected with a servo motor through a shaft coupling, the left side end of the fixed plate is fixedly connected with a lifting driving block through screw connection, the middle part of the lifting driving block is embeddedly fixed with a nut block, the lifting driving block is connected with a lifting screw rod through the nut block, the lower end of the lifting screw rod is connected with a stepping motor through a shaft, a material supporting table plate is welded on the surface of the L-shaped support, the upper end of the material supporting table plate is connected with a pressing plate through a limiting rod, and the lower surface of the pressing plate is connected with a supporting spring.

[0006] Further, the lower end of the mechanical arm mechanism is connected with the upper surface of the vacuum chuck through a connecting frame, and the upper surface of the vacuum chuck is connected with a vacuum pipeline.

[0007] Further, a limiting frame is welded on the right side end of the connecting frame, and a lifting screw rod is installed on the inner side wall of the limiting frame through a bearing; and a lifting driving block is slidingly connected on the inner side of the limiting frame.

[0008] Further, a vibration isolation support pad is bonded on the upper surface of the vacuum chuck, and a stepping motor is attached to the upper end of the vibration isolation support pad, and the stepping motor is fixedly installed on the lower surface of the limiting frame.

[0009] Further, a shaft coupling is installed in the fixed plate, and a servo motor is fixedly connected on the upper surface of the fixed plate, and a laser sensor is embeddedly installed on the left side rod surface of the L-shaped support.

[0010] Further, the L-shaped support is connected with side supports in front and back of the L-shaped support; the side supports are fixed to the lower surface of the material supporting table; and the upper surface of the pressing plate is bonded with a non-slip pad.

[0011] Further, the lower surface of the pressing plate is symmetrically distributed with two groups of supporting springs; and the lower ends of the supporting springs are in contact with the upper groove surface of the material supporting table.

[0012] The blanking manipulator has the advantages that: the material supporting table supported by the L-shaped support is located at one side of the vacuum chuck, the material supporting table is driven to descend by the lifting driving block moving on the surface of the lifting screw, the L-shaped support drives the material supporting table to rotate to the lower end surface of the object adsorbed by the vacuum chuck, the material supporting table assists in supporting the blanking object, the blanking manipulator has the anti-falling function, the stable movement of the vacuum chuck type manipulator is facilitated, the blanking object is prevented from falling off due to external factors during blanking, and the blanking stability of the blanking manipulator is improved; the multiple pressing plates elastically supported on the material supporting table can be in full contact with the uneven surface of the object, the material supporting table can more stably assist in supporting the blanking object, and the practicability of the blanking manipulator is improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a front view structural schematic diagram of the blanking manipulator.

[0014] Figure 2 It is a front view sectional structure schematic diagram of the blanking manipulator.

[0015] Figure 3 It is a top view structural schematic diagram of the blanking manipulator.

[0016] Figure 4 It is a lower end surface structure schematic diagram of the material supporting table.

[0017] Figure 5 It is a three-dimensional structure schematic diagram of the lifting driving block.

[0018] In the drawing: 1, vacuum chuck; 11, vacuum pipeline; 2, mechanical arm mechanism; 21, connecting frame; 3, lifting driving block; 31, limiting frame; 32, lifting screw; 33, vibration isolation pad; 34, stepping motor; 35, nut block; 4, L-shaped support; 41, fixed plate; 42, servo motor; 43, shaft coupling; 44, laser sensor; 45, side support; 5, material supporting table; 51, pressing plate; 52, supporting spring; 53, limiting rod; 54, non-slip pad. DETAILED DESCRIPTION

[0019] REFERENCE Figures 1 to 5As shown, the utility model provides a kind of unloading mechanical hand, comprising: vacuum chuck 1 and mechanical arm mechanism 2, vacuum chuck 1 upper end is connected with mechanical arm mechanism 2,

[0020] Vacuum chuck 1 right side is provided with L type pillar 4, L type pillar 4 upper end is movably connected with fixed plate 41, L type pillar 4 upper end is connected with servo motor 42 by coupling 43, fixed plate 41 left side end is fixed with lifting driving block 3 by screwing, lifting driving block 3 middle part is embedded with nut block 35, lifting driving block 3 is connected with lifting screw 32 by nut block 35, lifting screw 32 lower end is connected with step motor 34 by shaft, L type pillar 4 surface is welded with material supporting platform 5, material supporting platform 5 upper end is connected with pressing plate 51 by limiting rod 53, pressing plate 51 lower surface is connected with support spring 52.

[0021] First, mechanical arm mechanism 2 drives vacuum chuck 1 to descend and be adsorbed at the upper surface of one side end of unloading article, when lifting unloading article, lifting screw 32 rotates, so that lifting driving block 33 drives L type pillar 4 and material supporting platform 5 descend to the lower end of unloading article, then step motor 34 drives L type pillar 4 to rotate 180 degrees, so that L type pillar 4 rotates material supporting platform 5 to the position directly below unloading article, lifting screw 32 reversely rotates again, lifting driving block 3 drives L type pillar 4 and material supporting platform 5 to move upwards, so that multiple pressing plates 51 on material supporting platform 5 are fully attached to the lower surface of unloading article, when moving to unloading position, material supporting platform 5 descends and rotates 180, and simultaneously moves upwards to reset, at this time, mechanical arm mechanism 2 drives vacuum chuck 1 to descend and place the adsorbed unloading article in unloading area.

[0022] In the embodiment, the lower end of mechanical arm mechanism 2 is connected with the upper surface of vacuum chuck 1 through link frame 21, and the upper surface of vacuum chuck 1 is connected with vacuum pipeline 11.

[0023] As a preferred embodiment, mechanical arm mechanism 2 is usually powered by motor, hydraulic or pneumatic system, to drive each joint of the mechanical arm to move, and these joints are connected through transmission system (such as gear, belt, etc.), so that mechanical arm mechanism 2 can move freely in three-dimensional space, thereby driving vacuum chuck 1 to adsorb and lift unloading article, and mechanical arm mechanism 2 also includes control system (this control system is existing mature technology, not shown in the figure), to control the movement trajectory of mechanical arm mechanism 2, the adsorption and release of vacuum chuck 1, and the cooperative work with other equipment, to realize automatic unloading operation through programming.

[0024] In the embodiment, the right end of the adapter frame 21 is welded with a limiting frame 31, and the inner wall of the limiting frame 31 is mounted with a lifting screw 32 through a bearing; and the inner side of the limiting frame 31 is slidingly connected with a lifting driving block 3.

[0025] As a preferred embodiment, the lifting screw 32 is driven to rotate in opposite directions by a stepping motor 34, and a nut block 35 in the lifting driving block 3 converts the rotary motion of the lifting screw 32 into linear motion, so that the lifting driving block 3 moves up and down in the limiting frame 31, realizing the movement process of driving the material supporting platform 5 to move up and down, facilitating the material supporting platform 5 to move down to the lower end surface of the discharged object, facilitating the auxiliary upward supporting of the discharged object being moved by the vacuum suction cup 1, and preventing the discharged object from being separated or falling during movement.

[0026] In the embodiment, the upper surface of the vacuum suction cup 1 is bonded with a vibration isolation pad 33; and the upper end of the vibration isolation pad 33 is attached with a stepping motor 34, which is fixedly installed at the lower surface of the limiting frame 31.

[0027] As a preferred embodiment, the vibration isolation pad 33 plays a role in vibration isolation and protection. The stepping motor 34 drives the lifting screw 32 to rotate in opposite directions, so that the lifting driving block 3 moves up and down on the surface of the lifting screw 32, thereby driving the L-shaped support 4 to descend or ascend to be flush with the lower surface of the vacuum suction cup 1.

[0028] In the embodiment, the fixed plate 41 is internally mounted with a shaft coupling 43; and the upper surface of the fixed plate 41 is fixedly provided with a servo motor 42, and the left side of the L-shaped support 4 is embeddedly installed with a laser sensor 44.

[0029] As a preferred embodiment, the servo motor 42 on the fixed plate 41 drives the L-shaped support 4 to rotate by 180 degrees through the shaft coupling 43, so that the rotating L-shaped support 4 rotates the material supporting platform 5 to the position below or to the right of the vacuum suction cup 1, facilitating the upward supporting of the discharged workpiece being adsorbed, avoiding the phenomenon that the discharged workpiece is separated or falls due to external factors during adsorption by the vacuum suction cup 1, reducing the probability of damage to the discharged workpiece during operation, and reducing cost loss. The laser sensor 44 functions to sense the discharged workpiece being adsorbed by the vacuum suction cup 1, and senses the position of the discharged workpiece when the L-shaped support 4 moves down, so that the material supporting platform 5 is lowered to the lower end of the discharged workpiece and then rotates to the position directly below the lower end of the workpiece, avoiding the direct rotation of the material supporting platform 5 to hit the side edge of the discharged workpiece.

[0030] In the embodiment, the L-shaped support 4 is connected with side supports 45 at the front and rear sides; and the side supports 45 are fixed to the lower surface of the material supporting platform 5. The upper surface of the pressing plate 51 is bonded with an anti-skid pad 5. Two groups of supporting springs 52 are symmetrically distributed on the lower surface of the pressing plate 51; and the lower ends of the supporting springs 52 are in contact with the upper groove surface of the material supporting platform 5.

[0031] As a preferred embodiment, the side supports 45 on both sides of the L-shaped support 4 facilitate further supporting the material supporting platform 5, so that the L-shaped support 4 can firmly support and connect the material supporting platform 5, and the material supporting platform 5 moves following the movement of the L-shaped support 4. The upper surface of the material supporting platform 5 is limitedly connected with a plurality of pressing plates 51, and the pressing plates 51 elastically supported by the supporting springs 52 can be in contact with the lower surface of the adsorbed material objects, so that the plurality of pressing plates 51 can fully adhere to the uneven lower surface of the material objects, and the material supporting platform 5 can stably assist in supporting the material objects, so that the material supporting platform 5 and the vacuum chuck 1 form an adsorbed clamping on the material objects during the movement of the material objects, effectively preventing the material objects from being affected by external factors during the movement and falling off, and enhancing the stability of the material objects during the movement of the material objects.

[0032] The material supporting platform of the utility model can effectively solve the problem that the existing chuck type material feeding manipulator is easily affected by external force vibration during the movement and easily causes the adsorbed material objects to fall off, realizes the material feeding manipulator with the anti-falling function, facilitates the stable movement of the chuck type material feeding manipulator, effectively prevents the material objects from being affected by external factors during the movement and falling off, and enhances the stability of the material objects during the movement of the material feeding manipulator; through the plurality of pressing plates elastically supported on the material supporting platform, the uneven surface of the material objects can be fully contacted, the material supporting platform can more stably assist in supporting the material objects, the practicality of the material feeding manipulator is improved, and the material feeding manipulator is suitable.

Claims

1. A blanking robot comprising: Vacuum chuck (1) and mechanical arm mechanism (2), the upper end of the vacuum chuck (1) is connected with the mechanical arm mechanism (2), characterized by: The right side of the vacuum chuck (1) is provided with an L-shaped support (4), the upper end of the L-shaped support (4) is movably connected with a fixed plate (41), the upper end of the L-shaped support (4) is connected with a servo motor (42) through a shaft coupling (43), the left side end of the fixed plate (41) is fixedly screwed with a lifting driving block (3), the middle part of the lifting driving block (3) is embeddedly fixed with a nut block (35), the lifting driving block (3) is connected with a lifting screw (32) through the nut block (35), the lower end of the lifting screw (32) is connected with a stepping motor (34) through a shaft, the surface of the L-shaped support (4) is welded with a material supporting table plate (5), the upper end of the material supporting table plate (5) is connected with a material pressing plate (51) through a limiting rod (53), the lower surface of the material pressing plate (51) is connected with a supporting spring (52).

2. The blanking robot according to claim 1, characterized in that The lower end of the mechanical arm mechanism (2) is connected with the upper surface of the vacuum chuck (1) through a connecting frame (21), and the upper surface of the vacuum chuck (1) is connected with a vacuum pipeline (11).

3. The blanking robot according to claim 2, characterized in that The right side end of the connecting frame (21) is welded with a limiting frame (31), and the lifting screw (32) is installed in the inner side wall of the limiting frame (31) through a bearing; and the lifting driving block (3) is limitingly slid in the inner side of the limiting frame (31).

4. The blanking robot according to claim 1, characterized in that, The upper surface of the vacuum chuck (1) is bonded with a vibration isolation supporting pad (33), and the upper end of the vibration isolation supporting pad (33) is attached with a stepping motor (34), which is fixedly installed at the lower surface of the limiting frame (31).

5. The blanking robot according to claim 1, characterized in that, The inside of the fixed plate (41) is installed with a shaft coupling (43), and the upper surface of the fixed plate (41) is fixedly provided with a servo motor (42), and the left side rod surface of the L-shaped support (4) is embeddedly installed with a laser sensor (44).

6. The blanking robot according to claim 1, characterized in that, The front and rear sides of the L-shaped support (4) are connected with side supports (45), and the side supports (45) are fixed with the lower surface of the material supporting table plate (5), and the upper surface of the material pressing plate (51) is bonded with an anti-skid pad (54).

7. The blanking robot according to claim 1, characterized in that, The lower surface of the material pressing plate (51) is symmetrically provided with two groups of supporting springs (52), and the lower ends of the supporting springs (52) are in contact with the upper groove surface of the material supporting table plate (5).

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