Feeding and discharging device of industrial robot

Abstract

The industrial robot feeding and discharging device comprises a limiting chassis, the upper end of the limiting chassis is rotationally connected with a rotating chassis, the center of the upper end of the rotating chassis is fixedly connected with a connecting rotating base, and the upper end of the connecting rotating base is rotationally connected with a first mechanical arm; a second mechanical arm is rotatably connected to the upper end of the first mechanical arm, a third mechanical arm is rotatably connected to the front end of the second mechanical arm, a grabbing seat is fixedly connected to the lower end of the third mechanical arm, grabbing claws are slidably connected to the left side and the right side of the lower end of the grabbing seat, adsorption pads are arranged at the lower ends of the grabbing claws, and adsorption channels are formed in the grabbing claws. And the connecting plug is communicated with the connecting channel in the grabbing seat. The connecting channel is communicated with the negative pressure chamber, the front end of the negative pressure chamber is connected with the air exhaust motor and the air exhaust turbofan through the air exhaust pipe, when fragile materials are grabbed, the air exhaust turbofan can be driven by the air exhaust motor to rotate to generate negative pressure, the materials are adsorbed through the adsorption channel, adsorption grabbing is achieved, and the application range of the device is expanded.

Description

Technical Field

[0001] This utility model belongs to the field of industrial production related technology, specifically relating to an industrial robot loading and unloading device. Background Technology

[0002] In modern industrial production, material loading and unloading operations are a crucial part of the production process. Traditional material loading and unloading methods mainly rely on manual operation, which has many drawbacks.

[0003] On the one hand, manual loading and unloading is inefficient, labor-intensive, and prone to fatigue and operational errors, affecting the continuity and stability of production. Especially in large-scale production, manual loading and unloading cannot meet the demands of high-efficiency production, becoming a bottleneck restricting the improvement of enterprise production efficiency.

[0004] On the other hand, manual operation has limited precision, making it difficult to accurately position and grasp materials. In some production scenarios with high precision requirements, manual loading and unloading may lead to inaccurate material placement, affecting the quality of subsequent processing steps.

[0005] Furthermore, with the continuous development of industrial production, the production environment has become increasingly complex and dangerous. Manual loading and unloading operations may expose workers to hazardous working environments, such as high temperatures, high pressures, and toxic or harmful gases, posing a threat to their lives.

[0006] To address the shortcomings of traditional manual material handling methods, industrial robot loading and unloading devices have emerged. However, existing industrial robot loading and unloading devices still have some problems in practical applications. For example, some devices lack flexibility and struggle to adapt to the gripping needs of materials with different shapes and sizes; some devices have a single gripping method, failing to meet the gripping needs of different types of materials and thus failing to meet diverse production requirements.

[0007] In conclusion, in order to improve the efficiency, precision and safety of industrial production, there is an urgent need for a new type of industrial robot loading and unloading device that can innovate and improve in terms of flexibility, stability and functionality to better meet the needs of modern industrial production. Utility Model Content

[0008] The purpose of this utility model is to provide an industrial robot loading and unloading device to solve the problems mentioned in the background art, such as the difficulty of adapting existing industrial robot loading and unloading devices to the needs of grasping materials of different shapes and sizes, and the single grasping method.

[0009] To achieve the above objectives, this utility model provides the following technical solution: an industrial robot loading and unloading device, including a limiting chassis, a rotating chassis rotatably connected to the upper end of the limiting chassis, a connecting turntable fixedly connected to the center of the upper end of the rotating chassis, a first robotic arm rotatably connected to the upper end of the connecting turntable, a second robotic arm rotatably connected to the upper end of the first robotic arm, a third robotic arm rotatably connected to the front end of the second robotic arm, a gripping seat fixedly connected to the lower end of the third robotic arm, and gripping claws slidably connected to both the left and right sides of the lower end of the gripping seat.

[0010] Preferably, the upper ends of both grippers are fixedly connected to limit blocks and are engaged with the lower end of the gripper base by the limit blocks. An adjustment arm is rotatably connected inside the center of the upper end of each of the two limit blocks, and an adjustment nut is rotatably connected between the two adjustment arms.

[0011] Preferably, both adjusting arms and adjusting nuts are located inside the gripping seat and between the two gripping claws. An adjusting screw runs vertically through the center of the upper end of the adjusting nut and is threadedly connected to the adjusting nut, passing through the center of the upper end of the gripping seat.

[0012] Preferably, the upper end of the adjusting screw is provided with an adjusting motor, and the upper end of the adjusting screw is rotatably connected to the interior of the lower center of the adjusting motor. The adjusting motor is fixedly connected to the interior of the motor chamber opened at the lower end of the third robotic arm.

[0013] Preferably, an adsorption pad is engaged inside the lower end of the gripper, and an adsorption channel runs vertically through the gripper and the adsorption pad. The upper opening of the adsorption channel is located inside the upper side of the gripper away from the adjustment arm, and the lower opening of the adsorption channel is funnel-shaped. A connecting plug is provided at the upper opening of the adsorption channel.

[0014] Preferably, the connector is fixedly connected to the upper outer side of the gripper away from the adjustment arm, and the connector is provided with multiple air guide grooves inside the end away from the gripper. Both the left and right ends of the gripper seat are provided with connection channels, and the lower openings of the two connection channels are respectively located inside the inner walls of the left and right ends of the lower opening of the gripper seat. The two connectors are respectively inserted into the lower openings of the two connection channels.

[0015] Preferably, the two connecting channels are connected to a negative pressure chamber at their upper ends, and the front end of the negative pressure chamber is connected to an air extraction pipe. The air extraction pipe is located inside the front end of the third robotic arm. An air extraction motor is installed inside the rear end of the air extraction pipe. An air extraction turbine fan is rotatably connected to the front end of the air extraction motor and is rotatably connected inside the air extraction pipe.

[0016] Preferably, a sealing sliding hole is provided inside the inner wall of the lower opening of the connecting channel, and a sealing head is snapped into the lower opening of the connecting channel. The sealing head is located at the end of the connecting plug away from the gripper. A limiting air guide ring is fixedly connected to the outside of the end of the sealing head away from the connecting plug, and multiple air vents are provided inside the limiting air guide ring. A sealing spring is provided at the end of the limiting air guide ring away from the connecting plug, and the sealing head and the limiting air guide ring are elastically connected inside the sealing sliding hole through the sealing spring.

[0017] Compared with the prior art, this utility model provides an industrial robot loading and unloading device, which has the following beneficial effects:

[0018] 1. Multi-directional adjustment structure innovation: It includes a combination of a limiting chassis, a rotating chassis, a connecting turntable, and multiple robotic arms, which can realize multi-directional rotation adjustment, thereby accurately determining the direction of loading and unloading and the material gripping position, improving the flexibility and accuracy of loading and unloading.

[0019] 2. Innovative Gripping Claw Adjustment Mechanism: The gripping claw is connected to the gripping seat via a limit block and internally includes an adjustment arm, an adjustment nut, an adjustment screw, and an adjustment motor. The adjustment motor drives the adjustment screw to rotate, which in turn moves the adjustment nut via the thread. This, in turn, pulls the gripping claw closer together via the adjustment arm, thus achieving the gripping and clamping of the material, improving the stability and controllability of the gripping process.

[0020] 3. Innovative Adsorption and Grasping Function: The gripping claw has an adsorption pad at its lower end with an internal adsorption channel, which connects to the connecting channel inside the gripping base via a connector plug. The connecting channel connects to a negative pressure chamber, and the front end of the negative pressure chamber is connected to an air extraction motor and an air extraction turbine fan via an extraction pipe. When gripping fragile materials, the air extraction motor drives the air extraction turbine fan to generate negative pressure, causing the adsorption channel to adsorb the material, thus achieving adsorption and gripping and expanding the applicability of the device.

[0021] 4. Innovative Connecting Channel Sealing Mechanism: The lower opening of the connecting channel is equipped with a sealing sliding hole, a sealing head, a limiting air guide ring, and a sealing spring. During clamping and gripping, the sealing head seals the lower opening of the connecting channel to prevent debris from entering without affecting clamping stability. During adsorption and gripping, the connecting plug pushes the sealing head to slide into the sealing sliding hole, connecting the adsorption channel with the connecting channel to achieve negative pressure adsorption, thus improving the reliability and functionality of the device. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the robot loading and unloading device of this utility model.

[0023] Figure 2 This is a schematic diagram of the gripper connection structure of this utility model.

[0024] Figure 3 This is a schematic diagram of the gripper connection structure of this utility model.

[0025] Figure 4 For the present utility model Figure 2 Enlarged diagram of point A in the middle.

[0026] Figure 5 For the present utility model Figure 2 Enlarged diagram of point B in the middle.

[0027] In the diagram: 1. Limiting chassis; 2. Rotating chassis; 3. Connecting turntable; 4. First robotic arm; 5. Second robotic arm; 6. Third robotic arm; 7. Gripping seat; 8. Gripping claw; 9. Limiting block; 10. Adjusting arm; 11. Adjusting nut; 12. Adjusting screw; 13. Adjusting motor; 14. Adsorption pad; 15. Adsorption channel; 16. Connecting plug; 17. Connecting channel; 18. Negative pressure chamber; 19. Suction pipe; 20. Suction motor; 21. Suction turbine fan; 22. Sealing slide hole; 23. Sealing head; 24. Limiting air guide ring; 25. Sealing spring. Detailed Implementation

[0028] 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.

[0029] This utility model provides, for example Figures 1-5 The industrial robot loading and unloading device shown includes a limiting chassis 1, a rotating chassis 2 rotatably connected to the upper end of the limiting chassis 1, a connecting rotating seat 3 fixedly connected to the center of the upper end of the rotating chassis 2, a first robotic arm 4 rotatably connected to the upper end of the connecting rotating seat 3, a second robotic arm 5 rotatably connected to the upper end of the first robotic arm 4, a third robotic arm 6 rotatably connected to the front end of the second robotic arm 5, and a gripping seat 7 fixedly connected to the lower end of the third robotic arm 6. Gripping claws 8 are slidably connected to the left and right sides of the lower end of the gripping seat 7. In industrial production, the robot loading and unloading device can automate the loading and unloading of materials, thereby reducing labor costs and improving production efficiency. The robot loading and unloading device adjusts the loading and unloading direction by rotating the rotating chassis 2 and the connecting rotating seat 3, and adjusts the position of the gripping seat 7 and the two gripping claws 8 by rotating the first robotic arm 4, the second robotic arm 5 and the third robotic arm 6, thereby accurately gripping the materials.

[0030] Preferably, each of the two gripping claws 8 has a limiting block 9 fixedly connected to its upper end, and is engaged with the gripping base 7 at its lower end by the limiting block 9. An adjusting arm 10 is rotatably connected to the center of the upper end of each of the two limiting blocks 9, and an adjusting nut 11 is rotatably connected between the two adjusting arms 10. Both the adjusting arms 10 and the adjusting nut 11 are located inside the gripping base 7 and between the two gripping claws 8. An adjusting screw 12 passes vertically through the center of the upper end of the adjusting nut 11, and the adjusting screw 12 is threadedly connected to the adjusting nut 11 and passes through the center of the upper end of the gripping base 7. Inside the core, the upper end of the adjusting screw 12 is equipped with an adjusting motor 13, and the upper end of the adjusting screw 12 is rotatably connected to the lower center of the adjusting motor 13. The adjusting motor 13 is fixedly connected to the motor chamber opened at the lower end of the third robotic arm 6. After the positions of the two gripping claws 8 are adjusted, the adjusting screw 12 rotates through the adjusting motor 13, and drives the adjusting nut 11 to move upward through the thread. The adjusting nut 11 pulls the two gripping claws 8 and the two limiting blocks 9 toward the center through the two adjusting arms 10, thereby clamping and gripping the material.

[0031] Preferably, an adsorption pad 14 is engaged inside the lower end of the gripper 8. Adsorption channels 15 extend vertically through the gripper 8 and the adsorption pad 14. The upper opening of the adsorption channel 15 is located inside the upper side of the gripper 8 away from the adjusting arm 10, and the lower opening of the adsorption channel 15 is funnel-shaped. A connecting plug 16 is provided at the upper opening of the adsorption channel 15. The connecting plug 16 is fixedly connected to the upper outside of the gripper 8 away from the adjusting arm 10, and multiple air guide grooves are formed inside the connecting plug 16 at the end away from the gripper 8. Both ends of the gripper 7 have connecting channels 17, and the lower openings of the two connecting channels 17 are located inside the inner walls of the lower openings of the gripper 7. Two connecting plugs 16 are inserted into the lower openings of the two connecting channels 17. The upper ends of the two connecting channels 17 are connected to a negative pressure chamber 18. The upper front end of the negative pressure chamber 18 is connected to a suction pipe 19, which is located inside the front end of the third robotic arm 6. The rear end of the suction pipe 19 is equipped with a suction motor 20, and the front end of the suction motor 20 is rotatably connected to a suction pump. The suction turbine fan 21 is rotatably connected inside the suction pipe 19. When the material to be gripped by the two gripping claws 8 is relatively fragile, the two gripping claws 8 can adsorb and grip the material through the adsorption pad 14 set at the lower end. In this process, the two gripping claws 8 are first slid to the outermost side, and the two connecting plugs 16 are inserted into the lower opening of the two connecting channels 17, so that the adsorption channel 15 inside the gripping claws 8 is connected to the connecting channel 17. At the same time, the suction motor 20 drives the suction turbine fan 21 to rotate, and through the suction turbine fan... The rotation of 21 draws air out of the negative pressure chamber 18, creating negative pressure inside the two connecting channels 17 and the two adsorption channels 15 that are connected to the negative pressure chamber 18. Since the lower opening of the adsorption channel 15 is located inside the center of the lower end of the adsorption pad 14 and is funnel-shaped, and the adsorption pad 14 is made of soft rubber with a smooth outer wall at the lower end, the material located at the lower end of the adsorption pad 14 can be adsorbed by the negative pressure of the adsorption channel 15, thereby lifting the material and achieving adsorption and gripping of the material.

[0032] Preferably, a sealing sliding hole 22 is provided inside the inner wall of the lower opening of the connecting channel 17, and a sealing head 23 is engaged inside the lower opening of the connecting channel 17. The sealing head 23 is located at the end of the connecting plug 16 away from the gripper 8. A limiting air guide ring 24 is fixedly connected to the outer side of the end of the sealing head 23 away from the connecting plug 16, and multiple air holes are provided inside the limiting air guide ring 24. A sealing spring 25 is provided at the end of the limiting air guide ring 24 away from the connecting plug 16. The sealing head 23 and the limiting air guide ring 24 are elastically connected inside the sealing sliding hole 22 through the sealing spring 25. When the material is clamped and gripped, since the sealing head 23 is engaged inside the lower opening of the connecting channel 17 and can seal the lower opening of the connecting channel 17 through the sealing head 23, no foreign matter will be sucked into the connecting channel 17, and the clamped material will not be affected, thus ensuring stable clamping.

[0033] Preferably, when adsorbing and grasping materials, since the connector 16 needs to be inserted into the lower opening of the connecting channel 17, the sealing head 23 can be completely slid into the sealing hole 22 under the pushing of the connector 16. This allows the adsorption channel 15 to communicate with the inside of the connecting channel 17 through the connector 16 and the multiple air guide grooves and multiple air vents inside the limiting air guide ring 24. This allows the adsorption channel 15 to communicate with the negative pressure chamber 18 and generate negative pressure through the rotation of the suction fan 21 to adsorb materials.

[0034] 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 industrial robot loading and unloading device, characterized in that, The device includes a limiting chassis (1), a rotating chassis (2) rotatably connected to the upper end of the limiting chassis (1), a connecting turntable (3) fixedly connected to the center of the upper end of the rotating chassis (2), a first robotic arm (4) rotatably connected to the upper end of the connecting turntable (3), a second robotic arm (5) rotatably connected to the upper end of the first robotic arm (4), a third robotic arm (6) rotatably connected to the front end of the second robotic arm (5), a gripping seat (7) fixedly connected to the lower end of the third robotic arm (6), and gripping claws (8) slidably connected to the left and right sides of the lower end of the gripping seat (7).

2. The industrial robot loading and unloading device according to claim 1, characterized in that: Both gripping claws (8) are fixedly connected to the upper ends of the limit blocks (9) and are engaged with the lower end of the gripping seat (7) by the limit blocks (9). The upper center of both limit blocks (9) is rotatably connected to the adjustment arms (10), and the two adjustment arms (10) are rotatably connected to each other by the adjustment nuts (11).

3. The industrial robot loading and unloading device according to claim 2, characterized in that: Both of the aforementioned adjusting arms (10) and adjusting nuts (11) are located inside the gripping seat (7) and between the two gripping claws (8). An adjusting screw (12) runs through the center of the upper end of the adjusting nut (11) and is threadedly connected to the adjusting nut (11), and runs through the center of the upper end of the gripping seat (7).

4. The industrial robot loading and unloading device according to claim 3, characterized in that: The upper end of the adjusting screw (12) is provided with an adjusting motor (13), and the upper end of the adjusting screw (12) is rotatably connected to the center of the lower end of the adjusting motor (13). The adjusting motor (13) is fixedly connected to the motor chamber opened at the lower end of the third robotic arm (6).

5. The industrial robot loading and unloading device according to claim 1, characterized in that: An adsorption pad (14) is snapped into the lower end of the gripper (8). An adsorption channel (15) runs vertically through the gripper (8) and the adsorption pad (14). The upper opening of the adsorption channel (15) is located inside the upper side of the gripper (8) away from the adjustment arm (10), and the lower opening of the adsorption channel (15) is flared. A connector (16) is provided at the upper opening of the adsorption channel (15).

6. The industrial robot loading and unloading device according to claim 5, characterized in that: The connector (16) is fixedly connected to the upper outer side of the gripper (8) away from the adjustment arm (10), and multiple air guide grooves are opened inside the connector (16) away from the gripper (8). The gripper seat (7) is provided with connecting channels (17) at both the left and right ends, and the lower openings of the two connecting channels (17) are respectively located inside the inner walls of the left and right ends of the lower opening of the gripper seat (7). The two connectors (16) are respectively inserted into the lower openings of the two connecting channels (17).

7. The industrial robot loading and unloading device according to claim 6, characterized in that: The two connecting channels (17) are connected to a negative pressure chamber (18) at their upper ends. The front end of the negative pressure chamber (18) is connected to an air extraction pipe (19), and the air extraction pipe (19) is located inside the front end of the third robotic arm (6). An air extraction motor (20) is installed inside the rear end of the air extraction pipe (19). An air extraction turbine fan (21) is rotatably connected to the front end of the air extraction motor (20), and the air extraction turbine fan (21) is rotatably connected inside the air extraction pipe (19).

8. The industrial robot loading and unloading device according to claim 7, characterized in that: A sealing sliding hole (22) is provided inside the inner wall of the lower opening of the connecting channel (17). A sealing head (23) is snapped into the lower opening of the connecting channel (17). The sealing head (23) is located at the end of the connecting plug (16) away from the gripper (8). A limiting air guide ring (24) is fixedly connected to the outside of the end of the sealing head (23) away from the connecting plug (16). A plurality of air holes are provided inside the limiting air guide ring (24). A sealing spring (25) is provided at the end of the limiting air guide ring (24) away from the connecting plug (16). The sealing head (23) and the limiting air guide ring (24) are elastically connected inside the sealing sliding hole (22) through the sealing spring (25).

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