Four-axis robot tail end overturning structure

Abstract

The utility model provides a four-axis robot tail end turnover structure which comprises a rotating shaft located at the tail end of a four-axis robot and further comprises a turnover part, the turnover part comprises a groove-shaped frame and a turnover shaft, one end of the rotating shaft is fixedly connected with the non-opening end side of the groove-shaped frame, the turnover shaft is arranged at the position, close to the opening end, of the groove-shaped frame, and the other end of the rotating shaft is fixedly connected with the turnover shaft. Two symmetrically-distributed clamping jaw sets are arranged on the two sides of the overturning shaft, and a control motor used for controlling the overturning shaft to rotate is arranged on one side of the groove-shaped frame. According to the turnover mechanism, the two clamping jaw sets are symmetrically installed on the turnover shaft, after one clamping jaw set grabs the part, the turnover shaft is controlled to rotate to switch the other clamping jaw set to continue grabbing the part, then the part is conveyed and transferred, and by means of the arrangement, the part transferring efficiency is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to a four-axis robot end-effector flipping structure. Background Technology

[0002] As the number of axes increases, the robot gains greater flexibility. Four-axis robots are specifically designed for high-speed pick-and-place operations. In small assembly robots, "four-axis robot" refers to a "selective assembly jointed robotic arm," meaning the arm portion of a four-axis robot can move freely within a geometric plane. The first two joints of a four-axis manipulator can rotate freely left and right in the horizontal plane, while the third joint consists of a metal rod called a feather and a gripper. This metal rod can move up and down in the vertical plane or rotate about its vertical axis, but cannot tilt. This unique design gives four-axis manipulators high rigidity, enabling them to perform high-speed and highly repetitive tasks.

[0003] Currently, four-axis robots are mostly used for component assembly and transport. These robots have a rotating axis at their end effector, with a gripper at the end of the axis. The gripper is used to hold components, and the rotation of the drive shaft drives the gripper to adjust the position of the components. However, this end effector structure of four-axis robots has the limitation of only being able to hold one component at a time, resulting in low component transport efficiency.

[0004] Therefore, this utility model provides a four-axis robot end-effector flipping structure. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a four-axis robot end-effector flipping structure to solve the problems mentioned in the background technology. This utility model has the advantage of clamping and transmitting two parts at the same workstation, which greatly improves the efficiency of part transmission.

[0006] To achieve the above objectives, this utility model is implemented through the following technical solution: a four-axis robot end-effector flipping structure, including a rotating shaft located at the end of the four-axis robot, and a flipping part, wherein the flipping part includes a slotted frame and a flipping shaft, one end of the rotating shaft is fixedly connected to the non-open end of the slotted frame, the flipping shaft is disposed on the slotted frame and close to the open end, two symmetrically distributed claw assemblies are provided on both sides of the flipping shaft, and a control motor for controlling the rotation of the flipping shaft is provided on one side of the slotted frame.

[0007] Furthermore, the claw assembly includes two fixed seats and two clamping plates located on one side of the fixed seats. One side of the fixed seat is fixedly connected to the outer peripheral wall of the flipping shaft, and the other side of the fixed seat is slidably engaged with one end of the clamping plate.

[0008] Furthermore, the card plate and the fixed seat are elastically slidably engaged, and the sliding direction is parallel to the axis of the flipping shaft. Electric push rods located at the open ends are fixedly connected to both sides of the slotted frame. The output shaft end of the electric push rod is fixedly connected to a pressure plate that rolls with the outer side of the card plate. Baffles are fixedly connected to both sides inside the slotted frame. Both the baffles and the pressure plates roll with the outer side of the card plate. The baffles and the electric push rods are located on both sides of the flipping shaft, respectively.

[0009] Furthermore, both the card plate and the baffle are semi-circular plate structures, and the axes on both sides coincide with the axis of the flipping shaft.

[0010] Furthermore, ball bearings are provided on the outer side of the card plate.

[0011] Furthermore, a guide sleeve is welded to one side of the fixed base, and a guide shaft with one end sleeved inside the guide sleeve is fixedly connected to one end of the clamping plate. A support spring is sleeved on the guide shaft between the guide sleeve and the clamping plate.

[0012] Furthermore, an elastic telescopic clamping block is fixedly connected to the inner side of the card plate near the other end.

[0013] The beneficial effects of this utility model are as follows:

[0014] 1. In this utility model, by symmetrically installing two jaw groups on the flip shaft, when one jaw group grabs a part, the flip shaft is controlled to rotate to switch the other jaw group to continue grabbing the part, and then the part can be transferred. This setting greatly improves the efficiency of part transfer.

[0015] 2. In this utility model, baffles and pressure plates are set on both sides of the flipping shaft on the slotted frame. The pressure plates are controlled to move back and forth by electric push rods. Thus, when the flipping shaft rotates, the baffles can replace the pressure plates to provide clamping driving force to one of the claw groups. That is to say, the two claw groups only need one set of electric push rods for control. This setting reduces cost investment and simplifies the flipping structure. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the cooperation between the rotating shaft and the flipping part of the end-effector flipping structure of a four-axis robot according to the present invention;

[0017] Figure 2 for Figure 1 The main view;

[0018] Figure 3 for Figure 1 A schematic diagram showing the overlap of the middle baffle and the pressure plate.

[0019] In the diagram: 1. Rotating shaft; 2. Flipping part; 21. Slotted frame; 22. Flipping shaft; 3. Claw assembly; 31. Fixed seat; 311. Guide sleeve; 32. Clamping plate; 321. Guide shaft; 3211. Support spring; 322. Elastic telescopic clamping block; 323. Ball bearing; 4. Electric push rod; 41. Pressure plate; 5. Baffle; 6. Control motor. Detailed Implementation

[0020] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0021] Please see Figures 1 to 3 This utility model provides a technical solution: a four-axis robot end effector flipping structure, including a rotating shaft 1 located at the end of the four-axis robot, and a flipping part 2. The flipping part 2 includes a slotted frame 21 and a flipping shaft 22. One end of the rotating shaft 1 is fixedly connected to the non-open end of the slotted frame 21. When the rotating shaft 1 rotates, it can drive the slotted frame 21 to rotate. The flipping shaft 22 is located on the slotted frame 21 and close to the open end. The rotation axis of the slotted frame 21 is perpendicular to the rotation axis of the flipping shaft 22. Two symmetrically distributed claw assemblies 3 are arranged on both sides of the flipping shaft 22. The rotation of shaft 22 will cause the two gripper groups 3 to alternately be in the pick-up and put-down position. A control motor 6 is provided on one side of the slot frame 21 to control the rotation of the flip shaft 22. The control motor 6 provides driving force to the rotation of the flip shaft 22. Thus, when a part is taken from the part placement tray on the part station, the flip shaft 22 is first controlled to rotate, so that one of the gripper groups 3 picks up the part. After picking up the part, the flip shaft 22 is controlled to rotate and drive the other gripper group 3 to be in the pick-up position. Then the part is picked up. Then the robotic arm of the four-axis robot is controlled to move the picked-up part to the installation position.

[0022] The jaw assembly 3 includes two fixed seats 31 and two clamping plates 32 located on one side of the fixed seats 31. One side of the fixed seat 31 is fixedly connected to the outer peripheral wall of the flipping shaft 22, and the other side of the fixed seat 31 is slidably engaged with one end of the clamping plate 32. The two clamping plates 32 form clamping arms for holding parts. When they move in opposite directions, they can clamp the parts; otherwise, they release the parts. In use, an elastic telescopic clamping block 322 is fixedly connected to the inner side of the clamping plate 32 near the other end. The elastic telescopic clamping block 322 plays the role of elastically clamping the parts. Its specific structure adopts a two-section telescopic structure with built-in springs.

[0023] In this embodiment, the card plate 32 and the fixed seat 31 are elastically slidably engaged, and the sliding direction is parallel to the axis of the flipping shaft 22. In a preferred implementation, a guide sleeve 311 is welded to one side of the fixed seat 31, and a guide shaft 321, one end of which is sleeved in the guide sleeve 311, is fixedly connected to one end of the card plate 32. A support spring 3211 is sleeved on the guide shaft 321 and located between the guide sleeve 311 and the card plate 32. The support spring 3211 continuously exerts an elastic pushing force on the card plate 32 outward. Electric push rods 4 are fixedly connected to both sides of the slot frame 21 at the open end. The output shaft end of the electric push rod 4 is fixedly connected to a pressure plate 41 that rolls with the outer side of the card plate 32. When the electric push rod 4 is activated, it can control the back-and-forth movement of the pressure plate 41. When the pressure plate 41 moves back and forth, it can push the card plate 32 in front of it to slide under the cooperation of the support spring 3211. In this design, baffles 5 are fixedly connected to both sides of the slotted frame 21. The baffles 5 and the electric push rod 4 are located on opposite sides of the flipping shaft 22. The baffles 5 limit the clamping plate 32, which holds the parts inside the slotted frame 21, allowing it to continue holding the parts. Meanwhile, the electric push rod 4 provides driving force to the movement of the clamping plate 32 on the outer side of the slotted frame 21. This arrangement reduces the number of electric push rods 4 required, lowering costs. Both the baffles 5 and the pressure plate 41 roll in contact with the outer side of the clamping plate 32, reducing friction when the clamping plate 32 moves in an alternating motion with the baffles 5 and pressure plate 41. Preferably, the outer side of the clamping plate 32 is provided with ball bearings 323.

[0024] Working principle: When a part needs to be picked up, first, control the electric push rod 4 to push the two clamping plates 32 on one jaw assembly 3 to move towards each other. Then, control the flip shaft 22 to rotate. The flip shaft 22 drives the jaw assembly 3 into the slot frame 21 and is limited by the baffle 5. At this time, the clamping plate 32 on the jaw assembly 3 disengages from the pressure plate 41, and the clamping plate 32 on the other jaw assembly 3 abuts against the pressure plate 41. Then, control the electric push rod 4 to return, and the corresponding two clamping plates 32 open. Then, control the robot to feed, and control the electric push rod 4 to reset. The corresponding two clamping plates 32 clamp the part. After clamping, control the flip shaft 22 to flip, and switch the idle jaw assembly 3 to the picking position. Then, pick up the part in the above manner.

[0025] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A four-axis robot end-effector flipping structure, comprising a rotating shaft (1) located at the end of the four-axis robot, characterized in that, It also includes a flipping part (2), which includes a slotted frame (21) and a flipping shaft (22). One end of the rotating shaft (1) is fixedly connected to the non-open end of the slotted frame (21). The flipping shaft (22) is located on the slotted frame (21) and close to the open end. Two symmetrically distributed claw groups (3) are provided on both sides of the flipping shaft (22). A control motor (6) for controlling the rotation of the flipping shaft (22) is provided on one side of the slotted frame (21).

2. The end-effector flipping structure for a four-axis robot according to claim 1, characterized in that: The claw assembly (3) includes two fixed seats (31) and two clamping plates (32) located on one side of the fixed seats (31). One side of the fixed seat (31) is fixedly connected to the outer peripheral wall of the flipping shaft (22), and the other side of the fixed seat (31) is slidably engaged with one end of the clamping plate (32).

3. The end effector flipping structure for a four-axis robot according to claim 2, characterized in that: The card plate (32) and the fixed seat (31) are elastically slidingly engaged and the sliding direction is parallel to the axis of the flipping shaft (22). The two sides of the slot frame (21) are fixedly connected to electric push rods (4) located at the open end. The output shaft end of the electric push rod (4) is fixedly connected to a pressure plate (41) that rolls with the outer side of the card plate (32). Both sides of the slot frame (21) are fixedly connected to baffles (5). Both the baffles (5) and the pressure plate (41) roll with the outer side of the card plate (32). The baffles (5) and the electric push rods (4) are located on both sides of the flipping shaft (22).

4. The end effector flipping structure for a four-axis robot according to claim 3, characterized in that: Both the card plate (32) and the baffle (5) are semi-circular plate structures, and the axes on both sides coincide with the axis of the flipping shaft (22).

5. The end effector flipping structure for a four-axis robot according to claim 4, characterized in that: The outer side of the card plate (32) is provided with ball bearings (323).

6. The end effector flipping structure for a four-axis robot according to claim 3, characterized in that: A guide sleeve (311) is welded to one side of the fixed seat (31), and a guide shaft (321) with one end sleeved in the guide sleeve (311) is fixedly connected to one end of the clamping plate (32). A support spring (3211) located between the guide sleeve (311) and the clamping plate (32) is sleeved on the guide shaft (321).

7. The end effector flipping structure for a four-axis robot according to claim 2, characterized in that: The inner side of the card plate (32) is fixedly connected to an elastic telescopic clamp (322) near the other end.

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