Material taking manipulator

Abstract

The utility model discloses a material taking manipulator which comprises a base, a mechanical arm, a clamping jaw, a positioning mechanism and a fixing assembly, and the fixing assembly comprises a fixing disc, a vacuum air cylinder, an air pipe, a suction cup and a protection mechanism. After the clamping jaw grabs an object, the vacuum air cylinder is started and starts to operate, negative pressure is output through the air pipe, the suction cup can suck the object, then the clamping jaw can stably grab the object, after grabbing is completed, the mechanical arm is started again, and the clamping jaw can move to a subsequent machining position along with the mechanical arm. And then the grabbed objects are moved to the position needing to be machined, so that the problem that when the clamping jaw grabs different objects, the objects cannot be stably clamped, and the objects are likely to fall off during movement is solved.

Description

Technical Field

[0001] This utility model belongs to the field of industrial robot technology, specifically relating to a material handling robot. Background Technology

[0002] When production takes place in a factory, raw materials need to be placed in production equipment for further processing. Currently, most of the time, the raw materials are placed into the production equipment manually, which increases the labor intensity of manual labor.

[0003] Currently, the prior art (CN208147896U) discloses a device including a base, a robotic arm, a gripper, and a positioning mechanism. When it is necessary to grasp raw materials, the robotic arm is activated, which drives the gripper to move to the position of the raw materials. By activating the positioning mechanism, the items are compared to determine the items to be grasped. Through the operation of the robotic arm, the gripper can move the grasped items to the subsequent processing position, thereby improving work efficiency.

[0004] However, using the above method, the gripper cannot stably hold different items when grabbing them, making the items easy to fall off during movement. Utility Model Content

[0005] The purpose of this invention is to provide a material handling robot that solves the problem that the gripper cannot stably hold different items, making the items easy to fall off during movement.

[0006] To achieve the above objectives, this utility model provides a material handling robot, including a base, a robotic arm, a gripper, a positioning mechanism, and a fixing component. The robotic arm is connected to the base and located on one side of the base. The gripper is connected to the robotic arm and located on one side of the robotic arm. The positioning mechanism is connected to the robotic arm and located on one side of the robotic arm. The fixing component includes a fixing plate, a vacuum cylinder, an air pipe, a suction cup, and a protective mechanism.

[0007] The fixed plate is fixedly connected to the robotic arm and located on one side of the robotic arm. The vacuum cylinder is fixedly connected to the fixed plate and located on one side of the robotic arm. The air pipe is connected to the vacuum cylinder and located on one side of the vacuum cylinder. The suction cup is connected to the air pipe and connected to the gripper. The protective mechanism is connected to the fixed plate and located on one side of the fixed plate.

[0008] The fixing component further includes a fixing ring, which is connected to the air tube and the robotic arm.

[0009] The protective mechanism includes a baffle, a spring, and a cover plate. The baffle is fixedly connected to the fixed plate and located on one side of the fixed plate. The spring is fixedly connected to the baffle and located on one side of the baffle. The cover plate is fixedly connected to the spring and slidably connected to the robotic arm.

[0010] The protective mechanism further includes a locking ring and a locking block. The locking ring is fixedly connected to the baffle and located on one side of the baffle. The locking block is fixedly connected to the cover plate and slidably connected to the locking ring.

[0011] The protective mechanism further includes a guide telescopic rod, which is fixedly connected to the baffle and the cover plate.

[0012] This utility model discloses a material handling robot. When it needs to grasp raw materials, the robot arm is activated, moving the gripper to the location of the raw materials. By activating the positioning mechanism, the item to be grasped is determined, and the gripper can grasp the item through the operation of the robot arm. At this time, the vacuum cylinder is activated, and the vacuum cylinder starts to operate, outputting negative pressure through the air pipe, allowing the suction cup to adhere to the item, thus enabling the gripper to stably grasp the item. After grasping, the robot arm is activated again, allowing the gripper to follow the robot arm to the subsequent processing position, thereby moving the grasped item to the position to be processed. When it is time to put the item down, the vacuum cylinder first outputs positive pressure, causing the suction cup to stop adhering to the item, and then the gripper is released to place the item down, avoiding damage to the item during placement. This solves the problem that the gripper cannot stably hold different items when grasping them, making the items easy to fall during movement. Attached Figure Description

[0013] Figure 1 This is a front view of the first embodiment of the present invention, excluding the protective mechanism;

[0014] Figure 2 This is a front view of the entire first embodiment of the present invention;

[0015] Figure 3 This is a schematic diagram of the protective mechanism according to the second embodiment of the present invention;

[0016] In the diagram: 101-base, 102-robotic arm, 103-gripper, 104-positioning mechanism, 105-fixed component, 106-fixed plate, 107-vacuum cylinder, 108-air pipe, 109-suction cup, 110-protective mechanism, 111-fixed ring, 112-baffle, 113-spring, 114-cover plate, 115-locking ring, 116-locking block, 201-guide telescopic rod. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0018] Please see Figures 1-2 , Figure 1 This is a front view of the first embodiment of the present invention, excluding the protective mechanism. Figure 2 This is a front view of the overall first embodiment of the present invention.

[0019] This utility model discloses a material handling robot, comprising a base 101, a robotic arm 102, a gripper 103, a positioning mechanism 104, and a fixing component 105. The fixing component 105 includes a fixing plate 106, a vacuum cylinder 107, an air pipe 108, a suction cup 109, a protective mechanism 110, and a fixing ring 111. The protective mechanism 110 includes a baffle 112, a spring 113, a cover plate 114, a locking ring 115, and a locking block 116. The aforementioned solution solves the problem that the gripper 103 cannot stably hold different items when grasping them, making the items easy to fall during movement. It can be understood that the aforementioned solution can solve the problem of instability of the gripper 103 when holding items, and can also be used to solve the problem of the air pipe 108 shifting when the vacuum cylinder 107 outputs air pressure.

[0020] In this specific embodiment, the basic support part of the robotic arm 102 is used to fix the robotic arm and stably install it in the working environment. It is connected to the base 101 and located above the base 101, with the robotic arm 102 arranged horizontally. The gripper 103 is connected to the robotic arm 102 and located on one side of the robotic arm 102. The positioning mechanism 104 based on the force sensor is connected to the robotic arm 102 and located on one side of the robotic arm 102. When it is necessary to grasp raw materials, the robotic arm 102 is activated and feedback is sent to the top of the raw materials through the positioning mechanism 104. The gripper 103 moves to the position of the raw materials. By activating the positioning mechanism 104, the items are compared to determine the items to be grasped. Through the operation of the robotic arm 102, the gripper 103 can move the grasped items to the subsequent processing position, thereby improving work efficiency.

[0021] The fixed plate 106 is fixedly connected to the robotic arm 102 and located below the robotic arm 102. The vacuum cylinder 107 is fixedly connected to the fixed plate 106 and located below the robotic arm 102. The air pipe 108 is connected to the vacuum cylinder 107 and located to the right of the vacuum cylinder 107. The suction cup 109 is connected to the air pipe 108 and connected to the gripper 103. The protective mechanism 110 is connected to the fixed plate 106 and located to one side of the fixed plate 106. When it is necessary to grasp raw materials, the robotic arm 102 is started, which drives the gripper 103 to move to the position of the raw materials. The positioning mechanism 104 is started to compare the items and determine the items to be grasped. Through the operation of the robotic arm 102, the gripper 103 can grasp the items. At this time, the vacuum cylinder is started. 107. Vacuum cylinder 107 starts operating, outputting negative pressure through air pipe 108, enabling suction cup 109 to adsorb the item, and thus enabling gripper 103 to stably grasp the item. After grasping, robotic arm 102 is restarted, allowing gripper 103 to move with robotic arm 102 to the subsequent processing position, thereby moving the grasped item to the processing position. At this time, when it is necessary to put the item down, positive pressure is first output through vacuum cylinder 107, causing suction cup 109 to stop adsorbing the item, and then gripper 103 is released to place the item, avoiding damage to the item during placement. This solves the problem that gripper 103 cannot stably hold different items when grasping them, making the items easy to fall during movement.

[0022] Secondly, the fixing ring 111 is connected to the air pipe 108 and the robotic arm 102. The fixing ring 111 can fix the position of the air pipe 108 to prevent the air pipe 108 from shifting when the vacuum cylinder 107 outputs air pressure.

[0023] Furthermore, the baffle 112 is fixedly connected to the fixed plate 106 and located on one side of the fixed plate 106. The spring 113 is fixedly connected to the baffle 112 and located on one side of the baffle 112. The cover plate 114 is fixedly connected to the spring 113 and slidably connected to the robotic arm 102. The cooperation of the baffle 112 and the cover plate 114 can protect the vacuum cylinder 107 and prevent foreign objects from entering the vacuum cylinder 107 during operation, thus affecting the operation of the vacuum cylinder 107.

[0024] In addition, the locking ring 115 is fixedly connected to the baffle 112 and located on one side of the baffle 112. The locking block 116 is fixedly connected to the cover plate 114 and slidably connected to the locking ring 115. When the vacuum cylinder 107 needs maintenance after a long period of operation, the staff can first press the locking block 116 to make the locking block 116 slide out from the locking ring 115, so that the locking ring 115 on the baffle 112 no longer limits the locking block 116 on the cover plate 114. This causes the spring 113 on the baffle 112 to start to stretch, driving the cover plate 114 to slide on the robotic arm 102, thereby exposing the vacuum cylinder 107 on the fixed plate 106 for easy maintenance by the staff.

[0025] In this embodiment, a material-grabbing robot arm activates when it needs to grasp raw materials. The robotic arm 102 moves the gripper 103 to the location of the raw materials. A positioning mechanism 104 is activated to compare the material and determine the material to be grasped. The robotic arm 102 then moves the gripper 103 to grasp the material. Simultaneously, a vacuum cylinder 107 is activated, outputting negative pressure through an air pipe 108. This allows a suction cup 109 to adhere the material, enabling the gripper 103 to stably grasp it. A fixing ring 111 secures the air pipe 108, preventing it from shifting when the vacuum cylinder 107 outputs air pressure. After grasping, the robotic arm 102 is activated again, allowing the gripper 103 to move with it to the next processing position, thus moving the grasped material to the desired processing location. When it is necessary to put the item down, positive pressure is first output through vacuum cylinder 107, so that suction cup 109 stops suctioning the item. Then, the gripper 103 is released to place the item, avoiding damage during placement. When vacuum cylinder 107 needs maintenance after long-term operation, the operator can first press the locking block 116, so that the locking block 116 slides out from the locking ring 115, so that the locking ring 115 on the baffle 112 no longer limits the locking block 116 on the cover plate 114. Then, the spring 113 on the baffle 112 starts to stretch, causing the cover plate 114 to slide on the robotic arm 102, thereby exposing the vacuum cylinder 107 on the fixed plate 106, making it convenient for the operator to perform maintenance. This solves the problem that the gripper 103 cannot stably hold different items when gripping them, making the items easy to fall during movement.

[0026] The second embodiment of this application is as follows:

[0027] Based on the first embodiment, please refer to Figure 3 , Figure 3 This is a schematic diagram of the protective mechanism according to the second embodiment of the present invention.

[0028] The protective mechanism 110 of the material handling robot in this embodiment also includes a guide telescopic rod 201.

[0029] The guide telescopic rod 201 is fixedly connected to the baffle 112 and the cover plate 114. The guide telescopic rod 201 can prevent the spring 113 from bending when stretched or compressed.

[0030] In this embodiment, a material handling robot can prevent the spring 113 from bending when stretched or compressed by a guide telescopic rod 201.

Claims

1. A material handling robot, characterized in that, Includes a base, robotic arm, grippers, and positioning mechanism; The robotic arm is connected to the base and located on one side of the base; the gripper is connected to the robotic arm and located on one side of the robotic arm; the positioning mechanism is connected to the robotic arm and located on one side of the robotic arm. It also includes a fixing component, which includes a fixing plate, a vacuum cylinder, an air tube, a suction cup, and a protective mechanism; The fixed plate is fixedly connected to the robotic arm and located on one side of the robotic arm. The vacuum cylinder is fixedly connected to the fixed plate and located on one side of the robotic arm. The air pipe is connected to the vacuum cylinder and located on one side of the vacuum cylinder. The suction cup is connected to the air pipe and connected to the gripper. The protective mechanism is connected to the fixed plate and located on one side of the fixed plate.

2. The material handling robot according to claim 1, characterized in that, The fixing assembly also includes a fixing ring, which is connected to the air tube and to the robotic arm.

3. The material handling robot according to claim 2, characterized in that, The protective mechanism includes a baffle, a spring, and a cover plate. The baffle is fixedly connected to the fixed plate and located on one side of the fixed plate. The spring is fixedly connected to the baffle and located on one side of the baffle. The cover plate is fixedly connected to the spring and is slidably connected to the robotic arm.

4. A material handling robot according to claim 3, characterized in that, The protective mechanism also includes a locking ring and a locking block. The locking ring is fixedly connected to the baffle and located on one side of the baffle. The locking block is fixedly connected to the cover plate and slidably connected to the locking ring.

5. A material handling robot according to claim 4, characterized in that, The protective mechanism also includes a guide telescopic rod, which is fixedly connected to the baffle and the cover plate.

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