Automatic feeding manipulator

Abstract

The utility model discloses an automatic feeding manipulator, which relates to the technical field of manipulators and comprises a base serving as a supporting structure of the whole manipulator and provided with a mechanical arm at the upper part; the claw disc is installed at one end of the mechanical arm, and fixed clamping claws which are coaxially arranged are installed on the surface of the claw disc; a grabbing assembly which can be movably arranged is installed on the surface of the claw disc, a stabilizing assembly is connected to the surface of the claw disc, and the grabbing assembly comprises a telescopic rod, a first elastic piece and a movable clamping claw; according to the material grabbing device, the grabbing assembly which can be movably arranged is arranged on the surface of the claw disc, namely, the movable clamping jaws in the grabbing assembly can conduct certain telescopic movement under the action of the first elastic pieces and the telescopic rods, so that in the process of grabbing materials of different specifications, the materials are not prone to falling off, and the grabbing efficiency is improved. And the movable clamping jaws can adaptively grab different positions of the surfaces of the materials, so that the adaptability is improved, and the situation that the production efficiency is reduced due to the fact that the clamping jaws need to be frequently replaced is avoided.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to an automated material feeding robotic arm. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. Its characteristic is that it can be programmed to complete various expected tasks, and its structure and performance combine the advantages of both humans and machines.

[0003] Referring to the existing patent publication number: CN216680852U, an automated loading and unloading robot for machining includes a base. A support assembly is rotatably connected to the top outer wall of the base. Two connecting plates are fixed to one side of the outer wall of the support assembly by bolts. The same mounting plate is fixed to the opposite side outer walls of the two connecting plates by bolts. This utility model, through the set turntable, can carry three different gripping tools at the same time, and can ensure the adaptability of gripping under the limitation of different shapes of raw materials.

[0004] However, in actual use, existing robotic arms have a limited range of grippers that can only grasp a limited variety of material specifications and require a one-to-one correspondence with the material. This results in the need to change different grippers when processing different materials, which is a cumbersome and time-consuming process and thus affects production efficiency. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing an automated material handling robot. This invention utilizes a movable gripping component constructed on the surface of the gripper disc. Specifically, the movable gripper within this component can extend and retract under the action of an elastic element and a telescopic rod. This allows the movable gripper to adapt to different positions on the material surface during the gripping of materials of different specifications, improving adaptability and avoiding the time-consuming and inefficient process of frequent gripper replacements.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An automated material handling robot includes:

[0008] The base serves as the supporting structure for the entire robotic arm, and the robotic arm is mounted on top of it.

[0009] A claw disk is installed at one end of the robotic arm, and a fixed claw is coaxially arranged on the surface of the claw disk;

[0010] The surface of the claw disk is equipped with a movable gripping component, and the surface of the claw disk is connected to a stabilizing component for supporting the material.

[0011] The present invention is further configured such that the gripping component includes: a telescopic rod, an elastic element, and a movable claw;

[0012] All elastic elements are connected to the surface of the claw disk, all movable claws are installed on the movable end of the elastic element, and all telescopic rods are installed on one end of the movable claw and pass through the claw disk.

[0013] The present invention is further configured such that both the movable claw and the fixed claw are vacuum suction cups, and the movable claw is arranged in a ring array.

[0014] The present invention is further configured such that all the telescopic rods are located inside the elastic element.

[0015] The present invention further comprises the stabilizing component including: a bracket, a pivot, a claw, and an elastic element 2;

[0016] The brackets are all mounted on the surface of the claw plate, the claws are all connected to the inside of the brackets via a pivot, and the elastic element is connected between the claw and the claw plate.

[0017] The present invention is further configured such that the claw and the rotating shaft are eccentrically positioned, and the horizontal height of the claw is lower than the horizontal height of the movable claw.

[0018] The present invention is further configured such that cylinders are installed on the surface of the claw plate, and piston rods are connected to the output ends of the cylinders, with the end of the piston rod away from the cylinder contacting the claw.

[0019] The beneficial effects of this utility model are as follows: This utility model has a movable gripping component constructed on the surface of the claw disk. That is, the movable claw in the gripping component can perform a certain extension and retraction movement under the action of the elastic element and the telescopic rod. This allows the movable claw to adapt to different positions on the surface of the material during the gripping process of materials of different specifications, thereby improving adaptability and avoiding the time-consuming and reduced production efficiency caused by frequent replacement of the claw.

[0020] 1. This automated feeding robot is equipped with a gripping component. Because the movable claw in the gripping component can extend and retract under the action of the elastic element and the telescopic rod, the movable claw can adapt to different positions on the material surface during the gripping process of materials of different specifications. This improves adaptability and avoids the time-consuming and reduced production efficiency caused by frequent replacement of the claw.

[0021] 2. This automated feeding robot, equipped with a stabilizing component, can also activate a cylinder when gripping materials of different specifications. This cylinder can push the piston rod to extend, causing the piston rod to push the claw to rotate under the action of the rotating shaft, stretching or compressing the elastic element. Since the horizontal height of the claw is lower than that of the gripper, the rotating claw can also provide some support for the lower part of the material after gripping it, improving the stability of material gripping and reducing material detachment. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the first overall structure of an automated feeding robot proposed in this utility model;

[0023] Figure 2 This is a schematic diagram of the second overall structure of an automated feeding robot proposed in this utility model;

[0024] Figure 3 This is a front sectional view of an automated material feeding robot proposed in this utility model;

[0025] Figure 4 This is a schematic diagram of the claw disk structure of an automated feeding robot proposed in this utility model;

[0026] Figure 5 This utility model proposes an automated feeding robot. Figure 3 A magnified structural diagram of point A in the middle.

[0027] In the diagram: 1. Base; 2. Robotic arm; 3. Claw plate; 4. Support claw; 5. Movable gripper; 6. Fixed gripper; 7. Telescopic rod; 8. Elastic component one; 9. Bracket; 10. Cylinder; 11. Piston rod; 12. Elastic component two; 13. Rotating shaft. Detailed Implementation

[0028] The technical solution of this patent will be further described in detail below with reference to specific embodiments.

[0029] The embodiments of this patent are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this patent, and should not be construed as limiting this patent.

[0030] In the description of this patent, it should be understood that the terms “center,” “upper,” “lower,” “front,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this patent and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this patent.

[0031] In the description of this patent, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection or setting, a detachable connection or setting, or an integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this patent according to the specific circumstances.

[0032] Reference Figures 1 to 5 An automated material handling robot includes: a base 1, which serves as the support structure for the entire robot and has a robotic arm 2 mounted on it; the base 1 is responsible for bearing the weight of the robotic arm, gripper disc, and other components; a gripper disc 3, which is mounted on one end of the robotic arm 2; a fixed gripper 6 coaxially mounted on the surface of the gripper disc 3; the gripper disc 3 is used to connect and install the gripper and other components so that the gripper can grasp the conveyed material; a movable gripping component is mounted on the surface of the gripper disc 3, which can be flexibly opened and closed to realize the grasping and release of materials; a stabilizing component is connected to the surface of the gripper disc 3 to support the material, which improves the stability of grasping the material and reduces the risk of material detachment and falling.

[0033] Specifically, refer to Figures 3 to 4 The gripping assembly includes: a telescopic rod 7, an elastic element 8, and a movable jaw 5. The elastic element 8 is connected to the surface of the jaw disk 3, and the movable jaw 5 is installed at the movable end of the elastic element 8. The telescopic rod 7 is installed at one end of the movable jaw 5 and passes through the jaw disk 3. In this embodiment, the telescopic rod 7 and the elastic element 8 are used to connect and install the movable jaw 5 and limit its range of motion. At the same time, under the action of the elastic element 8, the movable jaw 5 can have a certain amount of space to move, so as to adapt to materials of different specifications. This allows the gripping assembly to accurately adapt to materials of different sizes and shapes, avoiding the need for frequent jaw replacement and thus avoiding affecting processing efficiency.

[0034] Furthermore, both the movable claw 5 and the fixed claw 6 adopt vacuum suction cups, and the movable claw 5 is arranged in a ring array. Through this design, the vacuum suction cups adsorb materials by generating negative pressure, which can provide stable adsorption force. The vacuum suction cups will not generate direct mechanical friction with the materials during the handling process, thus reducing material damage. The ring array arrangement can more evenly distribute the gripping force, improve the stability of the materials during the handling process, and adapt to materials of different specifications.

[0035] Furthermore, the telescopic rods 7 are all located inside the elastic element 8. This design reduces the shaking caused by the movement of the elastic element 8, thereby improving the stability of the movable claw 5.

[0036] Specifically, refer to Figure 3 and Figure 5 The stabilizing components include: a bracket 9, a rotating shaft 13, a claw 4, and an elastic element 12. The brackets 9 are all mounted on the surface of the claw disk 3, the claws 4 are all connected to the inner side of the brackets 9 through the rotating shaft 13, and the elastic element 12 is connected between the claws 4 and the claw disk 3. Through this embodiment, the stability of the material during the handling process can be significantly improved by the support of the claws 4. The synergistic effect of the rotating shaft 13 and the elastic element 12 enables the claws 4 to rotate flexibly and adapt to the shape changes of the material.

[0037] Furthermore, the claw 4 is eccentrically positioned with respect to the rotating shaft 13, and the horizontal height of the claw 4 is lower than the horizontal height of the movable claw 5. Through this design, the eccentric positioning of the claw 4 and the rotating shaft 13 allows the claw to generate a certain tilt angle when rotating and be located below the movable claw 5, thereby more closely adhering to the bottom or side of the material.

[0038] Specifically, refer to Figure 3 and Figure 5 Each of the claw disks 3 is equipped with a cylinder 10, and the output end of each cylinder 10 is connected to a piston rod 11. The end of the piston rod 11 away from the cylinder 10 contacts the claw 4. In this embodiment, the cylinder 10 serves as a power source, and the piston rod 11 is driven to extend and retract by the change in air pressure inside the cylinder 10. This causes the claw 4 to move under the action of the piston rod 11, providing power to the claw 4. In the subsequent reset process of the claw 4, the cylinder 10 retracts the piston rod 11, and the claw 4 can return to its initial position under the action of the elastic element 12.

[0039] Working Principle: When using this invention, during material gripping, the movable claw 5 can extend and retract under the action of the elastic element 8 and the telescopic rod 7. This allows the movable claw 5 to adapt to different positions on the material surface during gripping of materials of different specifications, improving adaptability and avoiding the time-consuming and reduced production efficiency caused by frequent claw replacements. The fixed claw 6 works in conjunction with the movable claw 5. When gripping materials of different specifications through the gripping assembly, the cylinder 10 can be activated, causing the cylinder 10 to push the piston rod 11 to extend. At this time, the piston rod 11 will push the support claw 4 to rotate under the action of the rotating shaft 13 and stretch or compress the elastic element 12. The horizontal height of the support claw 4 is lower than that of the claw, so that the rotated support claw 4 after gripping the material can also provide some support for the lower part of the material, improving the stability of material gripping and reducing material detachment.

[0040] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An automated feeding robot, characterized by, include: The base (1) serves as the support structure for the entire robotic arm and has a robotic arm (2) mounted on top. A claw disk (3) is installed at one end of the robotic arm (2), and a fixed claw (6) is coaxially mounted on the surface of the claw disk (3). The surface of the claw disk (3) is equipped with a movable gripping component, and the surface of the claw disk (3) is connected to a stabilizing component for supporting the material.

2. The automatic feeding mechanical arm according to claim 1, wherein, The gripping assembly includes: a telescopic rod (7), an elastic element (8), and a movable claw (5); The elastic element (8) is connected to the surface of the claw disk (3), the movable claw (5) is installed at the movable end of the elastic element (8), and the telescopic rod (7) is installed at one end of the movable claw (5) and passes through the claw disk (3).

3. The automatic feeding mechanical arm according to claim 2, characterized in that, Both the movable claw (5) and the fixed claw (6) are vacuum suction cups, and the movable claw (5) is arranged in a ring array.

4. The automatic feeding mechanical arm according to claim 2, wherein, The telescopic rods (7) are all located inside the elastic element (8).

5. The automatic feeding mechanical arm according to claim 1, wherein, The stabilizing components include: a bracket (9), a pivot (13), a claw (4), and an elastic element (12). The brackets (9) are all mounted on the surface of the claw plate (3), the claws (4) are all connected to the inside of the brackets (9) through the pivot (13), and the elastic element (12) is connected between the claws (4) and the claw plate (3).

6. The automatic feeding mechanical arm according to claim 5, characterized in that, The claw (4) is eccentrically positioned relative to the rotating shaft (13), and the horizontal height of the claw (4) is lower than the horizontal height of the movable claw (5).

7. The automatic feeding mechanical arm according to claim 1, wherein, Each of the claw disks (3) is equipped with a cylinder (10), and the output end of each cylinder (10) is connected to a piston rod (11). The end of the piston rod (11) away from the cylinder (10) is in contact with the claw (4).

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