Mechanical arm material taking mechanism of automatic production line

Abstract

The utility model belongs to the technical field of mechanical arms, and particularly relates to a mechanical arm material taking mechanism of an automatic production line, which comprises a mechanical arm main body, a driving mechanism and a buffer mechanism. A mechanical arm body is controlled to drive a first clamping plate and a second clamping plate to move so that a workpiece can be located between the first clamping plate and the second clamping plate at the same time, and an air cylinder is controlled to drive a lifting block to move upwards so that the position, relative to a supporting mechanism, of the workpiece can be fixed; the workpiece can be preliminarily limited, an arc-shaped plate is matched with a reset spring, the situation that the workpiece is deformed and damaged due to the fact that the first clamping plate and the second clamping plate directly extrude the workpiece can be avoided, the buffering effect is achieved, and when the compression amount of the reset spring connected with the first clamping plate reaches the maximum, the relative position of the workpiece can be fixed.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically relating to a robotic arm material handling mechanism for an automated production line. Background Technology

[0002] An automated production line refers to a production organization form in which the product process is realized by an automated machine system. The workpiece is automatically transferred from one machine tool to another, and the machine tools automatically perform processing, loading and unloading, inspection, etc. The workers' task is only to adjust, supervise and manage the automated line, and they do not participate in direct operation. All the machines and equipment operate at a uniform rhythm, and the production process is highly continuous. A robotic arm is a mechanical structure used on an automated production line. The gripper of the robotic arm can remove the workpiece from the automated production line.

[0003] The grippers on existing automated production lines typically only clamp and fix the workpiece in the front-back or left-right direction. During the movement of the workpiece while being gripped by the gripper, the workpiece may be mis-touched or bumped, causing it to shift or even detach from the gripper, resulting in it falling downwards and being damaged. During the process of the gripper contacting and clamping the workpiece, the workpiece may be deformed due to the pressure exerted by the gripper. Utility Model Content

[0004] The purpose of this invention is to provide a robotic arm material handling mechanism for an automated production line. This mechanism solves the problems existing in the prior art where the grippers of robotic arms on existing automated production lines typically only clamp and fix the workpiece in the front-back or left-right directions. During the movement of the workpiece while being gripped by the grippers, the workpiece may be mis-touched or bumped, causing it to shift or even detach from the grippers, resulting in it falling downwards and being damaged. Furthermore, during the process of the grippers contacting and clamping the workpiece, the workpiece may deform due to the pressure exerted by the grippers.

[0005] The specific technical solution adopted in this utility model is as follows:

[0006] A robotic arm material handling mechanism for an automated production line includes:

[0007] The robotic arm body has a symmetrical first clamping plate and a symmetrical second clamping plate installed at its free end;

[0008] A driving mechanism is disposed on the top of the first clamping plate and the second clamping plate. The driving mechanism is used to drive the first clamping plate and the second clamping plate to move closer to each other to clamp and fix the workpiece.

[0009] A buffer mechanism is provided on the first clamping plate and the second clamping plate, and the buffer mechanism is used to buffer the workpiece when the first clamping plate and the second clamping plate hold it.

[0010] In a preferred embodiment, a support mechanism is provided between the main body of the robotic arm and the first clamping plate and the second clamping plate. The support mechanism includes a first support plate, a support rod and a second support plate. The free end of the main body of the robotic arm is fixedly provided with the first support plate, the four corners of the bottom surface of the first support plate are fixedly provided with support rods, and the bottom surface of the support rods is fixedly provided with the second support plate.

[0011] In a preferred embodiment, inclined plates are fixedly provided on the side of the first clamping plate that is close to each other and the side of the second clamping plate that is close to each other. The bottom surface of the inclined plate and the bottom surfaces of the first clamping plate and the second clamping plate are all located on the same horizontal plane, and the top surface of the inclined plate is provided with an inclined surface.

[0012] In a preferred embodiment, the driving mechanism includes a cylinder, a lifting block, a connecting rod, a first slider, a first slide groove, a second slide groove, and a second slider. A cylinder is fixedly mounted at the center of the top surface of the second support plate. A lifting block is fixedly mounted at the output end of the cylinder. Connecting rods are hinged to the front and rear sides and the left and right sides of the lifting block. The other end of each connecting rod is hinged to a first slider. A first slide groove adapted to the first slider is provided through the top surface of the second support plate. The first slider is slidably connected to the second support plate via the first slide groove. Symmetrical second sliders are fixedly mounted on the side of the first slider. A second slide groove adapted to the second slider is connected to the inner wall of the first slide groove. The second slider is slidably connected to the second support plate via the second slide groove. The top surfaces of both the first and second clamping plates are slidably connected to the bottom surface of the second support plate. The top surfaces of both the first and second clamping plates are fixedly connected to the first slider.

[0013] In a preferred embodiment, the buffer mechanism includes an arc-shaped plate, guide rods, a return spring, and a circular plate. An arc-shaped plate is provided between the sides of the first clamping plate and the second clamping plate that are close to each other. The bottom of the arc-shaped plate is provided with an arc-shaped surface. Multiple guide rods and a return spring are fixedly provided on the side of the arc-shaped plate that is close to the first clamping plate and the second clamping plate. A circular plate is fixedly provided at the other end of the guide rod.

[0014] In a preferred embodiment, both the first clamping plate and the second clamping plate are fixedly connected to the end of the reset spring away from the arc-shaped plate. Both the first clamping plate and the second clamping plate have guide grooves through their sides to accommodate the guide rod. The guide rod passes through the guide grooves and slides through the first clamping plate and the second clamping plate.

[0015] The technical effects achieved by this utility model are as follows:

[0016] This utility model, by setting up a drive mechanism, controls the cylinder to drive the lifting block to move downwards. The movement of the lifting block drives the connecting rod to rotate. The rotation of the connecting rod drives the first slider to move away from each other. The movement of the first slider drives the first clamping plate and the second clamping plate to move simultaneously in the direction of moving away from each other until the distance between the first clamping plate and the second clamping plate reaches its maximum. The control of the robotic arm body drives the first clamping plate and the second clamping plate to move so that the workpiece is simultaneously located between the first clamping plate and the second clamping plate. The control of the cylinder drives the lifting block to move upwards until the first clamping plate or the second clamping plate clamps the workpiece. This can fix the position of the workpiece relative to the support mechanism, making it convenient to remove the workpiece from the automated production line.

[0017] This invention, through the setting of a buffer mechanism, allows the robotic arm to move downwards and approach the workpiece as the main body drives the support mechanism. The workpiece contacts the arc-shaped surface of the arc plate, causing the arc plate to move in a direction away from each other. The return spring is compressed, and the thrust of the return spring on the arc plate causes the arc plate to press tightly against the workpiece, thus initially limiting the workpiece. As the first and second clamping plates approach each other, the arc plate, in conjunction with the return spring, prevents the first and second clamping plates from directly squeezing the workpiece, thus avoiding deformation and damage, and provides a buffering effect. When the compression of the return spring connected to the first clamping plate reaches its maximum, the relative position of the workpiece can be fixed. At this time, the arc plate in the front-to-back direction pressing tightly against the workpiece improves the front-to-back limiting effect. When the compression of the return spring connected to the second clamping plate reaches its maximum, the relative position of the workpiece can be fixed. At this time, the arc plate in the left-to-right direction pressing tightly against the workpiece improves the left-to-right limiting effect. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0019] Figure 2 This is a utility model Figure 1 A magnified view of the structure at point A in the middle;

[0020] Figure 3 This is a schematic diagram of the main view and cross-sectional structure of the drive mechanism and buffer mechanism of this utility model;

[0021] Figure 4 This is a schematic diagram of the first clamping plate and buffer mechanism of this utility model.

[0022] The attached diagram lists the components represented by each number as follows:

[0023] 100. Main body of the robotic arm;

[0024] 200. Support mechanism; 201. First support plate; 202. Support rod; 203. Second support plate;

[0025] 300. First clamping plate; 301. Second clamping plate; 302. Inclined plate;

[0026] 400. Drive mechanism; 401. Cylinder; 402. Lifting block; 403. Connecting rod; 404. First slider; 405. First slide groove; 406. Second slide groove; 407. Second slider;

[0027] 500, Buffer mechanism; 501, Arc plate; 502, Guide rod; 503, Return spring; 504, Circular plate. Detailed Implementation

[0028] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0029] Many specific details are set forth in the following description in order to provide a full understanding of this utility model. However, this utility model may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0030] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of this utility model. The phrase "in a preferred embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that mutually excludes other embodiments.

[0031] Secondly, this utility model is described in detail with reference to the schematic diagrams. When detailing the embodiments of this utility model, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of this utility model. In addition, actual manufacturing should include the three-dimensional spatial dimensions of length, width, and depth.

[0032] Please see the appendix Figures 1 to 2 As shown, this utility model provides a robotic arm material handling mechanism for an automated production line, including: a robotic arm body 100, a drive mechanism 400 and a buffer mechanism 500. A base is fixedly provided at the bottom of the robotic arm body 100, and a symmetrical first clamping plate 300 and a symmetrical second clamping plate 301 are installed at the free end of the robotic arm body 100.

[0033] In a preferred embodiment, please refer to Figures 1 to 3A support mechanism 200 is provided between the main body 100 of the robotic arm, the first clamping plate 300, and the second clamping plate 301. The support mechanism 200 consists of a first support plate 201, a support rod 202, and a second support plate 203. The free end of the main body 100 of the robotic arm is fixedly provided with the first support plate 201. The four corners of the bottom surface of the first support plate 201 are fixedly provided with the support rod 202. The bottom surface of the support rod 202 is fixedly provided with the second support plate 203.

[0034] In a preferred embodiment, please refer to Figures 1 to 4 An inclined plate 302 is fixedly provided on the side of the first clamping plate 300 that is close to each other and the side of the second clamping plate 301 that is close to each other. The bottom surface of the inclined plate 302 and the bottom surfaces of the first clamping plate 300 and the second clamping plate 301 are all located on the same horizontal plane, and the top surface of the inclined plate 302 is provided with an inclined surface.

[0035] In this embodiment, the first clamping plates 300 approaching each other and clamping the workpiece or the second clamping plates 301 approaching each other and clamping the workpiece can fix the position of the workpiece relative to the support mechanism 200, which facilitates the driving of the robotic arm body 100 to move the support mechanism 200 and the workpiece, and remove the workpiece from the automated production line. The inclined plates 302 approaching each other and contacting the bottom of the workpiece can make the workpiece slide along the inclined surface of the inclined plate 302, lift the workpiece, and support the bottom of the workpiece.

[0036] In a preferred embodiment, please refer to Figures 1 to 4 A driving mechanism 400 is provided on the top of the first clamping plate 300 and the second clamping plate 301. The driving mechanism 400 consists of a cylinder 401, a lifting block 402, a connecting rod 403, a first slider 404, a first slide groove 405, a second slide groove 406, and a second slider 407. A cylinder 401 is fixedly installed at the center of the top surface of the second support plate 203. A lifting block 402 is fixedly installed at the output end of the cylinder 401. Connecting rods 403 are hinged to the front and rear sides and the left and right sides of the lifting block 402. The other end of 403 is hinged to a first slider 404. The top surface of the second support plate 203 is provided with a first groove 405 that is adapted to the first slider 404. The first slider 404 is slidably connected to the second support plate 203 through the first groove 405. A symmetrical second slider 407 is fixedly provided on the side of the first slider 404. The inner wall of the first groove 405 is connected to a second groove 406 that is adapted to the second slider 407. The second slider 407 is slidably connected to the second support plate 203 through the second groove 406.

[0037] In this embodiment, the second slide groove 406 cooperates with the second slider 407 to guide the movement of the first slider 404. The top surfaces of the first clamping plate 300 and the second clamping plate 301 are slidably connected to the bottom surface of the second support plate 203, and the top surfaces of the first clamping plate 300 and the second clamping plate 301 are fixedly connected to the first slider 404.

[0038] In this embodiment, the control cylinder 401 drives the lifting block 402 to move downward. The movement of the lifting block 402 drives the connecting rod 403 to rotate. The rotation of the connecting rod 403 drives the first slider 404 to move away from each other. The movement of the first slider 404 drives the first clamping plate 300 and the second clamping plate 301 to move simultaneously in a direction away from each other until the distance between the first clamping plate 300 and the second clamping plate 301 reaches its maximum. The control robot arm body 100 drives the second clamping plate 301 and the inclined plate 302 to move, so that the first clamping plate 300 is set on the outside of the left and right sides of the workpiece, and the second clamping plate 301 is set on the outside of the front and rear sides of the workpiece. The control cylinder 401 drives the lifting block 402 to move upward until the first clamping plate 300 or the second clamping plate 301 clamps the workpiece. The position of the workpiece relative to the support mechanism 200 can be fixed, making it convenient to remove the workpiece from the automated production line.

[0039] In a preferred embodiment, please refer to Figures 1 to 4 A buffer mechanism 500 is installed on the first clamping plate 300 and the second clamping plate 301. The buffer mechanism 500 is composed of an arc plate 501, a guide rod 502, a return spring 503 and a circular plate 504. An arc plate 501 is provided between the sides of the first clamping plate 300 and the second clamping plate 301 that are close to each other. The bottom of the arc plate 501 is provided with an arc surface. Multiple guide rods 502 and return springs 503 are fixedly provided on the side of the arc plate 501 that is close to the first clamping plate 300 and the second clamping plate 301. A circular plate 504 is fixedly provided at the other end of the guide rod 502.

[0040] In this embodiment, both the first clamping plate 300 and the second clamping plate 301 are fixedly connected to the end of the return spring 503 away from the arc plate 501. The sides of both the first clamping plate 300 and the second clamping plate 301 are provided with guide grooves that are adapted to the guide rod 502. The guide rod 502 passes through the guide grooves and slides through the first clamping plate 300 and the second clamping plate 301. The guide rod 502, in conjunction with the guide grooves, guides the movement of the arc plate 501.

[0041] In this embodiment, the control robot arm body 100 drives the support mechanism 200 to move downward, so that the center of the bottom surface of the second support plate 203 is aligned with the workpiece. As the support mechanism 200 approaches the workpiece, the workpiece contacts the arc surface of the arc plate 501, which can drive the arc plate 501 to move in a direction away from each other. The return spring 503 is compressed, and the pushing force of the return spring 503 on the arc plate 501 makes the arc plate 501 press tightly against the workpiece, thereby initially limiting the workpiece. As the first clamping plate 300 and the second clamping plate 301 approach each other, the arc plate 501, in conjunction with the return spring 503, can prevent the first clamping plate 300 and the second clamping plate 301 from directly squeezing the workpiece, causing the workpiece to be deformed and damaged, thus playing a buffering role. When the compression of the return spring 503 connected to the clamping plate 300 reaches its maximum first, the arc plates 501 on both sides clamp the workpiece, which can fix the position of the workpiece relative to the support mechanism 200. At this time, the arc plates 501 in the front and rear directions are close to the workpiece, which can improve the limiting effect of the workpiece in the front and rear directions. When the compression of the return spring 503 connected to the second clamping plate 301 reaches its maximum first, the arc plates 501 on both sides clamp the workpiece, which can fix the position of the workpiece relative to the support mechanism 200. At this time, the arc plates 501 in the left and right directions are close to the workpiece, which can improve the limiting effect of the workpiece in the left and right directions, thereby preventing the workpiece from being accidentally touched or bumped and detached from the first clamping plate 300 and the second clamping plate 301 during the movement.

[0042] The working principle of this utility is as follows:

[0043] When the device is in use, the control cylinder 401 drives the lifting block 402 to move downwards. The movement of the lifting block 402 causes the connecting rod 403 to rotate. The rotation of the connecting rod 403 causes the first slider 404 to move away from each other. The movement of the first slider 404 causes the first clamping plate 300 and the second clamping plate 301 to move simultaneously in a direction away from each other until the distance between the first clamping plate 300 and the second clamping plate 301 reaches its maximum. The control robot arm body 100 drives the support mechanism 200 to move downwards, so that the center of the bottom surface of the second support plate 203 is aligned with the workpiece. The movement of the support mechanism 200 causes the second clamping plate 301 and the inclined plate 302 to move. As the support mechanism 200 approaches the workpiece, the workpiece contacts the arc-shaped surface of the arc plate 501, causing the arc plate 501 to move away from each other. The return spring 503 is compressed, and the pushing force of the return spring 503 on the arc plate 501 causes the arc plate 501 to press tightly against the workpiece, thus initially limiting the workpiece. At this time, the first clamping plate 300 is set on the outside of the left and right sides of the workpiece, and the second clamping plate 301 is set on the outside of the front and rear sides of the workpiece. The control cylinder 401 drives the lifting block 402 to move upward, causing the first clamping plate 300 and the second clamping plate 301 to move closer to each other. During the process of approaching each other, the arc-shaped plate 501, in conjunction with the return spring 503, can prevent the first clamping plate 300 and the second clamping plate 301 from directly squeezing the workpiece, thus avoiding deformation and damage to the workpiece, and playing a buffering role. When the compression of the return spring 503 connected to the first clamping plate 300 reaches its maximum first, the arc-shaped plates 501 on both sides clamp the workpiece, which can fix the position of the workpiece relative to the support mechanism 200. At this time, the arc-shaped plates 501 in the front-to-back direction are close to the workpiece, which can improve the limiting effect of the workpiece in the front-to-back direction. When the compression of the return spring 503 connected to the second clamping plate 301 reaches its maximum first... The arc-shaped plates 501 on the front and rear sides clamp the workpiece, which can fix the position of the workpiece relative to the support mechanism 200. At this time, the arc-shaped plates 501 in the left and right directions are close to the workpiece, which can improve the limiting effect of the workpiece in the left and right directions, thereby preventing the workpiece from being accidentally touched or bumped and detached from the first clamping plate 300 and the second clamping plate 301 during the movement. The inclined plates 302 approach each other and contact the bottom of the workpiece, which can make the workpiece slide along the inclined surface of the inclined plate 302, lift the workpiece, and support the bottom of the workpiece. The main body of the robotic arm 100 drives the support mechanism 200 and the workpiece to move, and remove the workpiece from the automated production line.

[0044] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Structures, devices, and operating methods not specifically described or explained in this utility model, unless otherwise specified or limited, shall be implemented using conventional methods in the art.

Claims

1. A robotic arm material handling mechanism for an automated production line, characterized in that: include: The robotic arm body (100) has a symmetrical first clamping plate (300) and a symmetrical second clamping plate (301) installed at its free end. A driving mechanism (400) is provided on the top of the first clamping plate (300) and the second clamping plate (301). The driving mechanism (400) is used to drive the first clamping plate (300) and the second clamping plate (301) to move closer to each other to clamp and fix the workpiece. A buffer mechanism (500) is provided on the first clamping plate (300) and the second clamping plate (301). The buffer mechanism (500) is used to buffer the workpiece when the first clamping plate (300) and the second clamping plate (301) clamp it.

2. The material taking mechanism of the mechanical arm of the automatic production line according to claim 1, characterized in that: A support mechanism (200) is provided between the main body (100) of the robotic arm, the first clamping plate (300), and the second clamping plate (301). The support mechanism (200) includes a first support plate (201), a support rod (202), and a second support plate (203). The free end of the main body (100) of the robotic arm is fixedly provided with the first support plate (201). The four corners of the bottom surface of the first support plate (201) are fixedly provided with the support rod (202). The bottom surface of the support rod (202) is fixedly provided with the second support plate (203).

3. The material taking mechanism of the mechanical arm of the automatic production line according to claim 1, characterized in that: An inclined plate (302) is fixedly provided on the side of the first clamping plate (300) that is close to each other and on the side of the second clamping plate (301) that is close to each other. The bottom surface of the inclined plate (302) and the bottom surfaces of the first clamping plate (300) and the second clamping plate (301) are all located on the same horizontal plane. The top surface of the inclined plate (302) is provided with an inclined surface.

4. The material taking mechanism of the mechanical arm of the automatic production line according to claim 2, characterized in that: The driving mechanism (400) includes a cylinder (401), a lifting block (402), a connecting rod (403), a first slider (404), a first slide groove (405), a second slide groove (406), and a second slider (407). The cylinder (401) is fixedly installed at the center of the top surface of the second support plate (203). The lifting block (402) is fixedly installed at the output end of the cylinder (401). The connecting rod (403) is hinged to the front and rear sides and the left and right sides of the lifting block (402). The first slider (404) is hinged to the other end of the connecting rod (403). A first slide groove adapted to the first slider (404) is provided through the top surface of the second support plate (203). The groove (405) is used to slide the first slider (404) to the second support plate (203). The first slider (404) is fixedly provided with a symmetrical second slider (407) on its side. The inner wall of the first groove (405) is connected to a second groove (406) adapted to the second slider (407). The second slider (407) is slidably connected to the second support plate (203) through the second groove (406). The top surfaces of the first clamping plate (300) and the second clamping plate (301) are slidably connected to the bottom surface of the second support plate (203). The top surfaces of the first clamping plate (300) and the second clamping plate (301) are fixedly connected to the first slider (404).

5. The material taking mechanism of the mechanical arm of the automatic production line according to claim 1, characterized in that: The buffer mechanism (500) includes an arc plate (501), a guide rod (502), a return spring (503), and a circular plate (504). An arc plate (501) is provided between the first clamping plate (300) and the second clamping plate (301) on their respective sides. The bottom of the arc plate (501) is provided with an arc surface. Multiple guide rods (502) and return springs (503) are fixedly provided on the side of the arc plate (501) that is close to the first clamping plate (300) and the second clamping plate (301). A circular plate (504) is fixedly provided at the other end of the guide rod (502).

6. The material taking mechanism of the mechanical arm of the automatic production line according to claim 5, characterized in that: The first clamping plate (300) and the second clamping plate (301) are both fixedly connected to the end of the return spring (503) away from the arc plate (501). The first clamping plate (300) and the second clamping plate (301) are both provided with guide grooves through the sides to adapt to the guide rod (502). The guide rod (502) passes through the guide groove through the first clamping plate (300) and the second clamping plate (301) and is slidably connected to the first clamping plate (300) and the second clamping plate (301).

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