Rotary sorting robot

Abstract

The utility model discloses a kind of rotary sorting mechanical hands, it is related to manipulator technical field, including bottom girder, mobile crossbeam is movably installed on bottom girder, upper and lower guide pillar is movably installed on mobile crossbeam, the lower position of upper and lower guide pillar movably installs suction holder, the bottom surface position of suction holder is fixedly connected with several fixed suction cups, adjusting assembly is movably installed in the both sides position of suction holder, upper and lower guide pillar moves downwards, so that fixed suction cup adsorbs plate material, rotary motor drives suction holder to rotate, it is convenient when discharging, manipulator better adjust plate material angle, place material, adjusting assembly is arranged in the both sides position of suction holder, electromagnetic chuck moves downwards, after extending adjusting frame, after step motor starts, screw rotation makes adjusting frame move up and down, the height of the electromagnetic chuck of adjusting both sides position, so that suction holder is convenient to adsorb some height uneven profiled plate, improve the applicability of plate material handling.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a rotary sorting 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, or operate tools according to a fixed program. Sheets need to undergo multiple processing steps before use, and robotic arms are one of the common tools for handling sheets. However, existing robotic arms, such as the Chinese utility model patent with publication number CN205466175U, disclose a sorting robotic arm. This utility model can periodically grasp materials at equal distances to a designated position to achieve automatic sorting function.

[0003] However, when the gripper of this utility model is gripping the board, if the gripper is too tight, it will cause the board to bend and deform. If the gripper is too loose, the board is prone to slipping and falling, causing safety hazards. Therefore, it needs to be improved. Utility Model Content

[0004] The purpose of this invention is to provide a rotary sorting robot to solve the problems raised in the prior art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A rotary sorting robot includes a bottom beam, a movable crossbeam movably mounted on the bottom beam, upper and lower guide columns movably mounted on the movable crossbeam, an adsorption frame movably mounted below the upper and lower guide columns, a plurality of fixed suction cups fixedly connected to the bottom surface of the adsorption frame, and an adjustment assembly movably mounted on both sides of the adsorption frame. The adjustment assembly includes an adjustment frame, an electromagnetic chuck, a storage tube, a push plate, a screw, and a connecting block. The adjustment frame is movably mounted on both sides of the adsorption frame, the electromagnetic chuck is movably mounted inside the adjustment frame, the storage tube is fixedly connected to the inner wall of the adjustment frame and located to the side of the electromagnetic chuck, the push plate is movably mounted below the storage tube, the connecting block is fixedly connected to the adsorption frame, and the screw is movably mounted to the connecting block.

[0007] Preferably, a beam motor is fixedly connected to the lower part of the movable crossbeam, an upper and lower motor is fixedly connected to one side of the upper and lower guide columns, a crossbeam motor is fixedly connected to the other side of the upper and lower guide columns, and a rotary motor is fixedly connected to the lower part of the upper and lower guide columns.

[0008] Preferably, the adjustment assembly further includes a first cylinder and a mounting plate. The first cylinder is fixedly connected to the adjustment frame, the mounting plate is located inside the adjustment frame, and the output shaft of the first cylinder is fixedly connected to the mounting plate. The electromagnetic chuck is fixedly connected to the bottom surface of the mounting plate.

[0009] Preferably, the adjustment assembly further includes a connection point, a pull rope, a movable block, and a movable rod. The connection point is fixedly connected to the mounting plate, the movable block is movably installed inside the storage tube, the two ends of the pull rope are fixedly connected to the movable block and the connection point respectively, and the movable rod is movably installed inside the storage tube, with the two ends of the movable rod being fixedly connected to the movable block and the push plate respectively.

[0010] Preferably, the adjusting assembly further includes a spring located inside the receiving tube and above the movable block, and the pull rope passes through the spring and is fixedly connected to the movable block.

[0011] Preferably, the adjustment assembly further includes a stepper motor, which is fixedly connected to the adjustment frame and located on the side of the first cylinder. The connecting block has a screw hole at the position corresponding to the screw rod.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] 1. The main beam motor drives the moving crossbeam to move, the upper and lower motors drive the upper and lower guide columns to move up and down, the crossbeam motor drives the upper and lower guide columns to move on the moving crossbeam, the rotary motor drives the suction frame to rotate, and the fixed suction cups adsorb and fix the board, making it easy for the robot to handle the board.

[0014] 2. Through the set adjustment components, the screw rotation makes the adjustment frame easy to move up and down to adjust the height. The No. 1 cylinder is started to move the electromagnetic chuck downward and extend it out of the adjustment frame, thus forming electromagnetic chucks of different heights on both sides of the adsorption frame, which makes it easier for the robot to better adsorb and fix irregularly shaped plates and improve the applicability of handling plates. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a rotary sorting robot according to the present invention;

[0016] Figure 2 This is a schematic diagram of the adjustment component of a rotary sorting robot according to the present invention;

[0017] Figure 3 This is a cross-sectional view of the storage tube of a rotary sorting robot according to the present invention.

[0018] Figure 4 This is a schematic diagram of the electromagnetic chuck of a rotary sorting robot according to the present invention.

[0019] The diagram is labeled as follows: 1. Bottom beam; 2. Beam motor; 3. Moving crossbeam; 4. Upper and lower guide columns; 5. Upper and lower motors; 6. Crossbeam motor; 7. Rotary motor; 8. Adsorption rack; 9. Fixed suction cup; 10. Adjustment assembly; 1001. Adjustment rack; 1002. Cylinder No. 1; 1003. Mounting plate; 1004. Electromagnetic suction cup; 1005. Connection point; 1006. Storage tube; 1007. Pull rope; 1008. Movable block; 1009. Movable rod; 1010. Push plate; 1011. Spring; 1012. Stepper motor; 1013. Screw; 1014. Connecting block. Detailed Implementation

[0020] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0021] Example: Figures 1 to 4 As shown, this utility model provides a rotary sorting robot solution, including a bottom beam 1, a movable crossbeam 3 movably mounted on the bottom beam 1, upper and lower guide columns 4 movably mounted on the movable crossbeam 3, an adsorption frame 8 movably mounted below the upper and lower guide columns 4, several fixed suction cups 9 fixedly connected to the bottom surface of the adsorption frame 8, a beam motor 2 fixedly connected to the lower part of the movable crossbeam 3, an upper and lower motor 5 fixedly connected to one side of the upper and lower guide columns 4, and a crossbeam motor 6 fixedly connected to the other side of the upper and lower guide columns 4, and a rotary motor 7 fixedly connected to the lower part of the upper and lower guide columns 4. The beam motor 2 drives the movable crossbeam 3 to move on the bottom beam 1, the upper and lower guide columns 4 are driven by the crossbeam motor 6 to move movably on the movable crossbeam 3, and the upper and lower motor 5 drives the upper and lower guide columns 4 to move up and down, thereby moving the adsorption frame 8 and the fixed suction cups 9 up and down. The fixed suction cups 9 adsorb and fix the board, and the rotary motor 7 drives the adsorption frame 8 to rotate, making it more convenient for the robot to handle the board.

[0022] Adjustment components 10 are movably installed on both sides of the adsorption rack 8. Each adjustment component 10 includes an adjustment frame 1001, an electromagnetic chuck 1004, a storage tube 1006, a push plate 1010, a screw 1013, and a connecting block 1014. The adjustment frame 1001 is movably installed on both sides of the adsorption rack 8. The electromagnetic chuck 1004 is movably installed inside the adjustment frame 1001. The storage tube 1006 is fixedly connected to the inner wall of the adjustment frame 1001 and located on the side of the electromagnetic chuck 1004. The push plate 1010 is movably installed on the storage tube. Below position 1006, the adjustment assembly 10 also includes a first cylinder 1002 and a mounting plate 1003. The first cylinder 1002 is fixedly connected to the adjustment frame 1001. The mounting plate 1003 is located inside the adjustment frame 1001, and the output shaft of the first cylinder 1002 is fixedly connected to the mounting plate 1003. The electromagnetic chuck 1004 is fixedly connected to the bottom surface of the mounting plate 1003. The adjustment assembly 10 also includes a connection point 1005, a pull rope 1007, a movable block 1008, and a movable rod 1009. The connection point 1005... Fixedly connected to the mounting plate 1003, the movable block 1008 is movably installed inside the storage tube 1006. Both ends of the pull rope 1007 are fixedly connected to the movable block 1008 and the connection point 1005, respectively. The movable rod 1009 is movably installed inside the storage tube 1006, and both ends of the movable rod 1009 are fixedly connected to the movable block 1008 and the push plate 1010, respectively. The adjusting assembly 10 also includes a spring 1011, located inside the storage tube 1006 and above the movable block 1008. The pull rope 1007... 7. The electromagnetic chuck 1004 is fixedly connected to the movable block 1008 through the spring 1011. The electromagnetic chuck 1004 moves downward and extends out of the adjustment frame 1001. At the same time, the push plate 1010 is stored in the adjustment frame 1001. After the adsorption is completed, the electromagnetic chuck 1004 is reset, the compressed spring 1011 is restored to open, and the push plate 1010 is pushed to move downward in the opposite direction. After the push plate 1010 moves out of the adjustment frame 1001, the push plate 1010 pushes to facilitate the separation of the plate from the electromagnetic chuck 1004, so that the plate can be easily adsorbed by the electromagnetic chuck 1004.

[0023] The connecting block 1014 is fixedly connected to the adsorption frame 8, and the screw 1013 is movably installed on the connecting block 1014. The adjustment assembly 10 also includes a stepper motor 1012, which is fixedly connected to the adjustment frame 1001 and located on the side of the first cylinder 1002. The connecting block 1014 has a screw hole corresponding to the position of the screw 1013. When the stepper motor 1012 is started, the adjustment frame 1001 can be moved up and down to adjust its height. This makes it easier to adjust the height of the electromagnetic chuck 1004 below the adjustment frame 1001, adsorbing irregularly shaped plates of different heights and improving applicability.

[0024] It should be noted that this utility model is a rotary sorting robot. The main beam motor 2 drives the moving crossbeam 3 to move on the bottom main beam 1. The upper and lower guide columns 4 are driven by the crossbeam motor 6 and move on the moving crossbeam 3. The upper and lower motors 5 are activated, allowing the upper and lower guide columns 4 to move up and down, thereby moving the suction frame 8 and the fixed suction cup 9 up and down. The fixed suction cup 9 adsorbs and fixes the board. The rotary motor 7 drives the suction frame 8 to rotate, making it easier to rotate and adjust the angle of the board, making it more convenient to unload the board and facilitating the robot's transport of the board. Activating the first cylinder 1002 allows the mounting plate 1003 and the electromagnetic suction cup 1004 to move downwards. One end of the pull rope 1007 moves downwards, and the other end pulls the movable block 1008 upwards, causing the movable block 1008, the movable rod 1009, and the push plate 1010 to move upwards. The spring 1011 is moved by the movable block 1008. The compression of the electromagnetic chuck 1004 allows the push plate 1010 to move upwards synchronously and be stored in the adjustment frame 1001 when the electromagnetic chuck 1004 extends downwards. When the electromagnetic chuck 1004 extends out of the adjustment frame 1001, the push plate 1010 is stored inside the adjustment frame 1001. When energized, the electromagnetic chuck 1004 generates suction, which starts the stepper motor 1012, causing the screw 1013 to rotate in the adjustment frame 1001. This allows the adsorption frame 8 to move up and down easily. The side of the adjustment frame 1001 and the side of the adsorption frame 8 are slidably connected to each other, preventing the adjustment frame 1001 from rotating and maintaining its up-and-down movement. Since the connecting block 1014 is located inside the adjustment frame 1001, the adsorption frame 8 and the adjustment frame 1001 cannot detach from each other. This structure adjusts the height of the electromagnetic chucks 1004 on both sides, making it easier for the adsorption frame 8 to adsorb irregularly shaped plates with uneven heights, thus improving the applicability of handling plates.

[0025] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the 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 this utility model should be included within the protection scope of this utility model.

Claims

1. A rotary sorting robot, comprising a bottom beam (1), a movable crossbeam (3) movably mounted on the bottom beam (1), upper and lower guide columns (4) movably mounted on the movable crossbeam (3), and an adsorption frame (8) movably mounted below the upper and lower guide columns (4), characterized in that: Several fixed suction cups (9) are fixedly connected to the bottom surface of the adsorption rack (8). Adjustment components (10) are movably installed on both sides of the adsorption rack (8). The adjustment components (10) include an adjustment rack (1001), an electromagnetic suction cup (1004), a storage tube (1006), a push plate (1010), a screw (1013), and a connecting block (1014). The adjustment rack (1001) is movably installed on both sides of the adsorption rack (8). The electromagnetic suction cup (1004) is movably installed inside the adjustment rack (1001). The storage tube (1006) is fixedly connected to the inner wall of the adjustment rack (1001) and located on the side of the electromagnetic suction cup (1004). The push plate (1010) is movably installed below the storage tube (1006). The connecting block (1014) is fixedly connected to the adsorption rack (8). The screw (1013) is movably installed to the connecting block (1014).

2. The rotary sorting robot according to claim 1, characterized in that: A beam motor (2) is fixedly connected to the lower part of the moving crossbeam (3), an upper and lower motor (5) is fixedly connected to one side of the upper and lower guide columns (4), a crossbeam motor (6) is fixedly connected to the other side of the upper and lower guide columns (4), and a rotary motor (7) is fixedly connected to the lower part of the upper and lower guide columns (4).

3. A rotary sorting robot according to claim 1, characterized in that: The adjustment assembly (10) also includes a first cylinder (1002) and a mounting plate (1003). The first cylinder (1002) is fixedly connected to the adjustment frame (1001). The mounting plate (1003) is located inside the adjustment frame (1001). The output shaft of the first cylinder (1002) is fixedly connected to the mounting plate (1003). The electromagnetic chuck (1004) is fixedly connected to the bottom surface of the mounting plate (1003).

4. A rotary sorting robot according to claim 1, characterized in that: The adjustment assembly (10) also includes a connection point (1005), a pull rope (1007), a movable block (1008), and a movable rod (1009). The connection point (1005) is fixedly connected to the mounting plate (1003). The movable block (1008) is movably installed inside the storage tube (1006). The two ends of the pull rope (1007) are fixedly connected to the movable block (1008) and the connection point (1005) respectively. The movable rod (1009) is movably installed inside the storage tube (1006), and the two ends of the movable rod (1009) are fixedly connected to the movable block (1008) and the push plate (1010) respectively.

5. A rotary sorting robot according to claim 4, characterized in that: The adjustment assembly (10) also includes a spring (1011) located inside the storage tube (1006) and above the movable block (1008), and the pull rope (1007) passes through the spring (1011) and is fixedly connected to the movable block (1008).

6. A rotary sorting robot according to claim 1, characterized in that: The adjustment assembly (10) also includes a stepper motor (1012), which is fixedly connected to the adjustment frame (1001) and located on the side of the first cylinder (1002). The connecting block (1014) has a screw hole corresponding to the screw (1013).

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