A switchable automated pick-and-place robot

Abstract

This utility model relates to the field of switchable automated material handling robot technology. It provides a switchable automated material handling robot, including a base, a robotic arm assembly, a switching component rotatably mounted on the robotic arm assembly, and square and circular gripper assemblies. The switching component is mounted on a first and second switching plate on a switching frame, with the first and second switching plates inclined between them. The square gripper assembly includes a first and second gripper symmetrically arranged about a connecting frame. The circular gripper assembly includes a third gripper slidably mounted in a groove. This device solves the problem that existing devices cannot perform switchable automated material handling for workpieces of different shapes, requiring different material handling robots for a single switchable robot, thus increasing production costs. It achieves the effect of using different grippers to hold different types of workpieces through the rotation of the switching device, simplifying the automated material handling robot process while reducing production costs.

Description

Technical Field

[0001] This utility model relates to the field of automation technology of a switchable automated material handling robot, and more specifically, it relates to a switchable automated material handling robot. Background Technology

[0002] Automated material handling robots are industrial robot systems that automatically place workpieces into machine tools, testing equipment, or molds, and automatically retrieve the finished products after processing. They are widely used in CNC machining, stamping, injection molding, testing, logistics sorting, and warehousing. As an important component of modern manufacturing, automated material handling robots are gradually becoming a key force in improving production efficiency, reducing labor costs, and enhancing production flexibility.

[0003] Patent CN222857435U discloses a two-handed gripper robot device. By clamping workpieces with at least two rows of gripper units arranged on the bottom of the base plate, it can complete the loading and unloading of multiple sets of workpieces at one time. The gripper fingers driven by the gripper cylinder can meet the clamping operation of workpieces of different sizes. It can not only replace manual labor, but also reduce the loading and unloading operation time and effectively improve the production efficiency of the connecting rod processing process.

[0004] While the aforementioned device can clamp multiple workpieces at once by using multiple gripper units, it cannot handle workpieces of different shapes for pick-and-place operations in actual production. Setting up different pick-and-place robots to handle different types of workpieces would significantly increase the production cost of these robots. Utility Model Content

[0005] To address the shortcomings of existing technologies, the purpose of this utility model is to provide a switchable automated material handling robot that uses different grippers to clamp different types of workpieces by rotating a switching device, thereby simplifying the material handling process of the automated material handling robot and reducing production costs.

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

[0007] A switchable automated material handling robot includes a base, a robotic arm assembly rotatably mounted on the base, a switching assembly rotatably mounted on the robotic arm assembly, and a square gripper assembly and a circular gripper assembly mounted on the switching assembly. The switching assembly includes a switching head, a switching block rotatably mounted on the switching head, a switching frame disposed at the bottom of the switching block, and a first switching plate and a second switching plate mounted on the switching frame. The first switching plate and the second switching plate are inclined to each other. The square gripper assembly includes a connecting frame and a first gripper and a second gripper symmetrically arranged about the connecting frame. The circular gripper assembly includes a clamping seat, a groove formed on the clamping seat, and a third gripper slidably mounted in the groove.

[0008] The present invention is further configured such that: a rotating cavity is formed inside the switching head, the switching block is rotatably installed inside the rotating cavity, and a mounting base is provided at the bottom of the switching block.

[0009] The present invention is further configured such that: a connecting part is provided on the top of the switching frame, and the connecting part is fixedly connected to the mounting base.

[0010] The present invention is further configured such that: the connecting frame is connected to the first switching plate, and a first gear rod and a second gear rod are rotatably mounted on the connecting frame, and the first gear rod and the second gear rod are rotatably connected to the first gripper and the second gripper, respectively.

[0011] The present invention is further configured such that: a first rotating rod and a second rotating rod are rotatably connected to the first gripper and the second gripper, and the first rotating rod and the second rotating rod are rotatably mounted on the connecting frame.

[0012] The present invention is further configured such that: a structural plate is connected to the clamping seat, a telescopic rod is connected to each of the four corners of the structural plate, a telescopic cylinder is connected to the center of the structural plate, and the telescopic cylinder and the telescopic rod are respectively connected to the second switching plate.

[0013] The present invention is further configured such that: the end of the third gripper is arc-shaped, an outer anti-slip strip is connected to the outer wall of the third gripper, and an inner anti-slip strip is connected to the inner wall of the third gripper.

[0014] The present invention is further configured such that: the robotic arm assembly includes a first rotating arm rotatably mounted on a base and a second rotating arm rotatably connected to the first rotating arm, wherein the end of the second rotating arm away from the first rotating arm is connected to a switching assembly.

[0015] The beneficial effects of this utility model are:

[0016] Square and circular gripper assemblies are respectively installed at the bottom of the first and second switching plates. The rotation of the switching block synchronously drives the switching frame to rotate. When the first switching plate rotates to a horizontal position, the square gripper assembly can be used to pick up and place square components; when the second switching plate rotates to a horizontal position, the circular gripper assembly can be used to pick up and place circular components. By rotating the switching block, different types of workpieces can be gripped using different grippers, simplifying the material handling process of the automated picking and placing robot while also reducing production costs. Attached Figure Description

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

[0018] Figure 1 This is a schematic diagram of the switchable automated material handling robot of this utility model.

[0019] Figure 2 for Figure 1 The diagram shows the structure of the switching component, the square gripper component, and the circular gripper component.

[0020] Figure 3 for Figure 2 The diagram shows the exploded structure.

[0021] Figure 4 for Figure 3 The diagram shows the exploded structure of the square gripper assembly and the circular gripper assembly.

[0022] Figure 5 for Figure 4 The diagram shows the structure of the circular gripper assembly.

[0023] Figure 6 for Figure 5 The front view shown.

[0024] Figure 7 for Figure 4 The diagram shows the connection structure of the switching frame, connecting part, first switching plate, and second switching plate.

[0025] Explanation of reference numerals in the attached diagram: 1. Base; 11. Support bar; 12. Mounting platform; 13. Turntable;

[0026] 2. Robotic arm assembly; 21. First rotating arm; 22. First rotating motor; 23. Adjusting motor; 24. First adjusting lever; 25. Second adjusting lever; 26. Second rotating arm; 27. Second rotating motor;

[0027] 3. Switching assembly; 31. Switching head; 32. Rotating cavity; 33. Slot; 34. Switching motor; 35. Switching block; 36. Mounting base; 37. Switching frame; 38. Connecting part; 39. First switching plate; 310. Second switching plate;

[0028] 4. Square gripper assembly; 41. Connecting frame; 42. Drive motor; 43. First gripper; 44. First gear rod; 45. First rotating rod; 46. First clamping part; 47. Second gripper; 48. Second gear rod; 49. Second rotating rod; 410. Second clamping part;

[0029] 5. Circular gripper assembly; 51. Telescopic cylinder; 52. Telescopic rod; 53. Structural plate; 54. Clamping seat; 55. Slide groove; 56. Third gripper; 57. Outer anti-slip strip; 58. Inner anti-slip strip. Detailed Implementation

[0030] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer, the present utility model will now be described in detail with reference to the accompanying drawings. This drawing is a simplified schematic diagram, illustrating only the basic aspects of the present utility model, and therefore only shows the components relevant to the present utility model. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0031] Please refer to Figure 1 A switchable automated material handling robot includes a base 1, a robotic arm assembly 2 rotatably mounted on the base 1, a switching assembly 3 rotatably mounted on the robotic arm assembly 2, and a square gripper assembly 4 and a circular gripper assembly 5 mounted on the switching assembly 3. The robotic arm assembly 2 can rotate relative to the base 1, driving the switching assembly 3 to move. By rotating the switching assembly 3, the angles of the square gripper assembly 4 and the circular gripper assembly 5 can be adjusted. The square gripper assembly 4 is used to handle square workpieces, and the circular gripper assembly 5 is used to handle circular workpieces.

[0032] Please refer to Figure 1 The base 1 is horizontally positioned, and a turntable 13 is rotatably mounted on top of the base 1. A drive unit, which can be a motor, is installed inside the base 1, and its output is connected to the turntable 13, enabling the turntable 13 to rotate. Multiple support bars 11 are arranged around the side walls of the base 1 for mounting and securing it. A mounting platform 12 is provided on top of the turntable 13, and the robotic arm assembly 2 is mounted on the mounting platform 12, ensuring that the robotic arm assembly 2 can rotate synchronously with the base 1.

[0033] Please refer to Figure 1 The robotic arm assembly 2 includes a first rotating arm 21 rotatably mounted on a base 1 and a second rotating arm 26 rotatably connected to the first rotating arm 21. The first rotating arm 21 is rotatably mounted on a mounting platform 12 and can rotate synchronously with a turntable 13. A first rotating motor 22 is mounted on the mounting platform 12, and the output end of the first rotating motor 22 is connected to the first rotating arm 21. The first rotating motor 22 can drive the first rotating arm 21 to rotate around the connecting shaft between the first rotating arm 21 and the mounting platform 12. A second rotating motor 27 is mounted on the other side of the mounting platform 12, and the output end of the second rotating motor 27 is connected to the second rotating arm 26. The second rotating motor 27 can drive the second rotating arm 26 to rotate circumferentially around the second rotating arm 26. A first adjusting lever 24 is connected at the connection between the first rotating arm 21 and the mounting platform 12, and a second adjusting lever 25 is connected at the connection between the second rotating arm 26 and the first rotating arm 21. The first adjusting lever 24 and the second adjusting lever 25 are rotatably connected. One end of the first adjusting lever 24 is connected to an adjusting motor 23, which is mounted on the mounting platform 12 on the side opposite to the first rotating motor 22. The adjusting motor 23 can drive the first adjusting lever 24 to rotate, and through the rotation of the second adjusting lever 25, it drives the second rotating arm 26 to rotate around the connecting shaft between the second rotating arm 26 and the first rotating arm 21. The end of the second rotating arm 26 away from the first rotating arm 21 is connected to the switching component 3. Through the rotation of the first rotating arm 21 following the base 1, the rotation of the first rotating arm 21 relative to the base 1, the rotation of the second rotating arm 26 relative to the first rotating arm 21, and the rotation of the second rotating arm 26, the automated material handling robot can rotate in multiple directions, thereby driving the switching component 3 to adjust its angle and position.

[0034] Please refer to Figure 1-4The switching assembly 3 includes a switching head 31, a switching block 35 rotatably mounted on the switching head 31, a switching frame 37 disposed at the bottom of the switching block 35, and a first switching plate 39 and a second switching plate 310 mounted on the switching frame 37. The switching head 31 has a slot 33 at its end, and the second rotating arm 26 has a mating groove corresponding to the slot 33 inside. The end of the switching head 31 is mounted on the second rotating arm 26. During installation, the slot 33 is engaged with the mating groove, and the connection is secured by a fixing pin to ensure a reliable connection between the switching head 31 and the second rotating arm 26. A rotating cavity 32 is formed inside the switching head 31, and the switching block 35 is rotatably mounted inside the rotating cavity 32. A switching motor 34 is mounted on the switching head 31, and the output end of the switching motor 34 is connected to the switching block 35. The switching motor 34 can drive the switching block 35 to rotate around the connecting shaft between the switching block 35 and the switching head 31. During the rotation of the switching block 35, a gap is always maintained between it and the rotating cavity 32 to ensure that the switching block 35 can rotate normally. A mounting base 36 is provided at the bottom of the switching block 35, and a connecting part 38 is provided at the top of the switching frame 37. The connecting part 38 and the mounting base 36 are fixedly connected. The first switching plate 39 and the second switching plate 310 at the bottom of the switching frame 37 are inclined together. In this application, the inclination angle between the first switching plate 39 and the second switching plate 310 is 45°. In some other embodiments, the inclination angle can be set to other angles according to actual needs. This application does not make specific limitations here. The first switching plate 39 is connected to the square gripper assembly 4, and the second switching plate 310 is connected to the circular gripper assembly 5. By rotating the switching block 35, the switching between the square gripper assembly 4 and the circular gripper assembly 5 can be realized, so that the square gripper assembly 4 and the circular gripper assembly 5 can clamp different types of workpieces respectively, thereby completing the picking and unloading of materials.

[0035] Please refer to Figure 1-4The square gripper assembly 4 includes a connecting frame 41 and a first gripper 43 and a second gripper 47 symmetrically arranged about the connecting frame 41. The connecting frame 41 is connected to a first switching plate 39 and can synchronously switch angles with the first switching plate 39. A first gear rod 44 and a second gear rod 48 are rotatably mounted on the connecting frame 41. One end of the first gear rod 44 and the second gear rod 48 is provided with meshing gears. The first gear rod 44 and the second gear rod 48 are rotatably connected to the first gripper 43 and the second gripper 47, respectively. A drive motor 42 is also mounted on the connecting frame 41. The output shaft of the drive motor 42 is connected to the first gear rod 44. The drive motor 42 can drive the first gear rod 44 to rotate, and through the meshing of the first gear rod 44 and the second gear rod 48, the first gear rod 44 and the second gear rod 48 respectively drive the first gripper 43 and the second gripper 47 to rotate. A first rotating rod 45 and a second rotating rod 49 are rotatably connected to the first gripper 43 and the second gripper 47, respectively. The first rotating rod 45 and the second rotating rod 49 are rotatably mounted on the connecting frame 41. During the rotation of the first gripper 43 and the second gripper 47, the first rotating rod 45 and the second rotating rod 49 rotate synchronously, simultaneously opening and closing the first gripper 43 and the second gripper 47. When the first gripper 43 and the second gripper 47 are closed, they can clamp and pick up square workpieces; when they are open, they can unload square workpieces. A first clamping part 46 is provided at the bottom of the first gripper 43, extending along the first gripper 43. A second clamping part 410 is provided at the bottom of the second gripper 47, extending along the second gripper 47, to increase the contact area with the workpiece and ensure stable clamping. When the first gripper 43 and the second gripper 47 rotate to the closed state, the sidewalls of the first clamping part 46 and the second clamping part 410 can fit against the sidewall of the square workpiece, ensuring reliable clamping. Anti-slip strips can be provided on the sidewalls of the first clamping part 46 and the second clamping part 410 to increase the friction when clamping the workpiece and further improve the clamping stability.

[0036] Please refer to Figure 2-6The circular gripper assembly 5 includes a gripping base 54, a groove 55 formed on the gripping base 54, and a third gripper 56 slidably installed in the groove 55. A structural plate 53 is connected to the gripping base 54, and a telescopic rod 52 is connected to each of the four corners of the structural plate 53. A telescopic cylinder 51 is connected to the center of the structural plate 53. The telescopic cylinder 51 and the telescopic rods 52 are respectively connected to the second switching plate 310. The telescopic cylinder 51 can drive the structural plate 53 to move relative to the second switching plate 310. During the movement of the second switching plate 310, the telescopic rods 52 extend and retract synchronously. The three grooves 55 are equidistantly arranged along the circumference of the gripping base 54. The third gripper 56 is slidably installed inside each groove 55. Specifically, the sliding of the third gripper 56 relative to the groove 55 is achieved by a three-jaw chuck structure in the prior art, which will not be described in detail here. The end of the third gripper 56 is arc-shaped. As the three third grippers 56 slide along the slide groove 55, they can abut against the inner or outer wall of the circular workpiece, thereby clamping the circular workpiece and completing the picking and unloading of the circular workpiece. When the third gripper 56 picks up material from the circular workpiece, the telescopic cylinder 51 can drive the third gripper 56 to continue moving along the inner wall of the circular workpiece, ensuring sufficient contact area with the inner wall of the circular workpiece during subsequent abutments. An outer anti-slip strip 57 is connected to the outer wall of the third gripper 56, and an inner anti-slip strip 58 is connected to the inner wall of the third gripper 56. When the third gripper 56 picks up material from the inner wall of the circular workpiece, the outer anti-slip strip 57 abuts against the inner wall of the circular workpiece, increasing the friction between them; when the third gripper 56 picks up material from the outer wall of the circular workpiece, the inner anti-slip strip 58 abuts against the outer wall of the circular workpiece, increasing the friction between them.

[0037] A square gripper assembly 4 and a circular gripper assembly 5 are respectively installed at the bottom of the first switching plate 39 and the second switching plate 310. The rotation of the switching block 35 synchronously drives the switching frame 37 to rotate. When the first switching plate 39 rotates to a horizontal position, the square gripper assembly 4 can be used to pick up and place square components; when the second switching plate 310 rotates to a horizontal position, the circular gripper assembly 5 can be used to pick up and place circular components. By rotating the switching block 35, different types of workpieces can be clamped using different grippers, simplifying the material handling process of the automated picking and placing robot while reducing production costs.

[0038] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0039] It should be understood that the terms "length", "width", "up", "down", "front and back", "left and right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and are not intended to 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 utility model.

[0040] Based on the preferred embodiments of this utility model described above, those skilled in the art can make various changes and modifications without departing from the scope of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A switchable automated material handling robot, characterized in that: The device includes a base (1), a robotic arm assembly (2) rotatably mounted on the base (1), a switching assembly (3) rotatably mounted on the robotic arm assembly (2), and a square gripper assembly (4) and a circular gripper assembly (5) mounted on the switching assembly (3). The switching assembly (3) includes a switching head (31), a switching block (35) rotatably mounted on the switching head (31), a switching frame (37) disposed at the bottom of the switching block (35), and a first switching plate (39) and a second switching plate (310) mounted on the switching frame (37). The first switching plate (39) and the second switching plate (310) are inclined together. The square gripper assembly (4) includes a connecting frame (41) and a first gripper (43) and a second gripper (47) symmetrically disposed about the connecting frame (41). The circular gripper assembly (5) includes a clamping seat (54), a groove (55) opened on the clamping seat (54), and a third gripper (56) slidably mounted in the groove (55).

2. The switchable automated material handling robot according to claim 1, characterized in that: The switching head (31) forms a rotating cavity (32) inside, and the switching block (35) is rotatably installed inside the rotating cavity (32). The bottom of the switching block (35) is provided with a mounting base (36).

3. The switchable automated material handling robot according to claim 2, characterized in that: The top of the switching frame (37) is provided with a connecting part (38), and the connecting part (38) and the mounting base (36) are fixedly connected.

4. The switchable automated material handling robot according to claim 1, characterized in that: The connecting frame (41) is connected to the first switching plate (39). A first gear rod (44) and a second gear rod (48) are rotatably mounted on the connecting frame (41). The first gear rod (44) and the second gear rod (48) are rotatably connected to the first gripper (43) and the second gripper (47), respectively.

5. A switchable automated material handling robot according to claim 4, characterized in that: A first rotating rod (45) and a second rotating rod (49) are rotatably connected to the first gripper (43) and the second gripper (47), and the first rotating rod (45) and the second rotating rod (49) are rotatably mounted on the connecting frame (41).

6. The switchable automated material handling robot according to claim 1, characterized in that: The clamping seat (54) is connected to a structural plate (53), and each of the four corners of the structural plate (53) is connected to a telescopic rod (52). The center of the structural plate (53) is connected to a telescopic cylinder (51), and the telescopic cylinder (51) and the telescopic rod (52) are respectively connected to the second switching plate (310).

7. A switchable automated material handling robot according to claim 6, characterized in that: The end of the third gripper (56) is rounded, and an outer anti-slip strip (57) is connected to the outer wall of the third gripper (56), and an inner anti-slip strip (58) is connected to the inner wall of the third gripper (56).

8. The switchable automated material handling robot according to claim 1, characterized in that: The robotic arm assembly (2) includes a first rotating arm (21) rotatably mounted on a base (1) and a second rotating arm (26) rotatably connected to the first rotating arm (21). The end of the second rotating arm (26) away from the first rotating arm (21) is connected to the switching assembly (3).

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