A material deviation preventing transfer robot

Abstract

This utility model relates to the field of material handling equipment technology and discloses a material handling robot that prevents material deviation. The robot is mounted on a robotic arm. Four movable slots at the bottom of the connecting frame each contain movable blocks, and anti-deviation positioning frames are fixedly mounted on the movable blocks. A first motor is fixedly mounted on the front side wall of the connecting frame, and a first bidirectional lead screw is fixedly mounted on its output shaft. The first bidirectional lead screw rotates through the movable slots on the front and rear sides via bearings. The movable blocks on the front and rear sides are threaded onto the first bidirectional lead screw. A second motor is fixedly mounted on the right side wall of the connecting frame, and a second bidirectional lead screw is fixedly mounted on its output shaft. The second bidirectional lead screw rotates through the movable slots on the left and right sides via bearings. This design not only centers and positions the material before clamping to ensure handling stability but also enables multi-directional limiting clamping of the material in both horizontal and vertical directions, effectively preventing material deviation.

Description

Technical Field

[0001] This utility model relates to the field of material handling equipment technology, and specifically to a material handling robot that prevents material deviation. Background Technology

[0002] In the field of automated production and logistics handling, although handling robots have been widely used in the gripping, transportation and placement of materials, the existing technology still has obvious shortcomings: the initial position of the material is difficult to align precisely with the center of the fixture, resulting in uneven distribution of clamping force. In addition, traditional fixtures mostly use a single horizontal or vertical clamping method, which cannot achieve multi-directional constraint. This makes the material susceptible to slippage, tilting or even falling off during the handling process due to motion inertia and vibration, which seriously affects the handling accuracy and operational reliability. This is especially true for the handling of irregular materials under high-speed movement or sudden stop conditions. Therefore, there is an urgent need for a handling robot that can prevent material deviation. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings and deficiencies of existing technologies by providing a reasonably designed material handling robot that prevents material deviation, thereby solving the aforementioned problems.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: it includes a base and a robotic arm, with the robotic arm located on the upper part of the base;

[0005] It also includes:

[0006] The connecting frame is mounted on the robotic arm. Each of the four movable slots at the bottom of the connecting frame contains a movable block. An anti-deviation positioning frame is fixedly mounted on the movable block, and a clamping mechanism is provided on the anti-deviation positioning frame.

[0007] Motor No. 1 is fixedly mounted on the front side wall of the connecting frame. A double-acting screw No. 1 is fixedly mounted on the output shaft of Motor No. 1. The double-acting screw No. 1 is rotated through the movable slots on the front and rear sides via bearings. The movable blocks on the front and rear sides are rotated and sleeved on the double-acting screw No. 1 via threads.

[0008] The second motor is fixedly mounted on the right side wall of the connecting frame. A second bidirectional lead screw is fixedly mounted on the output shaft of the second motor. The second bidirectional lead screw rotates through the movable slots on the left and right sides via bearings. The movable blocks on the left and right sides are screwed onto the second bidirectional lead screw via threads.

[0009] Furthermore, the clamping mechanism includes:

[0010] Two pneumatic push rods are fixedly mounted on the two side walls of the anti-deviation positioning frame. A rotating frame is rotatably mounted on the output rod of the pneumatic push rod via a bearing, and a clamping block is fixedly mounted on the rotating frame.

[0011] The fixed frame consists of two fixed frames, which are respectively fixedly mounted on two pneumatic push rods. A guide groove is provided on the inner arc wall of the fixed frame, and a guide block is movably mounted in the guide groove. The guide block is fixedly mounted on the rotating frame.

[0012] Furthermore, a clamping plate is rotatably connected to the clamping block via a spherical bearing, and a rubber pad is fixedly installed on the clamping plate. Pressure sensors are installed on both the clamping plate and the anti-deviation positioning frame.

[0013] Furthermore, a reinforcing rib is fixedly provided on the side wall of the fixed frame, and the reinforcing rib is fixedly connected to the pneumatic push rod.

[0014] Furthermore, a rectangular frame is fixedly installed in the rectangular groove opened on the anti-deviation positioning frame, and several rotating cylinders are rotatably installed in the rectangular frame through shafts and bearings.

[0015] Furthermore, two accordion covers are fixedly installed inside the movable slot, and the accordion covers are fixedly connected to the movable block.

[0016] Compared with the prior art, the beneficial effects of this utility model are: the material handling robot described in this utility model can not only center and position the material before clamping to ensure the stability of the handling, but also realize multi-directional limiting clamping of the material in the horizontal and vertical directions, thus fully avoiding the phenomenon of material deviation. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model.

[0018] Figure 2 This is a cross-sectional view of the connecting frame in this utility model.

[0019] Figure 3 yes Figure 2 Enlarged view of part A in the image.

[0020] Figure 4 This is an exploded view of the clamping mechanism, clamping plate, rubber pad, and reinforcing rib plate in this utility model.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1. Base; 2. Robotic arm; 3. Connecting frame; 4. Movable groove; 5. Movable block; 6. Anti-deviation positioning frame; 7. Clamping mechanism; 7-1. Pneumatic push rod; 7-2. Rotating frame; 7-3. Clamping block; 7-4. Fixed frame; 7-4-1. Guide groove; 7-5. Guide block; 8. Motor 1; 9. Bidirectional lead screw 1; 10. Motor 2; 11. Bidirectional lead screw 2; 12. Clamping plate; 13. Rubber pad; 14. Pressure sensor; 15. Reinforcing rib plate; 16. Rectangular groove; 17. Rectangular frame; 18. Rotating cylinder; 19. Bellows cover. Detailed Implementation

[0023] The technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. The preferred embodiments described are only examples. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0024] like Figures 1-4 As shown, this specific embodiment adopts the following technical solution: it includes a base 1 and a robotic arm 2, with the robotic arm 2 provided on the upper part of the base 1;

[0025] It also includes:

[0026] The connecting frame 3 is mounted on the robotic arm 2. Each of the four movable slots 4 at the bottom of the connecting frame 3 has a movable block 5. An anti-deviation positioning frame 6 is fixedly mounted on the movable block 5. The anti-deviation positioning frame 6 is equipped with a clamping mechanism 7. Two bellows covers 19 are fixedly mounted in the movable slots 4 and are fixedly connected to the movable blocks 5. The bellows covers 19 can protect the movable slots 4 and prevent a large amount of dust from entering and causing the movable blocks 5 to jam.

[0027] Motor 8 is fixedly mounted on the front side wall of the connecting frame 3. A first bidirectional lead screw 9 is fixedly mounted on the output shaft of motor 8. The first bidirectional lead screw 9 is rotated through the movable slots 4 on the front and rear sides via bearings. The movable blocks 5 on the front and rear sides are rotated on the first bidirectional lead screw 9 via threads.

[0028] The second motor 10 is fixedly mounted on the right side wall of the connecting frame 3. The output shaft of the second motor 10 is fixedly mounted with a second bidirectional lead screw 11. The second bidirectional lead screw 11 is rotatably mounted in the movable slots 4 on the left and right sides through bearings. The movable blocks 5 on the left and right sides are rotatably mounted on the second bidirectional lead screw 11 through threads. A rectangular frame 17 is fixedly mounted in the rectangular slot 16 opened on the anti-deviation positioning frame 6. Several rotating cylinders 18 are rotatably mounted in the rectangular frame 17 through shafts and bearings. When the anti-deviation positioning frame 6 centers the material, the rotation of the rotating cylinders 18 can avoid the material from directly contacting the anti-deviation positioning frame 6 and causing wear, thereby improving the service life.

[0029] The clamping mechanism 7 includes:

[0030] Two pneumatic push rods 7-1 are fixedly installed on the two side walls of the anti-deviation positioning frame 6. A rotating frame 7-2 is rotatably mounted on the output rod of the pneumatic push rod 7-1 via a bearing. A clamping block 7-3 is fixedly mounted on the rotating frame 7-2. A clamping plate 12 is rotatably connected to the clamping block 7-3 via a spherical bearing. A rubber pad 13 is fixedly mounted on the clamping plate 12. Pressure sensors 14 are provided on both the clamping plate 12 and the anti-deviation positioning frame 6. By utilizing the cooperation between the rubber pad 13 and the clamping plate 12 rotatably connected by the spherical bearing, various materials of different shapes can be effectively clamped, improving the clamping stability of irregularly shaped materials.

[0031] The fixed frame 7-4 consists of two units, each fixedly mounted on a pneumatic push rod 7-1. A reinforcing rib 15 is fixedly mounted on the side wall of the fixed frame 7-4 and is fixedly connected to the pneumatic push rod 7-1. The reinforcing rib 15 improves the structural strength of the connection between the fixed frame 7-4 and the pneumatic push rod 7-1, thereby enhancing the stability of the fixed frame 7-4. A guide groove 7-4-1 is provided on the inner arc wall of the fixed frame 7-4, and a guide block 7-5 is movably mounted within the guide groove 7-4-1. The guide block 7-5 is fixedly mounted on the rotating frame 7-2. The clamping mechanism 7 not only enables vertical clamping of the bottom of the material, but also allows the rotating frame 7-2 to rotate synchronously during the clamping and releasing process to avoid obstructing the material.

[0032] When using this utility model, the robotic arm 2 moves the connecting frame 3 above the material, and then the first motor 8 and the second motor 10 are started. The first motor 8 and the second motor 10 respectively drive the first bidirectional lead screw 9 and the second bidirectional lead screw 11 connected to them to rotate, so that the movable block 5 drives the anti-deviation positioning frame 6 to move towards the material, thereby achieving the centering and limiting of the material in the horizontal direction. Then, the pneumatic push rod 7-1 can be started. The pneumatic push rod 7-1 shortens and drives the rotating frame 7-2 to move upward. The rotating frame 7-2 drives the guide block 7-5 to move upward. When the guide block 7-5 moves in the inclined section in the guide groove 7-4-1, it can drive the rotating frame 7-2 to rotate, so that the rotating frame 7-2 drives the clamping block 7-3 to rotate to the position below the material. Then, the guide block 7-5 will move upward in the vertical section in the guide groove 7-4-1, so that the clamping block 7-3 clamps and fixes the material in the vertical direction, and then the material can be transported.

[0033] Compared with the prior art, the beneficial effects of this utility model are:

[0034] 1. Through the cooperation of motor 8, double-acting screw 9, motor 10, double-acting screw 11, movable block 5 and anti-deviation positioning frame 6, not only can the material be restricted in all four directions in the horizontal direction, but the material can also be positioned in the center.

[0035] 2. The clamping mechanism 7 can clamp the bottom of the material vertically, and together with the anti-deviation positioning frame 6, it can limit the material in the horizontal direction, thereby achieving multi-directional restriction of the material to fully maintain the stability of the material during handling and avoid deviation during the material handling process.

[0036] 3. The accordion cover 19 provides full enclosure protection for the movable slot 4, effectively preventing external dust from entering and preventing the movable block 5 from getting stuck.

[0037] 4. The pressure sensor 14 can monitor the clamping force in real time, which can ensure sufficient clamping force to prevent material slippage, and avoid excessive clamping force to prevent material deformation or equipment overload, thus achieving precise force control in the clamping process. It is especially suitable for handling precision materials or vulnerable parts.

[0038] For those skilled in the art, modifications can be made to the technical solutions described in the foregoing embodiments, and equivalent substitutions can be made to 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 material handling robot for preventing material deviation, comprising a base (1) and a robotic arm (2), wherein the robotic arm (2) is provided on the upper part of the base (1). Its features are, It also includes: The connecting frame (3) is mounted on the robotic arm (2). The four movable slots (4) at the bottom of the connecting frame (3) are each equipped with movable blocks (5). An anti-deviation positioning frame (6) is fixedly mounted on the movable blocks (5). A clamping mechanism (7) is provided on the anti-deviation positioning frame (6). The No. 1 motor (8) is fixedly installed on the front side wall of the connecting frame (3). The No. 1 bidirectional lead screw (9) is fixedly installed on the output shaft of the No. 1 motor (8). The No. 1 bidirectional lead screw (9) is rotated through the movable slots (4) on the front and rear sides via bearings. The movable blocks (5) on the front and rear sides are rotated on the No. 1 bidirectional lead screw (9) via threads. The second motor (10) is fixedly installed on the right side wall of the connecting frame (3). The output shaft of the second motor (10) is fixedly installed with a second bidirectional lead screw (11). The second bidirectional lead screw (11) is rotated through the movable slots (4) on the left and right sides by bearings. The movable blocks (5) on the left and right sides are rotated on the second bidirectional lead screw (11) by threads.

2. The material offset preventing transfer robot according to claim 1, characterized in that: The clamping mechanism (7) includes: Two pneumatic push rods (7-1) are fixedly installed on the two side walls of the anti-deviation positioning frame (6). A rotating frame (7-2) is rotatably sleeved on the output rod of the pneumatic push rod (7-1) through a bearing. A clamping block (7-3) is fixedly installed on the rotating frame (7-2). The fixed frame (7-4) consists of two fixed frames, which are respectively fixed on two pneumatic push rods (7-1). A guide groove (7-4-1) is provided on the inner arc wall of the fixed frame (7-4). A guide block (7-5) is movably arranged in the guide groove (7-4-1). The guide block (7-5) is fixed on the rotating frame (7-2).

3. A material handling robot for preventing material deviation according to claim 2, characterized in that: The clamping block (7-3) is rotatably connected to the clamping plate (12) via a joint bearing. A rubber pad (13) is fixedly installed on the clamping plate (12). Pressure sensors (14) are provided on both the clamping plate (12) and the anti-deviation positioning frame (6).

4. A material offset preventing transfer robot according to claim 3, characterized in that: A reinforcing rib plate (15) is fixedly installed on the side wall of the fixed frame (7-4), and the reinforcing rib plate (15) is fixedly connected to the pneumatic push rod (7-1).

5. The material offset preventing handling robot according to claim 1, characterized in that: A rectangular frame (17) is fixedly installed in the rectangular groove (16) opened on the anti-deviation positioning frame (6), and several rotating cylinders (18) are rotatably installed in the rectangular frame (17) through shafts and bearings.

6. The material offset preventing handling robot according to claim 1, characterized in that: Two accordion covers (19) are fixedly installed inside the movable slot (4), and the accordion covers (19) are fixedly connected to the movable block (5).

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