Mechanical hand device with unloading function

Abstract

The utility model relates to a kind of manipulator devices with unloading function, including rack and servo motor, rotary cylinder, material taking assembly and unloading assembly installed on rack, the servo motor is installed in the one end of the rack, and screw rod is rotatably installed on the rack by bearing seat, and the one end of the screw rod is drivingly connected with the servo motor;Sliding plate is also slidably installed on the rack, and the rotary cylinder is installed on the one side of the sliding plate, and the rotary cylinder rotating output end is connected together with material taking assembly;The unloading assembly is installed on the material taking assembly by connecting plate, and the servo motor, rotary cylinder, material taking assembly and unloading assembly are all connected to control panel.The utility model has the advantages that: using permanent magnet provides stable suction to take material, when unloading, unloading block is actively stripped from permanent magnet by mechanical down-pressing action, ensuring the continuity and stability of production.

Description

Technical Field

[0001] This utility model relates to a robotic arm device with unloading function, belonging to the field of automated production of home appliances. Background Technology

[0002] The corner plate, a typical reinforcing component of a pulsator washing machine, is a crucial element in automated appliance production lines due to its right-angled triangular shape. Its automated material handling, conveying, tumbling, and precise dispensing are essential. Currently, automation solutions in this field generally rely on electromagnets as actuators to pick up and release the corner plate. However, this existing technology exhibits two inherent drawbacks in large-scale applications: First, as an electrical component, the electromagnet's coil is prone to overheating and aging under high-speed, high-frequency industrial cycles, resulting in a high failure rate, frequent equipment maintenance, and increased production costs. Second, after power is cut off, the electromagnet may not be completely demagnetized due to hysteresis or residual magnetism, often causing the corner plate to remain attached at the unloading station, severely disrupting the continuity and positioning accuracy of the feeding process and becoming a bottleneck restricting the efficiency and stability of the production line.

[0003] Therefore, given the core issues of poor reliability and unstable unloading in existing electromagnet-based pick-and-place solutions, the industry urgently needs a robotic arm device with an innovative structure. This device must not only retain all the functions required to perform complex actions (such as picking, rotating, conveying, and placing), but also fundamentally innovate the picking and unloading mechanism to overcome existing technological bottlenecks. Utility Model Content

[0004] To overcome the shortcomings of existing technologies, this utility model aims to provide a novel robotic arm device. By using a permanent magnet instead of an electromagnet as the core for material handling, and combining it with an independent mechanical unloading mechanism, it fundamentally eliminates malfunctions caused by electrical component failure or residual magnetism, ensuring high reliability of handling operations and thoroughness of unloading actions. This meets the urgent needs of modern intelligent manufacturing for high stability, high efficiency, and low maintenance costs of equipment.

[0005] This utility model provides a robotic arm device with unloading function. The technical solution of this utility model is as follows: A robotic arm device with unloading function includes a frame and a servo motor, a rotary cylinder, a picking component, and an unloading component mounted on the frame. The servo motor is mounted at one end of the frame, and a screw is rotatably mounted on the frame via a bearing seat. One end of the screw is connected to the servo motor for transmission. A sliding plate is also slidably mounted on the frame, and the sliding plate slides in cooperation with a slide rail mounted on the frame. The sliding plate is also provided with a connection part that threadedly engages with the screw. The rotary cylinder is mounted on one side of the sliding plate, and the rotation output end of the rotary cylinder is connected to the picking component, driving the picking component to rotate. The unloading component is mounted on the picking component via a connecting plate. The servo motor, rotary cylinder, picking component, and unloading component are all connected to a control panel.

[0006] The material handling assembly includes a telescopic cylinder, a spring rod, a C-shaped frame, and a permanent magnet. The telescopic cylinder is arranged vertically, and its base is fixedly installed on the rotating output end of the rotary cylinder. A C-shaped frame is installed on the piston rod of the telescopic cylinder, and the middle of the C-shaped frame forms a space for installing the unloading assembly. A spring rod is installed on each side of the opening of the C-shaped frame, and a permanent magnet is installed at the bottom of each spring rod. The two permanent magnets work together to attract the material to the diagonal plate.

[0007] The unloading assembly includes an unloading cylinder and an unloading block. The unloading cylinder is arranged vertically, and its cylinder body is fixedly mounted on the cylinder body of the telescopic cylinder via a connecting plate. The unloading cylinder extends downward through the space of the C-frame and then the unloading block is installed thereon. The unloading block is set at the permanent magnet suction station and realizes the unloading action under the drive of the unloading cylinder.

[0008] The rotary cylinder is a 0° rotary cylinder, which drives the telescopic cylinder to change angles.

[0009] The permanent magnet is detachably mounted on the spring rod.

[0010] The working surface of the unloading block is a plane or a contour surface that matches the shape of the corner plate.

[0011] The permanent magnet is a neodymium iron boron permanent magnet. The magnetic force of the neodymium iron boron permanent magnet is sufficient to attract the corner plate and can be reliably separated by the mechanical action of the unloading block.

[0012] The piston rod of the telescopic cylinder is equipped with a position sensor to detect the extension and retraction position of the cylinder.

[0013] The unloading cylinder is a short-stroke cylinder, and the stroke length of the short-stroke cylinder is matched with the unloading displacement of the unloading block.

[0014] The advantages of this utility model are: 1. A permanent magnet (neodymium iron boron magnet) is used to provide a stable attraction force for material handling, and a mechanical unloading block driven by an unloading cylinder is added. During unloading, the unloading block actively peels the corner plate off the permanent magnet through a mechanical pressing action, which fundamentally solves the technical problems of incomplete unloading and easy material carrying caused by residual magnetism in traditional electromagnets, and ensures the continuity and stability of production.

[0015] 2. By replacing the easily damaged electromagnet with a stable permanent magnet as the core component for material handling, the aging and burnout of electrical components under frequent start-stop cycles are avoided, significantly reducing the failure rate and maintenance costs, and improving the overall durability and reliability of the equipment.

[0016] 3. Through the coordinated operation of servo motors, rotary cylinders, and telescopic cylinders, it integrates complex functions such as corner plate picking, horizontal conveying, 180° rotation, and precise feeding. All actuators are centrally controlled by the control panel, ensuring precise and orderly movements, a high degree of automation, and perfect adaptation to the cycle time requirements of modern automated production lines.

[0017] 4. The spring rod design provides the permanent magnet with buffering and self-adaptive capabilities during material handling, effectively protecting the corner plate surface. Furthermore, the permanent magnet is detachable, facilitating replacement or maintenance as needed, thus enhancing the equipment's flexibility and maintainability. 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 schematic diagram of the main structure of this utility model during operation. Detailed Implementation

[0020] The present invention will be further described below with reference to specific embodiments, and the advantages and features of the present invention will become clearer as a result of the description. However, these embodiments are merely exemplary and do not constitute any limitation on the scope of the present invention. Those skilled in the art should understand that modifications or substitutions can be made to the details and form of the technical solution of the present invention without departing from the spirit and scope of the present invention, but all such modifications and substitutions fall within the protection scope of the present invention.

[0021] See Figure 1 and Figure 2This utility model relates to a robotic arm device with unloading function, including a frame and a servo motor 1, a rotary cylinder 2, a picking component, and an unloading component mounted on the frame. The servo motor 1 is mounted at one end of the frame, and a screw is rotatably mounted on the frame via a bearing seat. One end of the screw is connected to the servo motor 1 for transmission. A sliding plate is also slidably mounted on the frame, and the sliding plate is slidably engaged with a slide rail mounted on the frame. The sliding plate is also provided with a connecting part that is threadedly engaged with the screw. The rotary cylinder 2 is mounted on one side of the sliding plate, and the rotation output end of the rotary cylinder 2 is connected to the picking component, driving the picking component to rotate. The unloading component is mounted on the picking component via a connecting plate. The servo motor 1, the rotary cylinder 2, the picking component, and the unloading component are all connected to a control panel.

[0022] The rotary cylinder 2 is a 180° rotary cylinder, which drives the telescopic cylinder 3 to perform angle conversion. A servo motor drives a screw and nut mechanism (i.e., a ball screw pair) to move the slide plate, providing precise horizontal linear positioning, which is the foundation for the entire device to achieve accurate feeding. The rotary cylinder is responsible for driving the end effector to perform precise angle conversion (such as 180° rotation). This combination of "servo linear and cylinder rotation" achieves high-performance two-dimensional motion control at a reasonable cost, balancing positioning accuracy and motion efficiency.

[0023] The servo motor, screw, slide rail, and slide plate are all integrated into the frame, forming a rigid motion unit that effectively avoids vibration and drift at the actuator end, ensuring stability during material handling. The layout of the rotary cylinder and material handling assembly mounted on one side of the slide plate makes the overall structure compact and saves installation space.

[0024] The material handling assembly is stably transported to the material handling and feeding positions and can complete the flipping action, reliably handling the material using permanent magnets and unloading the material using unloading cylinders.

[0025] The material handling assembly includes a telescopic cylinder 3, spring rods 5, a C-shaped frame 9, and a permanent magnet 6. The telescopic cylinder 3 is arranged vertically, and its base is fixedly installed on the rotating output end of the rotary cylinder 2. A C-shaped frame 9 is mounted on the piston rod of the telescopic cylinder 3, forming a space in the middle of the C-shaped frame 9 for mounting the unloading assembly. A spring rod 5 is installed on each side of the opening of the C-shaped frame 9, and a permanent magnet 6 is installed at the bottom of each spring rod 5. The two permanent magnets 6 work together to attract the material to the diagonal plate 8. The permanent magnet 6 is detachably mounted on the spring rod 5.

[0026] The design employs a symmetrical arrangement of two permanent magnets 6, which work together on the corner plate 8. Compared with single-point adsorption, this increases the adsorption area and adsorption force, ensuring that the corner plate will not fall off due to inertia or gravity during high-speed movement or flipping, making the material picking and conveying process more stable and reliable.

[0027] The spring rod can adaptively fine-tune its height to compensate for minor height deviations in the corner plate stacking or mounting platform, ensuring that the permanent magnet 6 can fully adhere to the corner plate surface for effective adsorption.

[0028] The space formed in the middle of the C-frame 9 cleverly accommodates the unloading assembly, so that the material picking and unloading functions are highly integrated into a compact unit, which is compact in structure and avoids functional interference.

[0029] The entire material handling assembly achieves its overall lifting and lowering movement through the telescopic cylinder 3, driving the permanent magnet 6 to complete the actions of "lowering to pick up material" and "rising to detach". This assembly is mounted as a whole on the rotary cylinder 2, working together to complete the material handling and conveying tasks.

[0030] The unloading assembly includes an unloading cylinder 4 and an unloading block 7. The unloading cylinder 4 is arranged vertically, and its cylinder body is fixedly mounted on the cylinder body of the telescopic cylinder 3 via a connecting plate. The unloading cylinder 4 extends downward through the space of the C-shaped frame 9 and then mounts the unloading block 7. The unloading block 7 is positioned corresponding to the suction position of the permanent magnet 6 and performs the unloading action under the drive of the unloading cylinder 4. The working surface of the unloading block 7 is a plane or a contour surface that matches the shape of the corner plate.

[0031] The unloading cylinder 4 drives the unloading block 7 to move downwards, applying a mechanical thrust to the corner plate 8, which has been delivered to the target position, in the opposite direction to the attraction force of the permanent magnet 6, actively pushing or lifting the corner plate away from the permanent magnet. This mechanical forced separation action fundamentally overcomes the problem of incomplete unloading caused by the residual magnetic force of the permanent magnet or the adhesion of the workpiece.

[0032] The cylinder body of the unloading cylinder 4 is directly fixed to the cylinder body of the telescopic cylinder 3 via a connecting plate, forming an integrated motion unit with the material handling assembly. The unloading block 7 passes downward through the space reserved in the middle of the C-shaped frame 9 and is located between the two permanent magnets 6. There is absolutely no motion interference during the entire process of material handling, rotation, and conveying.

[0033] After the telescopic cylinder 3 extends and delivers the corner plate to the designated feeding position, the unloading cylinder 4 immediately actuates to complete the unloading. The two cylinders act sequentially, exhibiting strong coordination. Since the unloading block 7 directly corresponds to the suction position of the permanent magnet 6, the overall work cycle and production efficiency are improved. The permanent magnet 6 is a neodymium iron boron permanent magnet, whose magnetic force is sufficient to attract the corner plate and achieve reliable separation through the mechanical action of the unloading block 7.

[0034] The piston rod of the telescopic cylinder 3 is equipped with a position sensor to detect the extension and retraction position of the cylinder.

[0035] The unloading cylinder 4 is a short-stroke cylinder, and the stroke length of the short-stroke cylinder is matched with the unloading displacement of the unloading block 7.

[0036] This utility model discloses a robotic arm device with unloading function. Its working principle is based on the coordinated sequential action of a servo motor, a rotary cylinder, a telescopic cylinder, and an unloading cylinder, which together complete the entire process of picking up, conveying, flipping, feeding, and unloading material from the corner plate. The specific working steps are as follows: 1. Material preparation and positioning: The control panel starts the servo motor 1. The servo motor 1 drives the screw to rotate, which drives the threaded slide plate to move precisely along the slide rail, thereby moving the entire actuator mounted on the slide plate, including the rotary cylinder 2, the material picking component and the unloading component, to the top of the material picking station.

[0037] 2. Descending and Picking Up the Angle Plate: Upon reaching the picking position, the control panel controls the piston rod of the telescopic cylinder 3 in the picking assembly to extend downwards, pushing the C-shaped frame 9, spring rod 5, and permanent magnet 6 at its end to descend as a whole. The double permanent magnets 6 installed at the bottom of the spring rod 5 contact and firmly attract the angle plate 8. The spring rod 5 provides cushioning and adaptive clamping during this process to ensure reliable picking.

[0038] 3. Lifting and Rotation: The piston rod of the telescopic cylinder 3 retracts, lifting the material-collecting assembly that has picked up the corner plate 8 to a safe height. Subsequently, the control panel controls the rotary cylinder 2 to rotate its output end 180°, causing the entire material-collecting assembly and the corner plate 8 to rotate together, realizing the change of the corner plate's posture.

[0039] 4. Conveying to the feeding position: After the rotation is completed, the servo motor 1 starts again, driving the slide plate and the entire actuator to move horizontally, accurately conveying the corner plate 8 to the top of the target feeding position.

[0040] 5. Extension and alignment: The piston rod of the telescopic cylinder 3 extends downward again, transporting the angle plate 8 to the predetermined feeding position.

[0041] 6. Active Unloading: When the corner plate 8 is delivered to the feeding position, the piston rod of the unloading cylinder 4 extends downward, pushing the unloading block 7 downward. The unloading block 7 passes through the space of the C-shaped frame 9 and presses against the surface of the corner plate 8, applying a force opposite to the attraction force of the permanent magnet 6, forcibly separating the corner plate 8 from the permanent magnet 6, and ensuring that it is pressed into the feeding position, thereby completing the complete unloading and fundamentally solving the problem of material carrying.

[0042] 7. Reset and Cycle: After the unloading action is completed, the unloading cylinder 4 retracts first, followed by the piston rod of the telescopic cylinder 3. Next, the rotary cylinder 2 rotates 180° in the opposite direction to restore the material handling assembly to its initial position. Finally, the servo motor 1 drives the entire robotic arm to return to the top of the material handling station, ready to begin the next work cycle.

[0043] This invention achieves fully automated operation from material picking to unloading through precise coordination and sequential control of electric and pneumatic components. It utilizes permanent magnets and an independent mechanical unloading mechanism to achieve forced unloading, ensuring high efficiency and reliability of the operation.

[0044] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A robotic arm device with unloading function, characterized in that, The system includes a frame and a servo motor (1), a rotary cylinder (2), a material handling assembly, and a material unloading assembly mounted on the frame. The servo motor (1) is mounted at one end of the frame. A screw is rotatably mounted on the frame via a bearing seat, and one end of the screw is connected to the servo motor (1) via a transmission connection. A sliding plate is also slidably mounted on the frame, and the sliding plate is in sliding cooperation with a slide rail mounted on the frame. A connecting part that is threadedly engaged with the screw is also provided on the sliding plate. The rotary cylinder (2) is mounted on one side of the sliding plate. The rotation output end of the rotary cylinder (2) is connected to the material handling assembly, driving the material handling assembly to rotate. The material unloading assembly is mounted on the material handling assembly via a connecting plate. The servo motor (1), the rotary cylinder (2), the material handling assembly, and the material unloading assembly are all connected to the control panel.

2. The robotic arm device with unloading function according to claim 1, characterized in that, The material handling assembly includes a telescopic cylinder (3), a spring rod (5), a C-shaped frame (9), and a permanent magnet (6). The telescopic cylinder (3) is arranged vertically, and the base of the telescopic cylinder (3) is fixedly installed at the rotating output end of the rotary cylinder (2). A C-shaped frame (9) is installed on the piston rod of the telescopic cylinder (3). The middle part of the C-shaped frame (9) forms a space for installing the unloading assembly. A spring rod (5) is installed on each side of the opening of the C-shaped frame (9). A permanent magnet (6) is installed at the bottom end of each spring rod (5). The two permanent magnets (6) work together to attract the diagonal plate (8).

3. A robotic arm device with unloading function according to claim 2, characterized in that, The unloading assembly includes an unloading cylinder (4) and an unloading block (7). The unloading cylinder (4) is arranged in a vertical direction. The cylinder body of the unloading cylinder (4) is fixedly installed on the cylinder body of the telescopic cylinder (3) through a connecting plate. The unloading cylinder (4) extends downward through the space of the C-shaped frame (9) and the unloading block (7) is installed thereon. The unloading block (7) is set at the suction position corresponding to the permanent magnet (6) and realizes the unloading action under the drive of the unloading cylinder (4).

4. A robotic arm device with unloading function according to claim 3, characterized in that, The rotary cylinder (2) is a 180° rotary cylinder, which drives the telescopic cylinder (3) to change angles.

5. A robotic arm device with unloading function according to claim 4, characterized in that, The permanent magnet (6) is detachably mounted on the spring rod (5).

6. A robotic arm device with unloading function according to claim 5, characterized in that, The working surface of the unloading block (7) is a plane or a contour surface that matches the shape of the corner plate.

7. A robotic arm device with unloading function according to claim 5 or 6, characterized in that, The permanent magnet (6) is a neodymium iron boron permanent magnet. The magnetic force of the neodymium iron boron permanent magnet is sufficient to attract the corner plate and can be reliably separated by the mechanical action of the unloading block (7).

8. A robotic arm device with unloading function according to claim 2, characterized in that, The piston rod of the telescopic cylinder (3) is equipped with a position sensor for detecting the telescopic position of the cylinder.

9. A robotic arm device with unloading function according to claim 3, characterized in that, The unloading cylinder (4) is a short-stroke cylinder, and the stroke length of the short-stroke cylinder is matched with the unloading displacement of the unloading block (7).

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