A mechanical arm for grabbing multiple baskets for cleaning at one time

Abstract

The utility model provides a kind of structure is relatively compact, can snatch a plurality of basket cleaning basket once, snatch a plurality of basket cleaning basket's mechanical arm once.The utility model includes lifting mechanism, is loaded plate being arranged in the output end of lifting mechanism and is set on the product clamping mechanism of the loaded plate, the product clamping mechanism includes the transverse drive air cylinder being arranged on the loaded plate, the push rod assembly being arranged in the output end of the transverse drive air cylinder, the pair of pivot being arranged below the push rod assembly, the one end of each pivot is provided with clamping arm and the other end of each pivot is provided with gyro wheel and is stirred board, the push rod assembly is moved along transverse by the transverse drive air cylinder, and the front end of the push rod assembly abuts and rolls and pushes each gyro wheel and is stirred board, so that gyro wheel and is stirred board drive pivot and the clamping arm of one end thereof synchronous rotation and open.The utility model relates to industrial automation conveying and clamping technical field.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation conveying and gripping technology, and in particular to a robotic arm that can grip multiple cleaning baskets at once. Background Technology

[0002] In wet process cleaning equipment, cleaning baskets are usually used to carry workpieces to complete multiple processes such as loading, unloading, cleaning, rinsing, and drying. Existing equipment mostly uses robotic arms to move cleaning baskets between different workstations. The robotic arm clamps a single cleaning basket through a clamping arm structure and completes actions such as lifting, moving and traversing. It is one of the key links in the overall machine cycle time and capacity.

[0003] In existing wet cleaning equipment, the gripping mechanism of most robotic arms can only grip one basket of cleaning at a time. Although a few solutions place multiple sub-baskets inside the mother basket, they are still transported as a whole, making it impossible to independently pick up and place multiple baskets of cleaning within the same cycle. To increase production capacity, the common practice is to increase the operating speed of a single robotic arm or increase the number of robotic arms. This leads to problems such as increased mechanism acceleration, increased impact vibration, increased equipment footprint, and increased costs. It is difficult to achieve both in situations where equipment space is limited or process cycle requirements are high. At the same time, existing robotic arms are mostly designed to grip a fixed number of cleaning baskets in a fixed position, and the gripping position and quantity are not flexible enough. When it is necessary to accommodate different numbers of baskets or different cycle times on the same equipment, it is often necessary to replace or significantly modify the gripping mechanism, affecting the equipment's versatility and efficiency.

[0004] Therefore, it is necessary to provide a robotic arm solution with a relatively compact structure that can grab multiple cleaning baskets at once and whose gripping position and number can be easily adjusted according to process requirements, so as to effectively improve the overall capacity of wet process cleaning equipment without significantly increasing the size and complexity of the equipment. Utility Model Content

[0005] To address the shortcomings of the existing technology, this utility model provides a robotic arm that can grab multiple cleaning baskets at once. It aims to solve the problems of existing robotic arm gripping mechanisms, such as being able to grip only one cleaning basket at a time, difficulty in timely identification of the presence and status of cleaning baskets at different locations, inconvenience in arranging multiple gripping mechanisms on the same bearing end, and the overall structure being scattered, occupying a large space, and making it difficult to improve the processing capacity of wet cleaning equipment in a limited space.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a robotic arm for grabbing multiple washing baskets at once, comprising a lifting mechanism, a support plate disposed at the output end of the lifting mechanism, and a product gripping mechanism disposed on the support plate. The product gripping mechanism includes a transverse drive cylinder disposed on the support plate, a push rod assembly disposed at the output end of the transverse drive cylinder, a pair of rotating shafts disposed below the push rod assembly, a clamping arm disposed at one end of each rotating shaft, and a roller actuating plate disposed at the other end of each rotating shaft. The transverse drive cylinder drives the push rod assembly to move laterally, and the front end of the push rod assembly abuts against and rolls against each of the roller actuating plates, causing the roller actuating plates to drive the rotating shafts and the clamping arms at one end to rotate synchronously and open. When the transverse drive cylinder returns, the rotating shafts rotate in the opposite direction under the action of the reset structure, causing the clamping arms to close and clamp the washing baskets.

[0007] Based on the above structural design, the push rod assembly is driven to move laterally by a lateral drive cylinder. The linear thrust of the cylinder is converted into the synchronous swing of a pair of rotating shafts and their clamping arms through the rolling contact between the front end of the push rod and the roller actuating plate. This achieves the stable opening and closing of the clamping arms. The layout of clamping arms at one end of each rotating shaft and roller actuating plates at the other end allows the product clamping mechanism to be arranged in groups along the length of the same carrier plate, which is convenient for grabbing multiple cleaning baskets at once. This improves the single-pass handling capacity and production cycle of the wet cleaning equipment. At the same time, the rolling and pushing action reduces the friction and impact between the push rod and the actuating component. Combined with the synchronous rotating shaft and the reset structure, the opening and closing action of the clamping arms is smooth and reliable. The overall structure is compact and suitable for integration and packaging in a limited space.

[0008] Furthermore, the push rod assembly includes two push rods arranged parallel to each other in the transverse direction, a connecting block connecting the two push rods, and several linear bearings sleeved on the outer wall of each push rod. The front end of each push rod has a stepped structure, and the outer wall of the stepped section abuts against the outer circle of the roller on the corresponding roller actuation plate.

[0009] Based on the above, the push rod assembly is formed by two push rods arranged in parallel laterally connected by a connecting block. A linear bearing sleeved on the outer wall of the push rod forms a sliding fit with the bearing plate, allowing the push rod assembly to make a smooth linear reciprocating motion under the drive of the lateral drive cylinder. At the same time, the front end of each push rod is machined into a stepped section structure that abuts against the outer circle of the roller, so that a reliable rolling contact is formed between the front end of the push rod and the roller actuation plate. This helps to reduce contact friction and impact, and improve the stability and service life of the cleaning basket clamping action.

[0010] Furthermore, the reset structure is a reset spring spanning between the two roller actuation plates.

[0011] Based on the above, by setting a reset spring between the two roller actuation plates, the roller actuation plates on both sides are subjected to the same pulling force when the lateral drive cylinder returns, and automatically return to the initial position, thereby driving the corresponding rotating shaft and clamping arm to reset synchronously. This not only ensures the consistency and stability of the clamping arm closing action, but also avoids the clamping arm from shaking when there is no drive, which helps to improve the reliability of the multi-basket cleaning basket clamping process.

[0012] Furthermore, at least two sets of product clamping mechanisms are provided at intervals along the length direction on the support plate.

[0013] Based on the above, by arranging multiple sets of product gripping mechanisms at intervals along the length of the same bearing plate, the robotic arm can grip and transport multiple rows of cleaning baskets in one lifting and horizontal movement stroke, thereby increasing the number of processing actions per transport and the overall production cycle without significantly increasing the space occupied by the equipment.

[0014] Furthermore, the product clamping mechanism also includes a mounting box fixed on the support plate, and the transverse drive cylinder, the push rod assembly, the roller actuating plate, the end of the rotating shaft near the roller actuating plate, and the return spring are all located inside the mounting box.

[0015] Based on the above, by arranging the transmission and reset components such as the transverse drive cylinder, push rod assembly, roller actuation plate, one end of the rotating shaft, and reset spring as a whole in the mounting box, the product clamping mechanism is made into a compact integrated component, which is convenient for group installation and overall replacement on the carrier plate. On the other hand, it plays a role in shielding and protecting the internal moving parts, reducing the impact of dust, liquids, etc. on the mechanism, which is conducive to improving the applicability and stability of the robotic arm in wet cleaning environment.

[0016] Furthermore, the clamping arm is provided with a basket detection mechanism, which includes a detection mounting block fixed on the clamping arm and a detection rod extending downward from the detection mounting block, the detection rod being arranged in a vertical direction.

[0017] Based on the above, by directly mounting the basket detection mechanism on the clamping arm and arranging the detection rod vertically, when the clamping arm is in position holding or approaching the cleaning basket, the detection rod can occupy a predetermined spatial position and cooperate with external detection elements. Thus, while the robotic arm completes a clamping action, it can identify whether a cleaning basket exists at the corresponding position, which helps to improve the monitoring accuracy of the cleaning basket picking and placing process and reduce the occurrence of missed or incorrect clamping.

[0018] Furthermore, the lifting mechanism includes a housing and a pair of vertically extending guide rails disposed in the housing, a drive motor, a lead screw located on one side of the drive motor and arranged vertically, and a slide block sleeved on the outer wall of the lead screw and slidably engaged with the guide rails. The drive motor and the lead screw are connected by a belt drive. The lead screw passes through the top of the housing and is fixedly connected to the support plate.

[0019] Based on the above, the vertically arranged lead screw is driven by a drive motor via a belt to rotate. With the sliding engagement between the slide block sleeved on the lead screw and the guide rail, the bearing plate can be smoothly raised and lowered in the vertical direction. On the one hand, the lifting transmission and guiding structure are concentrated inside the box, making the overall structure compact and occupying little space. On the other hand, it improves the support rigidity and movement stability of the bearing plate during the lifting process, which is conducive to ensuring the consistency of posture of multiple washing baskets during the handling process.

[0020] To more clearly illustrate the above-mentioned features of this utility model and the objectives it aims to achieve, the present utility model will be further described below in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the product gripping mechanism. Detailed Implementation

[0022] like Figures 1-2 As shown, this utility model is a robotic arm for grabbing multiple washing baskets at once, including a lifting mechanism 1, a support plate 3 disposed at the output end of the lifting mechanism 1, and a product gripping mechanism 2 disposed on the support plate 3. The product gripping mechanism 2 includes a transverse drive cylinder 21 disposed on the support plate 3, a push rod assembly 22 disposed at the output end of the transverse drive cylinder 21, a pair of rotating shafts 23 disposed below the push rod assembly 22, a clamping arm 24 disposed at one end of each rotating shaft 23, and a roller actuating plate 25 disposed at the other end of each rotating shaft 23. The transverse drive cylinder 21 drives the push rod assembly 22 to move laterally. The front end of the push rod assembly 22 abuts against and rolls and pushes each of the roller actuating plates 25, so that the roller actuating plates 25 drive the rotating shafts 23 and the clamping arms 24 at one end to rotate synchronously and open. When the transverse drive cylinder 21 returns, the rotating shafts 23 rotate in the opposite direction under the action of the reset structure, so that the clamping arms 24 close and clamp the washing basket.

[0023] The push rod assembly 22 includes two push rods 221 arranged in parallel along the transverse direction, a connecting block 222 connecting the two push rods 221, and a plurality of linear bearings 223 sleeved on the outer wall of each push rod 221. The front end of each push rod 221 has a stepped structure, and the outer wall of the stepped section abuts against the outer circle of the roller on the corresponding roller actuation plate 25.

[0024] The reset structure is a reset spring 26 straddling the two roller actuation plates 25.

[0025] At least two sets of product clamping mechanisms 2 are provided at intervals along the length direction on the bearing plate 3.

[0026] The product clamping mechanism 2 also includes a mounting box 27 fixed on the support plate 3. The transverse drive cylinder 21, the push rod assembly 22, the roller actuating plate 25, the end of the rotating shaft 23 near the roller actuating plate 25, and the return spring 26 are all located inside the mounting box 27.

[0027] The clamping arm 24 is provided with a basket detection mechanism 28, which includes a detection mounting block fixed on the clamping arm 24 and a detection rod extending downward from the detection mounting block. The detection rod is arranged in a vertical direction.

[0028] The lifting mechanism 1 includes a housing 11, a pair of vertically extending guide rails 12 disposed inside the housing 11, a drive motor 13, a lead screw 14 located on one side of the drive motor 13 and arranged vertically, and a slide block 15 sleeved on the outer wall of the lead screw 14 and slidingly engaged with the guide rails 12. The drive motor 13 and the lead screw 14 are connected by belt drive. The lead screw 14 passes through the top of the housing 11 and is fixedly connected to the support plate 3.

[0029] In summary, the specific embodiments of this utility model are as follows: First, the lifting mechanism 1 drives the bearing plate 3 to a predetermined standby height. The product clamping mechanisms 2 on the bearing plate 3 are positioned above the corresponding process positions. At this time, the transverse drive cylinder 21 is at the return end. The push rod assembly 22 is close to the side of the transverse drive cylinder 21 under the guidance of the linear bearing 223. The two roller actuation plates 25 maintain their initial angle under the action of the return spring 26, and the corresponding pair of clamping arms 24 are in the closed state.

[0030] When multiple washing baskets need to be gripped, the lateral drive cylinder 21 extends first, driving the push rod assembly 22 to move forward laterally. The stepped section at the front end of the push rod assembly 22 successively abuts against the outer circle of the rollers on each roller actuation plate 25 and rolls. The roller actuation plate 25 rotates with the linear movement of the push rod assembly 22, driving the rotating shaft 23 fixed to it to rotate synchronously, thereby causing the clamping arm 24 at one end of each rotating shaft 23 to swing outward and open, forming a gripping opening for accommodating the washing basket. Subsequently, the lifting mechanism 1 drives the support plate 3 and the product gripping mechanism 2 on it to descend as a whole, so that each clamping arm 24 is located on the outside or side hanging point of the corresponding washing basket.

[0031] After the clamping arms 24 are open and positioned relative to the washing baskets, the lateral drive cylinder 21 returns to its original position. The push rod assembly 22 moves in the opposite direction and retracts its pushing action on the roller actuating plate 25. Under the tension of the return spring 26, the roller actuating plate 25 rotates in the opposite direction, driving each rotating shaft 23 to swing one end of the clamping arm 24 inward and close, thereby simultaneously clamping multiple washing baskets and completing one clamping action for multiple washing baskets. At this time, the basket detection mechanism 28 set on the clamping arms 24 moves together with the position of the clamping arms, and can be used in conjunction with external detection elements to confirm whether a washing basket is present at each clamping arm position.

[0032] After clamping is complete, the lifting mechanism 1 lifts the support plate 3 and the product clamping mechanism 2, along with the clamped multiple cleaning baskets, to a set height. With the cooperation of the overall machine control system, they move horizontally, transferring the cleaning baskets above the target process position. The lifting mechanism 1 then descends again, causing the cleaning baskets to fall into the corresponding process slot or workstation. Subsequently, the lateral drive cylinder 21 extends again, and the push rod assembly 22 drives the roller actuation plate 25 and the rotating shaft 23 to rotate, causing the clamping arm 24 to open outwards, thus releasing the cleaning baskets. After the robotic arm releases the cleaning baskets, the lifting mechanism 1 rises to the standby height, the lateral drive cylinder 21 returns, and the roller actuation plate 25, rotating shaft 23, and clamping arm 24 return to their initial closed state under the action of the return spring 26, preparing for the next multiple cleaning basket clamping cycle.

[0033] Through the above workflow, the lifting mechanism 1 realizes the overall lifting of the bearing plate 3 and the multiple product clamping mechanisms 2 on it. The horizontal drive cylinder 21, push rod assembly 22, roller actuation plate 25, rotating shaft 23 and reset structure work together to open and close each clamping arm 24, so that the robotic arm can complete the synchronous clamping and release of multiple cleaning baskets in one lifting and horizontal movement stroke.

[0034] The above description is only the optimal solution embodiment of this utility model and is not intended to limit this utility model. Various modifications or substitutions made by those skilled in the art to this utility model without departing from the essence and protection scope of this utility model should also be within the protection scope of this utility model.

Claims

1. A robotic arm capable of gripping multiple washing baskets at once, characterized in that: The product clamping mechanism (2) includes a lifting mechanism (1), a support plate (3) disposed at the output end of the lifting mechanism (1), and a product clamping mechanism (2) disposed on the support plate (3). The product clamping mechanism (2) includes a transverse drive cylinder (21) disposed on the support plate (3), a push rod assembly (22) disposed at the output end of the transverse drive cylinder (21), a pair of rotating shafts (23) disposed below the push rod assembly (22), and a clamping arm (24) disposed at one end of each rotating shaft (23). 3) The other end is provided with a roller actuating plate (25). The transverse drive cylinder (21) drives the push rod assembly (22) to move laterally. The front end of the push rod assembly (22) abuts against and rolls and pushes each of the roller actuating plates (25), so that the roller actuating plate (25) drives the rotating shaft (23) and the clamping arm (24) at one end to rotate synchronously and open. When the transverse drive cylinder (21) returns, the rotating shaft (23) rotates in the opposite direction under the action of the reset structure, so that the clamping arm (24) closes to achieve clamping of the cleaning basket.

2. The robotic arm for simultaneously grasping multiple washing baskets according to claim 1, characterized in that: The push rod assembly (22) includes two push rods (221) arranged in parallel along the transverse direction, a connecting block (222) connecting the two push rods (221), and a plurality of linear bearings (223) sleeved on the outer wall of each push rod (221). The front end of each push rod (221) has a stepped structure, and the outer wall of the stepped section abuts against the outer circle of the roller on the corresponding roller actuation plate (25).

3. The robotic arm for simultaneously grasping multiple washing baskets according to claim 1, characterized in that: The reset structure is a reset spring (26) spanning between the two roller actuation plates (25).

4. The robotic arm for simultaneously grasping multiple washing baskets according to claim 1, characterized in that: At least two sets of product clamping mechanisms (2) are provided at intervals along the length direction on the bearing plate (3).

5. The robotic arm for simultaneously grasping multiple washing baskets according to claim 3, characterized in that: The product clamping mechanism (2) also includes a mounting box (27) fixed on the support plate (3). The transverse drive cylinder (21), the push rod assembly (22), the roller actuating plate (25), the end of the rotating shaft (23) near the roller actuating plate (25) and the return spring (26) are all located in the mounting box (27).

6. The robotic arm for simultaneously grasping multiple washing baskets according to claim 1, characterized in that: The clamping arm (24) is provided with a basket detection mechanism (28), which includes a detection mounting block fixed on the clamping arm (24) and a detection rod extending downward from the detection mounting block. The detection rod is arranged in a vertical direction.

7. The robotic arm for simultaneously grasping multiple washing baskets according to claim 1, characterized in that: The lifting mechanism (1) includes a housing (11) and a pair of vertically extending guide rails (12) disposed in the housing (11), a drive motor (13), a lead screw (14) located on one side of the drive motor (13) and arranged vertically, and a slide block (15) sleeved on the outer wall of the lead screw (14) and slidingly engaged with the guide rails (12). The drive motor (13) and the lead screw (14) are connected by belt drive. The lead screw (14) passes through the top of the housing (11) and is fixedly connected to the bearing plate (3).

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