A flipping robotic arm with flexible gripping capabilities

Abstract

This utility model relates to the field of mechanical transfer equipment technology and discloses a flipping manipulator with flexible gripping capability. It includes a support base plate, which is right-angled. A rotary cylinder is mounted on one side of the support base plate, providing the conditions for flipping the support base plate. The rotary cylinder supports the support base plate to flip 90 degrees. Mounting plates are mounted on both ends of the support base plate. A fixed base is movably mounted on the outer side of the mounting plate plate, and one side of the fixed base plate has a ring-shaped array of limiting shafts. When the saw blade is electromagnetically attracted by an electromagnetic ring on one side, the electromagnetic ring on the other side grips the saw blade in the initially placed area. As the rotary cylinder rotates, it simultaneously grips the saw blades in both areas. This transforms the storage of the saw blades before and after polishing into a vertical hanging arrangement, reducing damage caused by stacking, while not affecting the horizontal working method of polishing.

Description

Technical Field

[0001] This utility model relates to the field of mechanical transfer equipment technology, specifically a flipping robotic arm with flexible gripping capabilities. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. It can replace heavy human labor to achieve mechanization and automation of production, and can operate in hazardous environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, and nuclear energy sectors.

[0003] Most existing robotic arms automatically grasp materials in a single horizontal plane. Single horizontal plane robotic arms cannot flip workpieces for processing, and the saw blades are already sharpened during polishing. Horizontally stacking workpieces in a horizontal plane will cause the blade edge to break. At the same time, if there is a deviation when the device electromagnetically attracts the saw blade, it may fall during the grasping or transfer process, which poses a production hazard. Utility Model Content

[0004] This utility model provides a flipping robot with flexible gripping, which effectively solves the flipping problem caused by processing both the front and back sides of the workpiece. It also addresses the issues mentioned in the background art, where existing robots mostly use a single horizontal dimension to automatically grip materials. Single horizontal dimension robots cannot flip workpieces for processing, and the saw blades are already sharpened during polishing. Horizontally stacking workpieces in a horizontal dimension can cause the blade edge to break. In addition, if there is a deviation when the device electromagnetically attracts the saw blade, it may fall during the gripping or transfer process, posing a production hazard.

[0005] This utility model provides the following technical solution: a flipping manipulator with flexible gripping capability, including a support base plate, the support base plate being right-angled, and a rotary cylinder being installed on one side of the support base plate;

[0006] The rotary cylinder is used to provide the conditions for flipping the support substrate, and the rotary cylinder supports the support substrate to be flipped ninety degrees.

[0007] Mounting bases are installed at both ends of the supporting base plate, and a fixed base is fixedly and movably installed on the outer side of the mounting base plate.

[0008] One side of the fixed base has a ring array of limiting shafts, and a spring is installed on the outside of the limiting shaft. One end of the limiting shaft extends into the interior of the mounting base. The limiting shaft and the spring are used to provide an elastic cushioning effect for the fixed base.

[0009] As an optional embodiment of the flexible gripping flipping manipulator described in this utility model, an electromagnetic ring is fixedly installed on the outer side of the fixed base, and a proximity switch is installed on the outer side of the fixed base.

[0010] As an optional solution for the flexible gripping flipping robot described in this utility model, a saw blade is attached to one end of each of the two electromagnetic rings.

[0011] As an optional solution of the flexible gripping flipping robot described in this utility model, wherein: one end of the limiting shaft is movably mounted with a movable support sleeve located inside the mounting base, and a vision sensor located inside the fixed base is mounted at the axis of the electromagnetic ring.

[0012] As an optional solution of the flexible gripping flipping robot described in this utility model, the movable support sleeve is used to slide and connect one end of the limiting shaft, and two annular grooves are symmetrically installed on the outer side of the movable support sleeve, and a fixing ring is installed inside the annular groove.

[0013] As an optional solution of the flexible gripping flipping manipulator described in this utility model, a fine-tuning component is installed on the outer side of the fixed base. The fine-tuning component includes an outer shell, an inner sleeve, and a roller. Three outer shells are arranged in a ring on the outer side of the fixed base. An inner sleeve is rotatably installed inside the outer shell. A roller is rotatably installed inside the inner sleeve. A first toothed ring is provided on the outer side of the roller.

[0014] As an optional solution of the flexible gripping flipping manipulator described in this utility model, wherein: a first motor is installed inside the inner sleeve, a second motor is installed inside the outer shell, a second toothed ring is provided at one end of the inner sleeve, a first toothed ring is provided on one side of the roller, and a telescopic cylinder is installed at one end of the outer shell.

[0015] Both the first motor and the second motor have gears installed at one end. The gear at one end of the first motor is used to mesh with the tooth groove of the first gear ring and to provide power output to the roller.

[0016] The gear at one end of the second motor is used to mesh with the tooth groove of the second gear ring, and the second motor is used to provide rotational power for the outer casing.

[0017] This utility model has the following beneficial effects:

[0018] 1. This flexible gripping flipping robot arm, when one side of the electromagnetic ring electromagnetically attracts the saw blade, the other side of the electromagnetic ring will grab the saw blade in the initial placement area. As the rotary cylinder rotates, it will simultaneously grab the saw blades in both areas. In this way, the storage of the saw blades before and after polishing is transformed into a vertical hanging plate, reducing damage caused by stacking, while not affecting the horizontal working mode of polishing.

[0019] 2. This flexible gripping flipping robot can flip some round workpieces in mid-air. The device has a fast overall response speed, rapid action, and strong environmental adaptability. It can work stably in harsh environments such as high temperature, high humidity, and high pollution. The spring added to the upper end of the electromagnetic ring can ensure that excessive pressure is applied to the workpiece during the picking process. We have equipped a proximity switch at the upper end to reduce the pressure on the workpiece at any time.

[0020] 3. This flexible gripping flipping robot arm, when the saw blade axis and the electromagnetic ring are on the same axis, will fine-tune its position through a fine-tuning component if any deviation occurs. When the saw blade and the electromagnetic ring are on the same axis, the telescopic cylinder retracts, causing the fine-tuning component to drop as a whole, ensuring complete contact between the outer surface of the electromagnetic ring and the outer surface of the saw blade. Through the action of the fine-tuning component, the device can maintain a uniform placement, ensuring stable gripping during production and minimizing impact on the product during packaging. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0022] Figure 2 This is a schematic diagram of the overall side structure of this utility model.

[0023] Figure 3 This is a schematic diagram of the fixed base structure of this utility model.

[0024] Figure 4 This is a schematic diagram of the internal structure of the fine-tuning component of this utility model.

[0025] Figure 5 This utility model Figure 4 A schematic diagram of the structure at point A.

[0026] In the diagram: 1. Supporting base plate; 2. Mounting base plate; 3. Fixed base; 4. Electromagnetic ring; 5. Limiting shaft; 6. Spring; 7. Proximity switch; 8. Rotary cylinder; 9. Saw blade; 11. Outer shell; 12. Inner sleeve; 13. Roller; 14. First toothed ring; 15. First motor; 16. Second motor; 17. Second toothed ring; 18. Telescopic cylinder; 19. Vision sensor; 20. Fine-tuning component; 21. Movable support sleeve; 22. Fixed ring. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] Example 1

[0029] Please see Figures 1-5 One type of flipping manipulator with flexible gripping capability includes a support base plate 1, which is right-angled, and a rotary cylinder 8 is installed on one side of the support base plate 1.

[0030] The rotary cylinder 8 is used to provide the conditions for flipping the support substrate 1, and the rotary cylinder 8 supports the support substrate 1 to be flipped ninety degrees.

[0031] Mounting base 2 is installed at both ends of the supporting base plate 1, and a fixed base 3 is fixedly and movably installed on the outer side of the mounting base plate 2.

[0032] One side of the fixed base 3 has a ring array of limiting shafts 5. A spring 6 is installed on the outside of the limiting shaft 5. One end of the limiting shaft 5 extends into the interior of the mounting base 2. The limiting shaft 5 and the spring 6 are used to provide the fixed base 3 with an elastic buffering effect.

[0033] An electromagnetic ring 4 is fixedly installed on the outside of the fixed base 3, and a proximity switch 7 is installed on the outside of the fixed base 3.

[0034] A saw blade 9 is attached to one end of each of the two electromagnetic rings 4;

[0035] One end of the limiting shaft 5 is movably mounted with a movable support sleeve 21 located inside the mounting base 2, and a vision sensor 19 located inside the fixed base 3 is mounted at the axis of the electromagnetic ring 4.

[0036] The movable support sleeve 21 is used to slide one end of the limiting shaft 5. Two annular grooves are symmetrically installed on the outer side of the movable support sleeve 21, and a fixing ring 22 is installed inside the annular groove.

[0037] according to Figure 1 As shown in the internal structure, the left side of the device is the gripping area, the bottom of the device is the initial placement area, and the right side of the device is the finished product area, where the saw blade 9 is placed vertically.

[0038] In use, the rotary cylinder 8 provides rotational power, driving the mounting base 2 to rotate. The mounting base 2 then drives the fixed base 3 and the electromagnetic ring 4 to flip. First, the electromagnetic ring 4 on one side electromagnetically attracts the saw blade 9. After attracting the saw blade 9, the rotary cylinder 8 rotates 90 degrees, and the electromagnetic ring 4 on one side is located directly below the device, which is the placement area. After placement, the rotary cylinder 8 resets to its initial position. In the initial position, when the electromagnetic ring 4 on one side electromagnetically attracts the saw blade 9, the electromagnetic ring 4 on the other side will grab the saw blade 9 in the initial placement area. As the rotary cylinder 8 rotates, it simultaneously grabs the saw blade 9 in both areas. In this way, the storage of the saw blade 9 before and after polishing is transformed into a vertical hanging plate, reducing damage caused by stacking, while not affecting the horizontal working mode of polishing.

[0039] Example 2

[0040] This embodiment is an improvement upon embodiment 1. For details, please refer to [link / reference]. Figures 1-5 A fine-tuning component 20 is installed on the outside of the fixed base 3. The fine-tuning component 20 includes an outer shell 11, an inner sleeve 12 and a roller 13. Three outer shells 11 are arranged in a ring on the outside of the fixed base 3. An inner sleeve 12 is rotatably installed inside the outer shell 11. A roller 13 is rotatably installed inside the inner sleeve 12. A first toothed ring 14 is provided on the outside of the roller 13.

[0041] The inner sleeve 12 is equipped with a first motor 15, the outer shell 11 is equipped with a second motor 16, one end of the inner sleeve 12 is provided with a second toothed ring 17, one side of the roller 13 is provided with a first toothed ring 14, and one end of the outer shell 11 is equipped with a telescopic cylinder 18.

[0042] Gears are installed at one end of both the first motor 15 and the second motor 16. The gear at one end of the first motor 15 is used to mesh with the tooth groove of the first gear ring 14 and to provide power output to the roller 13.

[0043] The gear at one end of the second motor 16 is used to mesh with the tooth groove of the second gear ring 17, and the second motor 16 is used to provide rotational power for the outer casing 11.

[0044] When the electromagnetic ring 4 grips, it first contacts the end faces of the three rollers 13, making the surface of the saw blade 9 five millimeters away from the end face of the electromagnetic ring 4. The three rollers 13 move synchronously with the inner sleeve 12. The second motor 16 drives the inner sleeve 12 to rotate, changing the running direction of the rollers 13. Then, the first motor 15 drives the rollers 13, which in turn drive the saw blade 9 to move in a direction parallel to the electromagnetic ring 4. The vision sensor 19 can locate and monitor the circular hole at the center of the saw blade 9. The axis of the saw blade 9 and the axis of the electromagnetic ring 4 are on the same axis. If a deviation occurs, the position will be finely adjusted by the fine-tuning component 20. When the saw blade 9 and the electromagnetic ring 4 are on the same axis, the telescopic cylinder 18 retracts, causing the fine-tuning component 20 to fall as a whole, so that the outer surface of the electromagnetic ring 4 is in complete contact with the outer surface of the saw blade 9. Through the action of the fine-tuning component 20, the device can be placed in a uniform manner, making the device stable during production gripping and reducing the impact on the product during packaging.

[0045] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0046] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A turnover manipulator with flexible gripping, comprising a support base plate (1), characterized in that: The support base plate (1) is right-angled, and a rotary cylinder (8) is installed on one side of the support base plate (1). The rotary cylinder (8) is used to provide the flipping conditions for the support substrate (1), and the rotary cylinder (8) supports the support substrate (1) to be flipped ninety degrees. Mounting bases (2) are installed at both ends of the supporting base plate (1), and a fixed base (3) is fixedly and movably installed on the outer side of the mounting base plate (2). The fixed base (3) has a ring array of limiting shafts (5) on one side. A spring (6) is installed on the outside of the limiting shaft (5). One end of the limiting shaft (5) extends into the interior of the mounting base (2). The limiting shaft (5) and the spring (6) are used to provide the elastic buffering effect of the fixed base (3).

2. The turnover robot with flexible gripping according to claim 1, characterized in that: An electromagnetic ring (4) is fixedly installed on the outside of the fixed base (3), and a proximity switch (7) is installed on the outside of the fixed base (3).

3. The flipping robotic arm with flexible gripping capability according to claim 2, characterized in that: A saw blade (9) is attached to one end of each of the two electromagnetic rings (4).

4. The flipping robotic arm with flexible gripping capability according to claim 3, characterized in that: One end of the limiting shaft (5) is movably mounted with a movable support sleeve (21) located inside the mounting base (2), and a vision sensor (19) located inside the fixed base (3) is mounted at the center of the electromagnetic ring (4).

5. The flipping robotic arm with flexible gripping capability according to claim 4, characterized in that: The movable support sleeve (21) is used to slide one end of the limiting shaft (5). Two annular grooves are symmetrically installed on the outer side of the movable support sleeve (21), and a fixing ring (22) is installed inside the annular groove.

6. The flipping robotic arm with flexible gripping capability according to claim 5, characterized in that: A fine-tuning component (20) is installed on the outside of the fixed base (3). The fine-tuning component (20) includes an outer shell (11), an inner sleeve (12), and a roller (13). Three outer shells (11) are arranged in a ring on the outside of the fixed base (3). An inner sleeve (12) is rotatably installed inside the outer shell (11). A roller (13) is rotatably installed inside the inner sleeve (12). A first toothed ring (14) is provided on the outside of the roller (13).

7. The flipping robotic arm with flexible gripping capability according to claim 6, characterized in that: The inner sleeve (12) is equipped with a first motor (15), the outer shell (11) is equipped with a second motor (16), one end of the inner sleeve (12) is provided with a second toothed ring (17), one side of the roller (13) is provided with a first toothed ring (14), and one end of the outer shell (11) is equipped with a telescopic cylinder (18). The first motor (15) and the second motor (16) are each equipped with a gear at one end. The gear at one end of the first motor (15) is used to mesh with the tooth groove of the first gear ring (14) and to provide power output to the roller (13). The gear at one end of the second motor (16) is used to mesh with the tooth groove of the second gear ring (17), and the second motor (16) is used to provide rotational power to the outer casing (11).

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