CN102583043A - Mechanical arm capable of taking and placing materials - Google Patents

Abstract

A pick-and-place mechanical arm, used to complete the automatic pick-and-place operation of workpieces, including: a transmission mechanism, used to transmit workpieces to be processed; a grabbing component, used to grab workpieces to be processed; a positioning device, connected with the grabbing The component connection is used for positioning the grabbing component so that the grabbing component reaches a preset position; the supporting truss is used for fixing the transmission mechanism and the positioning device. The above-mentioned loading and unloading mechanical arm realizes the automatic loading and unloading of workpieces to be processed through the transmission mechanism, grabbing components, positioning devices and supporting trusses, which reduces production accidents caused by human factors and improves production efficiency.

Description

Pick and place mechanical arm

【Technical field】

The invention relates to a mechanical arm, in particular to a pick-and-place mechanical arm.

【Background technique】

The advantages of my country's manufacturing industry mainly depend on cheap labor and raw materials. In recent years, the continuous appreciation of the renminbi and the rise in raw material prices have caused a sharp loss of the competitive advantage of China's manufacturing industry. Many manufacturing companies are facing the dual difficulties of rising labor costs and labor shortages, prompting more and more industrial robots to enter the production process of enterprises. However, general industrial robots are expensive, and they are used in specific processing. It is difficult for more non-standard equipment to be assisted by general industrial robots. Especially in some production links with repeated operations, because people are prone to burnout, it is easy to cause production accidents.

【Content of invention】

Based on this, it is necessary to provide a pick-and-place robotic arm for repeatedly picking and placing workpieces to be processed.

A pick-and-place robotic arm, used for pick-and-place operations of workpieces to be processed, including:

The transmission mechanism is used to transmit the workpiece to be processed;

The grabbing component is used to grab the workpiece to be processed;

A positioning device, connected to the grabbing component, is used to position the grabbing component so that the grabbing component reaches a preset position;

The supporting truss is used to fix the transmission mechanism and the positioning device.

Further, the transmission mechanism includes a conveyor belt and a transfer tray on the conveyor belt, and a positioning block for positioning the transfer tray within the grasping range of the grab assembly is arranged on the conveyor belt.

Further, the grabbing assembly includes grabbing claws and a driving device for driving the grabbing claws to complete the grabbing action.

Further, the grabbing component includes a first grabbing component and a second grabbing component, and the first grabbing component and the second grabbing component are connected to the positioning device.

Further, the positioning device includes a first direction positioning device, a second direction positioning device and a third direction positioning device, and the positioning directions of the first direction positioning device, the second direction positioning device and the third direction positioning device are in pairs perpendicular to each other.

Further, the positioning device in the first direction is a linear module, the linear module is slidably connected to the support truss, the linear module can slide in the second direction, and the positioning device in the second direction is a push-pull The above-mentioned linear module slides in the second direction of the horizontal pushing cylinder, and the third direction positioning device is a descending cylinder connected to the linear module.

The pick-and-place robotic arm realizes the pick-and-place of workpieces to be processed through the transmission mechanism, grabbing components, positioning devices and support trusses, which saves manual participation and reduces production accidents caused by human factors.

【Description of drawings】

Fig. 1 is a schematic structural view of the pick-and-place robotic arm provided in this embodiment;

Fig. 2 is a structural schematic diagram of the spatial positioning device in the pick-and-place mechanical arm of Fig. 1;

Fig. 3 is a structural schematic diagram of the transfer structure in the pick-and-place robotic arm of Fig. 1 .

【Detailed ways】

In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for purposes of illustration only and are not intended to represent the only embodiments.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Please refer to FIG. 1 , the pick-and-place robotic arm of this embodiment includes a transmission mechanism 100 , a grabbing assembly 200 , a positioning device 300 and a support truss 400 .

Referring to FIG. 2 , the conveying mechanism 100 includes a conveyor belt 101 and a transfer tray 102 on the conveyor belt. A positioning block 103 is provided on the conveyor belt 101 to position the transfer tray 102 within the grasping range of the grab assembly 200 . The transmission mechanism 100 comprises a conveyor belt 101, a reduction motor 110, a transmission pulley 105, a drive shaft 104, a drive shaft fixing rod 106, a driven shaft adjustment rod 107, a belt seat bearing 108 and a driven shaft 109, the motor shaft of the reduction motor 110 and the drive shaft. Shaft 104 links to each other, driving shaft 104 links to each other by key and transmission pulley 105, and driving shaft 104 is threadedly connected with driving shaft fixed rod 106 by two seated bearings 108, and driving shaft fixed rod 106 is fixedly connected with support truss, and driven shaft 109 also Two belt seat bearings 108 are threadedly connected with the driven shaft adjusting rod 107, and the driven shaft adjusting rod 107 is fixedly connected with the supporting truss, and the driving shaft 104 and the transmission pulley of the driven shaft are connected through the transmission belt 101. It can be understood that the transmission mechanism 100 is not limited to the above structure.

The grabbing assembly 200 is used for grabbing workpieces to be processed, including grabbing claws and driving devices for driving the grabbing claws to complete the grabbing action, such as air claws and solenoid valves. According to the different workpieces to be processed, different grabbing claws can be designed to adapt to the unused workpieces to be processed, and some even use suction cups to complete the grasping of the workpieces to be processed.

Referring to FIG. 3 , the positioning device 300 is connected with the grabbing component 200 and used for positioning the grabbing component 200 so that the grabbing component 200 reaches a preset position. The grab assembly 200 grabs the workpiece to be processed from the preset position of the transmission mechanism 100, and then sends the workpiece to be processed to the preset position of the processing machine tool. After the machine tool completes the processing of the workpiece to be processed, it grabs the workpiece from the machine tool The finished workpiece is put back on the transfer tray of the transfer mechanism 100, so far, a process of picking and placing is completed. Preferably, the grabbing component 200 includes a first grabbing component 201 and a second grabbing component 202 , and the first grabbing component 201 and the second grabbing component 202 are connected with the positioning device 300 .

The positioning device 300 includes a first direction positioning device, a second direction positioning device and a third direction positioning device, and the positioning directions of the first direction positioning device, the second direction positioning device and the third direction positioning device are perpendicular to each other. Preferably, the positioning device in the first direction is a linear module 310, the linear module 310 is slidably connected to the support truss 400, the linear module 310 can slide along the second direction, and the positioning device in the second direction is the linear module that can push and pull 310 is a horizontal pushing cylinder 320 that slides in the second direction, and the third direction positioning device is a descending cylinder 330 connected to the linear module 310 . Preferably, when the grabbing assembly 200 includes the first grabbing assembly 201 and the second grabbing assembly 202, there are two descending cylinders 330 connected to the linear module 310, the first grabbing assembly 201 and the second grabbing assembly 202 are respectively connected with a descending cylinder 330. It can be understood that the linear module can be realized by other devices for linear movement, such as belt mechanism, chain mechanism, rack and pinion transmission mechanism and other devices, and the horizontal pushing cylinder and descending cylinder can be realized by screw rods, hydraulic cylinders, electric cylinders, etc. Push-pull action device replacement.

The supporting truss 400 is used for fixing the transmission mechanism 100 and the positioning device 300 . In this embodiment, the supporting truss adopts a gantry structure and is formed by connecting industrial aluminum profiles of different lengths. It can be understood that the support truss 400 may adopt other structures, and the support truss 400 supports the positioning device 300 so that the positioning device 300 moves on the support truss 400 to position the grabbing assembly 200 .

The following describes the working process of the above-mentioned pick-and-place mechanical arm:

The workpieces to be processed are neatly placed in the transfer tray 102 of the transmission structure 100, the reduction motor 110 of the transmission mechanism 100 drives the driving shaft 104 to rotate, and the driving shaft 104 drives the rotation of the conveyor belt 101 through the key, thereby driving the driven end conveyor pulley 105 rotation. Since the positioning block 103 is fixed on the conveyor belt 101 , the positioning block positions the transfer tray 102 within the grabbing range of the grabbing assembly 200 . Therefore, the rotation of the deceleration motor finally drives the transfer tray 102 to move along the moving direction of the conveyor belt, and moves the workpieces to be processed in the transfer tray 102 to a preset position, waiting for the grasping assembly 200 to grab the workpieces to be processed. After the grabbing component 200 grabs the workpiece to be processed, the positioning device 300 moves the workpiece to a preset position of the processing machine tool, and the grabbing component 200 releases the workpiece to be processed and moves away from it for a certain distance. When the processing machine tool completes the processing of the workpiece to be processed, the grabbing assembly 200 completes the grabbing of the workpiece by the positioning device 300 and puts it back into the rotary tray 102 . So far, the pick-and-place robotic arm has completed a pick-and-place process.

In a preferred embodiment, when the grabbing assembly 200 includes the first grabbing assembly 201 and the second grabbing assembly 202, after the first grabbing assembly 201 grabs the workpiece to be processed, the positioning device 300 moves the workpiece to be processed. The preset position of the machine tool, the second grabbing assembly 202 grabs the workpiece that has been processed on the processing machine tool and leaves a certain distance, and the first grabbing assembly 201 places the workpiece to be processed on the processing position of the processing machine tool, such as the fixture of the processing machine tool . The grabbing assembly 200 puts the processed workpiece back into the turntable 102 through the positioning device 300 . At this time, the transfer tray 102 driven by the conveyor belt 101 of the transfer structure 100 moves the next transfer tray 102 on which the workpiece to be processed is placed to the bottom of the grabbing assembly for grabbing by the grabbing assembly. The first grabbing assembly 201 and the second grabbing assembly 202 each perform their duties. When the first grabbing assembly 201 and the second grabbing assembly 202 move to the processing machine tool, one grabs the workpiece that has been processed and leaves a certain distance , and the other puts the captured workpiece to the processing position of the processing machine tool, which improves the efficiency.

The pick-and-place robotic arm realizes the pick-and-place of workpieces to be processed through the transmission mechanism 100, the grasping assembly 200, the positioning device 300 and the support truss 400, which saves manual participation and reduces production accidents caused by human factors.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (6)

1. A pick-and-place mechanical arm for pick-and-place operations of workpieces to be processed, characterized in that it includes: The transmission mechanism is used to transmit the workpiece to be processed; The grabbing component is used to grab the workpiece to be processed; A positioning device, connected to the grabbing component, is used to position the grabbing component so that the grabbing component reaches a preset position; The supporting truss is used to fix the transmission mechanism and the positioning device. 2. The pick-and-place mechanical arm according to claim 1, characterized in that, the transfer mechanism includes a conveyor belt and a transfer tray positioned on the conveyor belt, and the transfer belt is provided with a Fetches the positioning block within the grasping range of the component. 3 . The pick-and-place robot arm according to claim 1 , wherein the grabbing assembly includes grabbing claws and a driving device for driving the grabbing claws to complete the grabbing action. 4 . 4. The pick-and-place robotic arm according to claim 1, wherein the grabbing assembly includes a first grabbing assembly and a second grabbing assembly, and the first grabbing assembly and the second grabbing assembly Connect with positioning device. 5. The pick-and-place mechanical arm according to claim 1, wherein said positioning device comprises a first direction positioning device, a second direction positioning device and a third direction positioning device, said first direction positioning device, The positioning directions of the second direction positioning device and the third direction positioning device are perpendicular to each other. 6. The pick-and-place mechanical arm according to claim 5, wherein the positioning device in the first direction is a linear module, and the linear module is slidably connected to the support truss, and the linear module Sliding along the second direction, the positioning device in the second direction is a horizontal push cylinder that pushes and pulls the linear module to slide in the second direction, and the positioning device in the third direction is a descending cylinder connected to the linear module.

Images