CN110757749A

CN110757749A - Robot taking and placing device

Info

Publication number: CN110757749A
Application number: CN201911038953.6A
Authority: CN
Inventors: 黄建德
Original assignee: HUIYA ALUMINIUM ALLOY PRODUCTS CO Ltd SHANGHAI
Current assignee: HUIYA ALUMINIUM ALLOY PRODUCTS CO Ltd SHANGHAI
Priority date: 2019-10-29
Filing date: 2019-10-29
Publication date: 2020-02-07

Abstract

The invention discloses a robot taking and placing device, which comprises: the body, one locate the clamping jaw subassembly on this body and one locate the body and drive the drive assembly of clamping jaw subassembly, supply this robot to get when putting the device and be applied to the robot of casting operation, locate on the body through this drive assembly to reduce the space that this robot took the factory, effectively reduce the degree of difficulty that the factory laid.

Description

Robot taking and placing device

Technical Field

The invention relates to a taking and placing device, in particular to a robot taking and placing device.

Background

At present, robots are very important devices in industrial production, and more industries use robots to assist in operations of factories or production lines, even dangerous works, such as welding, trimming, ion cutting, mold casting transportation and other related high-temperature operation factories, and the robots are widely used in casting operations due to their advantages of high efficiency, low cost, stable object quality and the like.

In general, in a casting operation, polymer (plastic) particles are heated and plasticized in a cylinder to reach a flowing state, a mold is filled under the pushing of a screw, and after a plastic melt is cooled and solidified in the mold, the mold is opened to take out an object, i.e., an injection molding cycle is completed, wherein the process of taking out the object can be performed by a robot.

The machine configuration of the casting operation in the current factory is mostly that a casting device is configured with a robot, and the operation of the robot is the time period after the casting device is cooled and the mold is opened according to the working time course of the casting operation.

However, in the environment of the conventional casting operation, the power unit is disposed far away from the robot due to the fact that the power unit can cause great damage to the electric wires of the robot, so that the power unit occupies the space of a factory, and the difficulty in layout of the factory is increased.

Therefore, how to overcome the above problems of the conventional technologies has become a problem to be overcome in the industry.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a robot taking and placing device.

The above object of the present invention is achieved by the following technical means: a robot taking and placing device comprises a body, wherein the body is provided with at least one hollow part for laying pipelines; the clamping jaw assembly is arranged on the body; and the driving assembly is arranged on the body and is electrically connected with the pipeline arranged in the hollow part of the body so as to drive the clamping jaw assembly to pick up the target object.

The body includes a frame structure having a rectangular profile and a mounting member coupled to the frame structure such that the mounting member is coupled to the jaw assembly.

The body is provided with a connecting piece for coupling a robot.

The clamping jaw assembly comprises a plurality of clamping pieces, and any two of the plurality of clamping pieces are arranged on the body in a mode of being capable of being far away from each other and being close to each other.

The driving assembly comprises a track structure and a power unit, the clamping jaw assembly is arranged on the track structure in a displaceable mode, and the power unit drives the clamping jaw assembly to enable the clamping jaw assembly to be displaced on the track structure. For example, the jaw assembly includes a slider, and the slider movably engages the track structure. Or the track structure is provided with a guide rail which is movably jointed with the clamping jaw assembly, a groove formed on the body and a sliding part which is movably penetrated through the groove, so that the sliding part is connected with the clamping jaw assembly, and the power unit drives the sliding part to move between the grooves to drive the clamping jaw assembly to move along the guide rail. The driving assembly includes a stopping structure for limiting the movement of the clamping jaw assembly and is arranged on the body. In addition, the power unit is in the form of a pneumatic cylinder or an oil hydraulic cylinder.

The robot taking and placing device comprises a positioning assembly arranged on a body and used for being matched with the driving of a clamping jaw assembly.

Compared with the prior art, the invention has the advantages that: the robot taking and placing device is mainly arranged on the body through the driving assembly so as to reduce the occupied space of the robot taking and placing device, so that compared with the traditional technology, the robot taking and placing device is applied to a robot for casting operation, and the difficulty of factory layout can be effectively reduced.

Drawings

Fig. 1 is a perspective view illustrating a robot pick-and-place device according to the present invention applied to a robot.

Fig. 2 is a rear perspective assembly view of the robot pick-and-place device of the present invention.

Fig. 3 is a perspective exploded view of the robot pick-and-place device of the present invention.

Fig. 4 is a rear perspective view of the main body of the robot pick-and-place device of the present invention.

Fig. 5 is a schematic top plan view of fig. 4.

Fig. 6 is a partial bottom perspective view of the robot pick-and-place device of the present invention.

Fig. 7 to 8 are partial side plan views illustrating the operation of the robot picking and placing device according to the present invention.

In the attached drawings, 1, a robot taking and placing device; 10a body; 10a first side; 10b a second side; 100a frame structure; 100a plates; 101 a mounting member; 102a hollow-out part; 102a is opened; 103 connecting pieces; 104 a support member; 105, opening a hole; 11a jaw assembly; 11a,11b clamp; 110 a support part; 111 a claw portion; 112 a slide block; 12 an actuating element; 12a track structure; 12b a power unit; 12c a stop structure; 120 guide rails; 121 grooves; 122a slider; 122a fixing plate; 123 fixed block bodies; 123a stop lever; 124 a piston rod; 14 a positioning assembly; 8 a target; 9, a robot; d width; a, an installation area; s, an accommodating space; t space; x, Y, Z and C are in the arrow directions.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the description of the present invention.

It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for understanding and reading the contents recorded in the specification, and are not used for limiting the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, ratio relationship changes or size adjustments should still fall within the scope covered by the technical contents recorded in the present invention without affecting the efficacy and achievable purpose of the present invention. In addition, the terms "above", "below", "front", "back", "left", "right", "four" and "one" used in the present specification are for convenience of description only, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship are also considered to be the scope of the present invention without substantial changes in the technical content.

Fig. 1 to 8 are related schematic views of a robot pick-and-place device 1 according to the present invention. As shown in fig. 1, the robot pick-and-place device 1 is disposed on an arm of a robot 9 to serve as a hand mechanism of the robot 9, wherein the robot pick-and-place device 1 is fixed at a rear end thereof to the arm of the robot 9 based on the disposition of the robot 9.

As shown in fig. 2 and 3, the robot pick-and-place apparatus 1 includes: a body 10, a clamping jaw assembly 11 and a driving assembly 12, wherein, based on the arrangement of the robot taking and placing device 1, an arrow direction X represents a left direction and a right direction, an arrow direction Y represents a front direction and a rear direction, and an arrow direction Z represents an up direction and a down direction.

The body 10 has a first side 10a (e.g., a lower side) and a second side 10b (e.g., an upper side) opposite to each other, and the body 10 includes a frame structure 100 having a rectangular profile and a mounting member 101 connected to the frame structure 100, so that the mounting member 101 is connected to the clamping jaw assembly 11.

In this embodiment, the frame structure 100 is substantially composed of a plurality of plates 100a, as shown in fig. 4, so as to enclose a plurality of accommodating spaces S, and each plate 100a may be provided with a plurality of openings 102a as required, so that the accommodating spaces S and the openings 102a serve as hollow parts 102 for laying a plurality of pipelines (not shown).

Furthermore, the mounting device 101 is horizontally disposed at the lower side of the frame structure 100 to serve as a bottom plate of the frame structure 100, six supporting members 104 are used to fixedly connect the frame structure 100 and the mounting device 101, the supporting members 104 form an approximately right triangle sheet, the supporting members 104 are provided with openings 105 serving as hollow portions 102, so that the mounting device 101 protrudes from the left and right sides of the frame structure 100 to serve as a mounting area a, as shown in fig. 5.

In addition, the mounting element 101 may also form an opening 102a corresponding to the receiving space S (and/or not the mounting area a) as a part of the hollow portion 102 as shown in fig. 5.

In addition, a connection member 103 for coupling the robot 9 is provided on the rear side of the frame structure 100 of the body 10. For example, the connection 103 is a turntable or other suitable member that can be coupled to the robot 9. The type of the connecting member 103 is various and is not particularly limited.

The jaw assembly 11 is a gripping mechanism, and is disposed on the first side 10a of the body 10.

As shown in fig. 3, in the present embodiment, the clamping jaw assembly 11 includes a plurality of clamping

members

11a and 11b, and any two of the

clamping members

11a and 11b are disposed on the mounting member 101 on the first side 10a of the body 10 in a manner of being capable of moving away from and moving close to each other. For example, the

clips

11a and 11b are disposed on the mounting areas a, such that two clips 11a are disposed on the front edges of the mounting areas a, and two clips 11b corresponding to the front edge clips 11a are disposed on the rear edges of the mounting areas a. Specifically, in the initial state, the two corresponding front and

rear clip members

11a,11b are away from each other (as shown in fig. 7), and the

clip members

11a,11b protrude from the front and rear sides of the mounting member 101.

Furthermore, the

clips

11a and 11b are L-shaped, each having a supporting portion 110 with a rectangular plate shape, and one end of the supporting portion 110 is bent downward to form a claw portion 111, and a slider 112 is fixedly disposed on the upper side of the supporting portion 110, so that the slider 112 is movably engaged with the driving assembly 12.

The driving component 12 drives the clamping jaw component 11 and is electrically connected to the pipeline surrounding the hollow portion 102, wherein as shown in fig. 5, the driving component 12 includes a rail structure 12a and a power unit 12b, so that the clamping jaw component 11 is movably disposed on the rail structure 12a, and the power unit 12b drives the clamping jaw component 11 to move on the rail structure 12 a.

In the present embodiment, referring to fig. 6, the track structure 12a has a plurality (e.g., two) of guide rails 120 movably engaging with the clamping jaw assembly 11, a plurality (e.g., eight) of grooves 121 formed on the mounting member 101, and a plurality (e.g., four) of sliding members 122 movably passing through the grooves 121, the sliding members 122 are respectively connected to the supporting portions 110 of the

clamping members

11a and 11b through a fixing plate 122a, so that the power unit 12b drives the sliding members 122 to move between the grooves 121 to drive the

clamping members

11a and 11b to synchronously move along the guide rails 120.

Furthermore, the guide rail 120 is a linear long rail, which is disposed along the front and rear edges of the mounting area a of the mounting member 101 to engage with the sliding blocks 112 of the

clamping members

11a and 11b, so that the

clamping members

11a and 11b can move linearly in the front and rear directions along the guide rail 120. For example, the grooves 121 are disposed on the left and right sides of the single guide rail 120, so that the sliding member 122 is in a shape of an inverted U, horse-shoe, fork or other insertion-pulling body with a cross-over structure, so that the single sliding member 122 correspondingly crosses over the two grooves 121, and the single sliding member 122 correspondingly drives the

single clamping members

11a and 11b to synchronously and linearly move.

The driving assembly 12 has a stopping structure 12c for limiting the movement of the

clamping members

11a and 11b, which is disposed on the first side 10a (e.g., the mounting member 101) of the body 10 and located on one side of the groove 121 (e.g., the inner side of the groove 121 relative to the mounting region a). For example, the stopping structure 12c has a rectangular fixing block 123, which is provided with a stopping rod 123a protruding from the front and rear surfaces, so that in the active state, the two

clamping pieces

11a and 11b corresponding to the front and rear are close to each other, and the end point of the stopping rod 123a abuts against the

clamping pieces

11a and 11b, at this time, the sliding member 122 is located at the clamping end point of the groove 121 (as shown in fig. 8).

In addition, the power unit 12b is in the form of a pneumatic cylinder or an oil cylinder, and the piston rod 124 thereof is fixedly connected to the sliding member 122, so as to transmit an electric power (not shown) to the power unit 12b through the pipeline, and then the power of the oil cylinder or the air cylinder drives the sliding member 122 to move through the piston rod 124. For example, the single power unit 12b is configured to correspond to the

single clamp

11a or 11 b. It should be understood that the power unit 12b is not limited to the above-described power unit.

When the robot picking and placing device 1 is used, the robot picking and placing device 1 is disposed on a robot 9, and the robot 9 is located near a casting equipment machine (not shown), so when a target object 8 such as a rectangular floor is manufactured on the casting equipment machine, the

clamping pieces

11a and 11b are first located at initial positions away from each other (as shown in fig. 7), and then the sliding piece 122 is driven to move (as shown in fig. 8) by utilizing the telescopic motion of the piston rod 124 of the power unit 12b, so as to displace the

clamping pieces

11a and 11b, and the claw portions of the

clamping pieces

11a and 11b are made to approach each other (as shown in the arrow direction C shown in fig. 7) to a certain distance t, so that the distance t is consistent with a distance t which is enough to clamp the target object 8, that is, i.e. the distance t is approximately equal to the width d. After the clamping

members

11a and 11b clamp the object 8, the robot 9 can move the object 8 to a predetermined area (a finishing machine in a next process), and then move the

clamping members

11a and 11b away from each other (as shown in fig. 7) to release the object 8.

Alternatively, the robotic handling device 1 may be provided with a positioning element 14, such as a rod, at a diagonal position on the underside of the mounting member 101, as shown in fig. 6, to cooperate with the actuation of the gripper assembly 11. For example, before the driving of the

clamping members

11a and 11b, the positioning members 14 can be used to align the corners of the object 8, and then the clamping operation is performed, so that the positioning members 14 can be used to facilitate the

clamping members

11a and 11b to accurately and stably clamp the object 8.

In summary, the robot pick-and-place device 1 of the present invention is mainly disposed on the body 10 through the driving component 12 to reduce the occupied space of the robot pick-and-place device 1, so compared with the conventional art, the robot pick-and-place device 1 of the present invention is applied to the robot 9 for casting operation, and can effectively reduce the difficulty of factory layout.

Furthermore, the hollow portion 102 is designed to allow the pipeline to be wound around the body 10, so as to prevent the pipeline from being damaged by the environment of the casting operation.

The foregoing detailed description is exemplary only, and is intended to better enable others skilled in the art to understand the invention, and is not intended to limit the scope of the invention; any equivalent alterations or modifications made in accordance with the spirit of the present disclosure are within the scope of the present invention.

Claims

1. The utility model provides a robot is got and is put device which characterized in that: the method comprises the following steps:

the body is provided with at least one hollow part for laying pipelines;

the clamping jaw assembly is arranged on the body; and

the driving assembly is arranged on the body and is electrically connected with the pipeline arranged in the hollow part of the body so as to drive the clamping jaw assembly to pick up the target object.

2. A robotic pick and place device as claimed in claim 1, wherein: the body comprises a frame structure with a rectangular outline and a mounting piece connected with the frame structure, so that the mounting piece is connected with the clamping jaw assembly.

3. A robotic pick and place device as claimed in claim 1, wherein: the body is provided with a connecting piece for coupling a robot.

4. A robotic pick and place device as claimed in claim 1, wherein: the clamping jaw assembly comprises a plurality of clamping pieces, and any two of the clamping pieces are arranged on the body in a mode of being capable of being far away from each other and being close to each other.

5. A robotic pick and place device as claimed in claim 1, wherein: the driving assembly comprises a track structure and a power unit, the clamping jaw assembly is arranged on the track structure in a displaceable mode, and the power unit drives the clamping jaw assembly to enable the clamping jaw assembly to be displaced on the track structure.

6. A robotic pick and place device as claimed in claim 5, wherein: the jaw assembly includes a slider and the slider movably engages the track structure.

7. A robotic pick and place device as claimed in claim 5, wherein: the track structure is provided with a guide rail which is movably jointed with the clamping jaw assembly, a groove formed on the body and a sliding part which passes through the groove in a movable mode, so that the sliding part is connected with the clamping jaw assembly, and the power unit drives the sliding part to move between the grooves so as to drive the clamping jaw assembly to move along the guide rail.

8. A robotic pick and place device as claimed in claim 5, wherein: the driving assembly comprises a stopping structure which is arranged on the body and used for limiting the movement of the clamping jaw assembly.

9. A robotic pick and place device as claimed in claim 5, wherein: the power unit is in the form of a pneumatic cylinder or an oil hydraulic cylinder.

10. A robotic pick and place device as claimed in claim 1, wherein: including locating the locating component on the body to the drive of this clamping jaw subassembly of cooperation.