CN110884883A - Automatic change and get a manipulator - Google Patents

Abstract

The invention discloses an automatic pick-up manipulator, comprising: a three-dimensional control assembly and a manipulator assembly; the three-dimensional control assembly is used to drive the manipulator assembly to move in a three-dimensional space; the manipulator assembly includes a fixed block, a fixed plate, a sliding block, a hydraulic rod, a connection rack, support rack, conveyor belt and drive member; the present invention adopts triangularly arranged support racks with conveyor belts to clamp the articles, and the hydraulic rod can adjust the dimensional spacing of the three support racks, and the conveyor belt can move upward to remove the objects. The article is clamped upward; at the same time, when the article is in a cylindrical structure, three support frames can be extended into the cylinder to support and clamp from the inside. Therefore, the support frame with the conveyor belt of the present invention can use inward clamping and There are two ways to support outward, and the way of picking and clamping can be selectively adjusted according to different product shapes, with high versatility and strong stability.

Description

An automatic pick-up manipulator

technical field

The invention relates to the technical field of mechanical conveying equipment, and more particularly, to an automatic pick-up manipulator.

Background technique

At present, the manipulator is a new type of device developed in the process of mechanization and automation. In the modern production process, the manipulator is widely used in the automatic production line. It can imitate some action functions of the human hand and arm to press Fixed procedures for grabbing, carrying objects or manipulating tools. In order to improve the automation degree of the factory, a special pick-up manipulator is generally used to realize the pick-up and transportation of specific products, releasing a lot of human labor.

However, the existing manipulator has a single function and is generally designed for a specific product. Although the degree of automation is high, it can only take one product. Moreover, because the shape, structure and volume of different products are different, it is difficult for the manipulator to pick up the pieces universally, and the stability of picking pieces cannot be guaranteed.

Therefore, how to provide a general-purpose manipulator with stable pickup is an urgent problem to be solved by those skilled in the art.

SUMMARY OF THE INVENTION

In view of this, the present invention provides an automatic pick-up manipulator, which can be adapted to pick up items of different structures, and has strong stability and high versatility.

In order to achieve the above object, the present invention adopts the following technical solutions:

An automatic pick-up manipulator, comprising: a three-dimensional control assembly and a manipulator assembly;

The three-dimensional control assembly is used to drive the manipulator assembly to move in the three-dimensional space;

The manipulator assembly includes a fixed block, a fixed plate, a slider, a hydraulic rod, a connecting frame, a support frame, a conveyor belt and a driving member; the fixed block is connected with the three-dimensional control assembly; the center of the fixed plate is connected to the The bottom of the fixing block is fixedly connected, and the fixing plate is provided with three chutes with the fixing block as the center; the sliding block is slidably connected in the sliding groove; one end of the hydraulic rod is connected with the sliding block, and the other end is connected with the sliding block. the fixing blocks are connected; the connecting frames are respectively fixedly connected with the sliding blocks, and are located below the fixing plate; the supporting frame is a long frame body, and one end of the connecting frame is fixed with the connecting frame, and The axial direction of the support frame is perpendicular to the fixing plate; the conveyor belt is sleeved on both ends of the support frame; the driving member is fixed on the connecting frame and is used to drive the The conveyor belt is driven along the axial outer wall of the support frame.

Through the above technical solutions, the present invention adopts triangularly arranged support frames with conveyor belts to clamp the items, the hydraulic rod can adjust the clamping size of the three support frames, and the items can be clamped upward by moving the conveyor belt upwards. The clamping effect is stable and the versatility is strong, and it can clamp items of different shapes and structures; at the same time, when the item is a cylindrical structure, three support frames can be extended into the cylinder to support and clamp from the inside. The inventive support frame with a conveyor belt can adopt two ways of picking up parts, namely, inward clamping and outward supporting, and can selectively adjust the picking and clamping ways according to different product shapes, with high versatility and strong stability.

Preferably, in the above-mentioned automatic picking robot, the three-dimensional control assembly includes a horizontal transmission shaft, a vertical transmission shaft, a rotating seat and a fixed seat; the horizontal transmission shaft is provided with a horizontal slideway, and the fixed block slides connected to the horizontal slideway; the vertical transmission shaft has a vertical slideway, and one end of the horizontal transmission shaft is slidably connected to the vertical slideway; the rotating seat is fixed on the bottom of the vertical transmission shaft The fixed base is connected to the bottom of the rotating base, and the rotating base is rotatably connected to the fixed base. The three-dimensional manipulation component can control the rotation, translation, and movement of the manipulator assembly in the horizontal plane, as well as movement in the vertical plane, so as to improve the flexibility of the manipulator to pick up parts.

Preferably, in the above-mentioned automated pick-up robot, the three-dimensional manipulation assembly further includes a connecting block and a rotating shaft; the connecting block is fixed on the bottom of the fixing seat; the rotating shaft is connected with the connecting block, and the connecting block is connected to the connecting block. The rotating shaft drives the fixed seat to rotate around the connecting block through rotation. The arrangement of the rotating shaft enables the manipulator assembly to rotate in the vertical plane, which further improves the flexibility of the manipulator for picking up items.

Preferably, in the above-mentioned automatic pick-up robot, the fixing plate is a disc. Improve the overall structural integrity of the manipulator assembly.

Preferably, in the above-mentioned automatic pick-up robot, one end of the three chutes meets at the center of the fixed plate, and the other end extends to the edge of the fixed plate, and the clips of each of the two chutes are Angles are equal. The movement stability of the manipulator assembly is stronger, and the overall drive coordination is higher.

Preferably, in the above-mentioned automatic picking robot, a hydraulic drive system for driving the hydraulic rod to move is installed inside the fixed block. It can ensure the stable driving of the hydraulic rod.

Preferably, in the above-mentioned automatic pick-up robot, the connecting frame is a U-shaped plate, the two side plates of the connecting frame are respectively fixedly connected to both sides of the supporting frame, and the middle plate of the connecting frame is fixedly connected to the slider. The connection structure between the connecting frame and the supporting frame does not affect the relative movement between the conveyor belt and the supporting frame.

Preferably, in the above-mentioned automatic pick-up robot, the support frame includes a rectangular plate and a connecting plate; the two rectangular plates are arranged in parallel; and a plurality of the connecting plates are fixed on the edges of the two rectangular plates. The stability of the connection between the support frame and the conveyor belt is stronger, which is beneficial to improve the stability of the manipulator picking up parts.

Preferably, in the above-mentioned automatic pick-up robot, the driving member includes a motor, a driving wheel, a transmission shaft, a transmission wheel and a transmission belt; the motor is fixed between the two side plates of the connecting frame, and all the The power output shaft of the motor passes through the side plate of the connecting frame; the driving wheel is fixedly connected with the power output shaft; the two ends of the transmission shaft are rotatably connected between the two rectangular plates, and are respectively are located at both ends of the rectangular plate; the transmission wheel is fixedly connected with one end of the transmission shaft; the transmission belt is sleeved on the driving wheel and the transmission wheel. The driving member can ensure the stable operation of the conveyor belt, and the installation position is reasonable, which will not affect the overall spatial layout.

Preferably, in the above-mentioned automatic pick-up robot, the outer surfaces of the three conveyor belts are higher than the axial edges of the support frame, and the outer surfaces of the conveyor belts face the center of the fixing plate. It can prevent the mutual interference between the item and the support frame during the pickup, improve the stability of the pickup, and protect the pickup product.

As can be seen from the above technical solutions, compared with the prior art, the present invention discloses an automatic picking-up manipulator, which has the following beneficial effects:

1. The present invention uses a triangularly arranged support frame with a conveyor belt to clamp the article, the hydraulic rod can adjust the clamping size of the three support frames, and the article can be clamped upward through the upward movement of the conveyor belt, and the clamping effect Stable and versatile, it can clamp objects of different shapes and structures.

2. The support frame with the conveyor belt of the present invention can adopt two ways of picking up parts, inward clamping and outward supporting, and can selectively adjust the way of picking up and holding parts according to different product shapes. When the article is a cylindrical structure , the three support frames can be extended into the cylinder, supported and clamped from the inside, with high versatility and strong stability.

3. The three-dimensional control assembly adopted in the present invention can control the rotation and translation of the manipulator assembly in the horizontal plane, and the rotation and translation in the vertical plane, which improves the flexibility of the manipulator to take parts.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without creative work.

Fig. 1 accompanying drawing is the overall structure schematic diagram provided by the present invention;

2 is a schematic structural diagram of a manipulator assembly provided by the present invention;

Fig. 3 accompanying drawing is the partial structure schematic diagram of the support frame provided by the present invention;

Fig. 4 accompanying drawing is the front view of the support frame part provided by the present invention;

Fig. 5 accompanying drawing is the structural schematic diagram of the support frame provided by the present invention;

Figure 6 is a schematic diagram of the structure of the manipulator assembly provided by the present invention for clamping and clamping products inward;

FIG. 7 is a schematic diagram of the structure of the manipulator assembly provided by the present invention to support and clamp products outward.

in:

1- 3D manipulation components;

11-horizontal drive shaft;

111 - horizontal slide;

12-vertical drive shaft;

121 - vertical slide;

13 - Rotary seat;

14-fixed seat;

15-connection block;

16-spindle;

2- Manipulator components;

21-fixed block;

22-Fixed plate;

221 - Chute;

23-slider;

24 - hydraulic rod;

25 - connecting frame;

26-Support frame;

261-rectangular plate; 262-connecting plate;

27 - conveyor belt;

28 - drive member;

281-motor; 282-drive wheel; 283-drive shaft; 284-drive wheel; 285-drive belt;

3- Products.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Referring to FIG. 1 to FIG. 5 , an embodiment of the present invention discloses an automated picking manipulator, including: a three-dimensional manipulation assembly 1 and a manipulator assembly 2;

The three-dimensional control assembly 1 is used to drive the manipulator assembly 2 to move in the three-dimensional space;

The manipulator assembly 2 includes a fixed block 21, a fixed plate 22, a slider 23, a hydraulic rod 24, a connecting frame 25, a support frame 26, a conveyor belt 27 and a driving member 28; the fixed block 21 is connected with the three-dimensional control assembly 1; The center is fixedly connected with the bottom of the fixing block 21, and the fixing plate 22 is provided with three chute 221 with the fixing block 21 as the center; the sliding block 23 is slidably connected in the sliding groove 221; The fixing block 21 is connected; the connecting frame 25 is fixedly connected with the slider 23 respectively, and is located below the fixing plate 22; The direction is perpendicular to the fixing plate 22 ; the conveyor belt 27 is sleeved on both ends of the supporting frame 26 ;

In order to further optimize the above technical solution, the three-dimensional control assembly 1 includes a horizontal drive shaft 11, a vertical drive shaft 12, a rotating base 13 and a fixed base 14; the horizontal drive shaft 11 has a horizontal slideway 111, and the fixed block 21 is slidably connected to the horizontal slideway The vertical transmission shaft 12 has a vertical slideway 121, and one end of the horizontal transmission shaft 11 is slidably connected to the vertical slideway 121; the rotating seat 13 is fixed on the bottom end of the vertical transmission shaft 12; the fixed seat 14 It is connected to the bottom of the rotating base 13 , and the rotating base 13 is rotatably connected with the fixed base 14 .

It should be noted that the horizontal drive shaft 11 , the vertical drive shaft 12 , the rotating base 13 and the fixed base 14 in the three-dimensional control assembly 1 provided by the present invention are all conventional three-axis robots and six-axis robots. , the specific structure is not repeated here, the purpose of using the three-dimensional control assembly 1 in the present invention is to control the flexible movement of the manipulator assembly 2, so that the manipulator assembly 2 has enough space for picking up and placing parts.

In order to further optimize the above technical solution, the three-dimensional control assembly 1 further includes a connecting block 15 and a rotating shaft 16; the connecting block 15 is fixed on the bottom of the fixing base 14; 15 turns.

It should be noted that, of course, the present invention also includes a base body for connecting and supporting the overall structure. The base body is connected to the rotating shaft 16 and has a corresponding motor to control the rotation of the rotating shaft, which are all existing conventional technical solutions, and the specific structure is here. Without further elaboration, the purpose of using the rotating shaft 16 in the present invention is to enable the support frame 26 to be adjusted from the vertical direction to the horizontal direction, that is to say, the manipulator assembly 2 can not only pick up the product from the top of the product 3, but also can be conveyed in the product 3. The direction is set horizontally, waiting for the product 3 to be transported to the support frame 26 to accept the product 3 . In the process of supporting the support frame 26 horizontally, two support frames 26 are at the bottom, one support frame 26 is at the top, and the product 3 is transported to the two support frames 26 at the bottom. At this time, only the top support frame 26 needs to be driven The product 3 can be clamped by a downward movement.

In order to further optimize the above technical solution, the fixing plate 22 is a disc.

In order to further optimize the above technical solution, one end of the three chutes 221 meets at the center of the fixed plate 22 , the other end extends to the edge of the fixed plate 22 , and the included angles of each of the two chutes 221 are equal.

In order to further optimize the above technical solution, a hydraulic drive system for driving the hydraulic rod 24 to move is installed inside the fixed block 21 .

It should be noted that the hydraulic drive system can control three hydraulic rods 24 to move at the same time, and can also drive one hydraulic rod 24 to move independently. The hydraulic drive system is also a conventional hydraulic drive device, which is not the focus of the present invention, and will not be omitted here. Repeat.

In order to further optimize the above technical solution, the connecting frame 25 is a U-shaped plate.

In order to further optimize the above technical solution, the support frame 26 includes a rectangular plate 261 and a connecting plate 262 ; the two rectangular plates 261 are arranged in parallel;

In order to further optimize the above technical solution, the driving member 28 includes a motor 281, a driving wheel 282, a transmission shaft 283, a transmission wheel 284 and a transmission belt 285; the motor 281 is fixed between the two side plates of the connecting frame 25, and the power output of the motor 281 The shaft passes through the side plate of the connecting frame 25; the driving wheel 282 is fixedly connected to the power output shaft; It is fixedly connected with one end of a transmission shaft 283 ; the transmission belt 285 is sleeved on the driving wheel 282 and the transmission wheel 284 .

It should be noted that the transmission of the three-dimensional control assembly 1 of the present invention, the control of the hydraulic control system, and the drive of the motor 281 have corresponding control of the overall control system, and the overall control system may be a PLC system or an existing robot control system. , which are all in the prior art, and will not be repeated here.

In order to further optimize the above technical solution, the outer surfaces of the three conveyor belts 27 are higher than the axial edges of the support frame 26 , and the outer surfaces of the conveyor belts 27 face the center of the fixing plate 22 .

The using method of the present invention is:

Referring to FIG. 6 , it is a schematic structural diagram of the manipulator assembly 2 gripping the product 3 inward. When it is necessary to take a piece, first the hydraulic rod 24 will drive the slider 23 to run on the chute 221, and drive the support frame 26 to adjust the distance so that the distance between the three support frames 26 is greater than the size of the product 3, and then drive the support frame 26 Move downward, so that the product 3 is located between the three support frames 26, at this time, the hydraulic rod 24 shrinks, driving the three support frames 26 to move closer to the product 3, and finally clamp the product 3, the motor 281 starts, drives the conveyor belt 27 to move, the product 3 Move up under the conveyance of the conveyor belt 27 to make the clamping more stable.

Referring to FIG. 7 , it is a schematic structural diagram of the manipulator assembly 2 supporting the product 3 outward. When it is necessary to take a piece, first the hydraulic rod 24 will drive the slider 23 to run on the chute 221, and drive the support frame 26 to adjust the distance so that the distance between the three support frames 26 is smaller than the size of the product 3, and then drive the support frame 26 Move downward, so that the three support frames 26 are located in the cylindrical structure of the product 3. At this time, the hydraulic rod 24 is extended, and drives the three support frames 26 to move closer to the product 3, and finally supports and compresses the product 3. The motor 281 is activated to drive the conveying The belt 27 moves, and the product 3 moves upward under the conveyance of the conveyor belt 27, making the clamping more stable.

The present invention adopts the three-dimensional control assembly 1 to realize the control of the manipulator assembly 2, the fixed block 21 moves on the horizontal slideway 111 of the horizontal transmission shaft 11, and realizes the horizontal movement of the manipulator assembly 2; The vertical slide 121 moves on the vertical slideway 121 to realize the vertical movement of the manipulator assembly 2; the rotating base 13 rotates around the fixed base 14 to realize the rotation of the manipulator assembly 2 in the horizontal plane, and the connecting block 15 rotates around the rotating shaft 16 to realize the manipulator assembly. 2 Rotate in the vertical plane.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method.

The above description of the disclosed embodiments enables any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. An automatic workpiece taking manipulator is characterized by comprising: a three-dimensional control assembly (1) and a manipulator assembly (2);

the three-dimensional control assembly (1) is used for driving the manipulator assembly (2) to move in a three-dimensional space;

the manipulator assembly (2) comprises a fixing block (21), a fixing plate (22), a sliding block (23), a hydraulic rod (24), a connecting frame (25), a supporting frame (26), a conveying belt (27) and a driving member (28); the fixed block (21) is connected with the three-dimensional control assembly (1); the center of the fixing plate (22) is fixedly connected with the bottom of the fixing block (21), and the fixing plate (22) is provided with three sliding grooves (221) by taking the fixing block (21) as the center; the sliding block (23) is connected in the sliding groove (221) in a sliding manner; one end of the hydraulic rod (24) is connected with the sliding block (23), and the other end of the hydraulic rod is connected with the fixed block (21); the connecting frames (25) are respectively fixedly connected with the sliding blocks (23) and are positioned below the fixed plate (22); the supporting frame (26) is a long-strip frame body, one end head of the supporting frame is fixed with the connecting frame (25), and the axial direction of the supporting frame (26) is perpendicular to the fixing plate (22); the conveying belt (27) is sleeved on the end heads of the two ends of the supporting frame (26); the driving component (28) is fixed on the connecting frame (25) and is used for driving the conveying belt (27) to transmit along the axial outer wall of the supporting frame (26).

2. The automated part picking manipulator according to claim 1, wherein the three-dimensional manipulation assembly (1) comprises a horizontal transmission shaft (11), a vertical transmission shaft (12), a rotating seat (13) and a fixed seat (14); the horizontal transmission shaft (11) is provided with a horizontal slideway (111), and the fixed block (21) is connected to the horizontal slideway (111) in a sliding manner; a vertical slideway (121) is arranged on the vertical transmission shaft (12), and one end of the horizontal transmission shaft (11) is connected to the vertical slideway (121) in a sliding manner; the rotating seat (13) is fixed at the bottom end of the vertical transmission shaft (12); the fixing seat (14) is connected to the bottom of the rotating seat (13), and the rotating seat (13) is rotatably connected with the fixing seat (14).

3. An automated part-picking robot as claimed in claim 2, characterised in that the three-dimensional handling assembly (1) further comprises a connecting block (15) and a spindle (16); the connecting block (15) is fixed at the bottom of the fixed seat (14); the rotating shaft (16) is connected with the connecting block (15), and the rotating shaft (16) drives the fixing seat (14) to rotate around the connecting block (15).

4. An automated part picking robot as claimed in claim 1, characterised in that the holding plate (22) is a circular disc.

5. The automatic workpiece taking manipulator as claimed in claim 4, wherein one end of each of the three sliding grooves (221) is intersected at the center of the fixed plate (22), the other end of each of the three sliding grooves extends to the edge of the fixed plate (22), and the included angles of every two sliding grooves (221) are equal.

6. An automated part picking manipulator according to claim 1, characterised in that a hydraulic drive system for driving the hydraulic rod (24) is mounted inside the fixed block (21).

7. The automatic part taking manipulator as claimed in claim 1, wherein the connecting frame (25) is a U-shaped plate, two side plates of the connecting frame (25) are fixedly connected with two sides of the supporting frame (26), respectively, and a middle plate of the connecting frame (25) is fixedly connected with the sliding block (23).

8. An automated part picking robot as claimed in claim 7, characterised in that the support frame (26) comprises a rectangular plate (261) and a connecting plate (262); the two rectangular plates (261) are arranged in parallel; and a plurality of connecting plates (262) are fixed on the edges of the two rectangular plates (261).

9. An automated part picking robot as claimed in claim 8, characterised in that the drive means (28) comprises a motor (281), a drive wheel (282), a drive shaft (283), a drive wheel (284) and a drive belt (285); the motor (281) is fixed between the two side plates of the connecting frame (25), and a power output shaft of the motor (281) penetrates out of the side plates of the connecting frame (25); the driving wheel (282) is fixedly connected with the power output shaft; two ends of the transmission shaft (283) are rotatably connected between the two rectangular plates (261) and are respectively positioned at two ends of the rectangular plates (261); the transmission wheel (284) is fixedly connected with one end of one transmission shaft (283); the transmission belt (285) is sleeved on the driving wheel (282) and the transmission wheel (284).

10. An automated parts handling robot according to claim 1, wherein the outer surfaces of the three conveyor belts (27) are higher than the axial edges of the support frame (26), and the outer surfaces of the conveyor belts (27) face the center of the fixed plate (22).

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