CN118239258A - Material conveying manipulator and material conveying method - Google Patents
Material conveying manipulator and material conveying method Download PDFInfo
- Publication number
- CN118239258A CN118239258A CN202410568765.9A CN202410568765A CN118239258A CN 118239258 A CN118239258 A CN 118239258A CN 202410568765 A CN202410568765 A CN 202410568765A CN 118239258 A CN118239258 A CN 118239258A
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- flat material
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- placing frame
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- 239000000463 material Substances 0.000 title claims abstract description 226
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000001179 sorption measurement Methods 0.000 claims abstract description 7
- 238000010030 laminating Methods 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000032258 transport Effects 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 10
- 230000008569 process Effects 0.000 description 6
- 230000001960 triggered effect Effects 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of material conveying, in particular to a material conveying manipulator and a material conveying method, comprising a manipulator base; a servo motor is fixedly connected to the top end of the manipulator base; the output end of the servo motor is fixedly connected with a rotating frame; through the vacuum chuck who sets up along with the electric jar laminating in the surface of flat material, vacuum chuck upwards promotes flat material vacuum adsorption, a plurality of grip block supports are in the bottom of flat material and the centre gripping both sides, then vacuum chuck stops adsorbing and press to cover the surface at flat material, servo motor output drives the rotating turret and transports flat material, play the effect of transporting flat material centre gripping, utilize a plurality of friction blocks laminating in the bottom increase friction of flat material, the condition of slippage when reducing flat material and transporting, rely on the rack to rotate the slope along with a rotatory roller, can expose the hole groove of partial flat material outside, be convenient for the hole groove processing to flat material.
Description
Technical Field
The invention belongs to the technical field of material conveying, and particularly relates to a material conveying manipulator and a material conveying method.
Background
The material conveying is to convey a certain material from one position to another position in a certain way, and the manipulator for conveying the material can simulate the actions of a human hand and an arm to grasp and convey the material to the specified position according to a specified program.
One patent application with the publication number of CN209320137U discloses an injection molding manipulator for material transportation, including the manipulator body of moulding plastics, the manipulator body of moulding plastics includes support and conveying arm, conveying arm passes through positioning mechanism and leg joint, and positioning mechanism includes fagging, rack, drive wheel and locating wheel, and this application meshes with the rack through the outside tooth of drive wheel, improves the convenience that conveying arm removed on the support upper end.
Foretell manipulator is at the in-process of material transportation, mainly improves the conveying arm removal convenience of manipulator, but present material transport manipulator is when carrying some flat materials, because flat material closely laminates in the surface of conveyer belt to be difficult to snatch flat material and transport processing.
Therefore, the invention provides a material conveying manipulator and a material conveying method.
Disclosure of Invention
In order to overcome the deficiencies of the prior art, at least one technical problem presented in the background art is solved.
The technical scheme adopted for solving the technical problems is as follows: the invention relates to a material conveying manipulator which comprises a manipulator base, wherein the manipulator base comprises a manipulator base; a servo motor is fixedly connected to the top end of the manipulator base; the output end of the servo motor is fixedly connected with a rotating frame; the bottom end of the rotating frame is connected with a first electric sliding block in a sliding manner; the bottom end of the first electric sliding block is fixedly connected with a connecting column; the bottom end of the connecting column is fixedly connected with a vacuum machine; a first electric cylinder is fixedly connected to the bottom end of the vacuum machine; the output end of the first electric cylinder is fixedly connected with a vacuum chuck, and the vacuum chuck is connected with the inside of the vacuum machine through an air pipe; the outside of vacuum machine is provided with clamping assembly, and clamping assembly is used for the centre gripping to the material.
Preferably, the clamping assembly comprises a sliding box, a second electric sliding block and a clamping plate; the two sliding boxes are fixedly connected to two sides of the vacuum machine, and the directions of the two sliding boxes are opposite; the second electric sliding block is connected inside the sliding box in a sliding way; the clamping plate is fixedly connected to the outer part of the second electric sliding block.
Preferably, friction blocks are fixedly connected to the top ends of the clamping plates, and the friction blocks are arranged; slopes are formed in one sides of the bottom ends of the clamping plates.
Preferably, a first rotating roller is rotatably connected in the position, far away from the servo motor, of the manipulator base; a placing rack is fixedly connected to the outside of the first rotating roller; the outside of manipulator base is provided with drive assembly, and drive assembly is used for driving the rotation of a rotatory roller.
Preferably, the transmission assembly comprises a gear, a screw rod, a fixing frame and meshing teeth; the gear is fixedly connected to the outside of the rotating frame; the screw rod, screw rod and nut pair is connected to the inside of the first rotating roller, and the screw rod is rotatably connected to the inside of the manipulator base; the fixing frame is fixedly connected to one end of the screw rod, which is far away from the first rotating roller; the plurality of meshing teeth are fixedly connected to the outside of the fixing frame, and are meshed with the gears.
Preferably, a baffle is connected to the top end of the placing frame and close to the first rotating roller in a sliding manner; an elastic piece is fixedly connected between the baffle and the placing frame.
Preferably, a second rotating roller is rotationally connected to the position, which is far away from the first rotating roller, inside the manipulator base through a torsion spring; a supporting plate is fixedly connected to the outer part of the second rotating roller; the outside of backup pad articulates there is the supporting shoe, and the supporting shoe laminating is outside in the rack.
Preferably, a pressing plate is fixedly connected to the outer part of the rotating frame and close to the servo motor; a sensor is arranged at the top end of the manipulator base; a second electric cylinder is arranged in the rack and is connected with a sensor signal; and the output end of the second electric cylinder is fixedly connected with a top block.
The material conveying method is suitable for conveying by using the material conveying manipulator, and comprises the following steps:
S1: when the flat material is conveyed and processed, the flat material is firstly placed on a conveyor for conveying, the material is conveyed to the lower part of the vacuum chuck by the conveyor, the output end of the first electric cylinder drives the vacuum chuck to be attached to the surface of the flat material for vacuum adsorption and lifting upwards, two opposite second electric sliding blocks respectively drive the clamping plates to clamp two sides of the flat material, and then the vacuum chuck stops adsorbing the flat material and presses the surface of the flat material;
S2: then the output end of the servo motor drives the suspended flat material on the rotating frame to transfer, the flat material is transferred to the position of the placing frame, the clamping plates squeeze the baffle plate to retract into the placing frame, the pressing plate rotates along with the rotating frame to squeeze the triggering sensor, the output end of the second electric cylinder drives the top block to push the flat material, and the two clamping plates reversely slide to loosen the material on the top block;
S3: then the rotating frame drives a plurality of grip blocks to rotate and reset, and the kicking block is retracted inside the rack and makes flat material arrange the rack surface in, and screw nut pair cooperation makes a rotatory roller rotate when the lead screw resets, and the rack rotates the flat material of slope and supports in one side of baffle, finally after flat material slope processing, by the bulge department of the flat material of clamping jaw centre gripping rack both sides take away can.
Preferably, the angle of rack rotation slope in S3 is sixty degrees, and the bottom of rack just is kept away from one side of a rotatory roller and is supported by backup pad cooperation supporting shoe slope.
The beneficial effects of the invention are as follows:
1. according to the material conveying manipulator and the material conveying method, the vacuum chuck is attached to the surface of the flat material along with the first electric cylinder, the vacuum chuck is used for carrying out vacuum adsorption and upward lifting on the flat material, a plurality of clamping plates are matched to support the bottom end of the flat material and clamp two sides of the flat material, then the vacuum chuck stops adsorbing and is pressed on the surface of the flat material, the output end of the servo motor drives the rotating frame to transport the flat material, the function of clamping and transporting the flat material is achieved, friction is increased by attaching a plurality of friction blocks to the bottom end of the flat material, slipping of the flat material during transportation is reduced, and a part of holes and grooves of the flat material can be exposed by means of rotating and inclining of the placing frame along with the first rotating roller, so that the holes and grooves of the flat material can be conveniently processed.
2. According to the material conveying manipulator and the material conveying method, the gear is arranged to rotate along with the rotating frame, the gear synchronously drives the screw rod to rotate in the first rotating roller, so that the inclined and parallel state of the placing frame on the first rotating roller is controlled, the baffle is extruded by the elastic piece to slide up to one side of the top of the placing frame, the baffle can block the flat material placed obliquely, the condition that the flat material slips from the placing frame is reduced, the second rotating roller drives the supporting block to be supported at the bottom end of the placing frame along with the torsion spring, the function of supporting the tilting side of the placing frame in an auxiliary manner is achieved, the sensor is triggered when the pressing plate rotates, and therefore the second electric cylinder is controlled to drive the top block to support the flat material, and the flat material is convenient to be stripped from the clamping plate.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic view of a rack according to the present invention;
FIG. 3 is a schematic view of the structure of the blade of the present invention;
FIG. 4 is a schematic view of the structure of the fixing frame in the present invention;
fig. 5 is a flow chart of the material conveying method of the present invention.
In the figure: 1. a manipulator base; 11. a servo motor; 12. a rotating frame; 13. a first electric slide block; 14. a connecting column; 15. a vacuum machine; 16. a first electric cylinder; 17. a vacuum chuck; 2. a slide box; 21. a second electric slide block; 22. a clamping plate; 3. a friction block; 4. a first rotating roller; 41. a placing rack; 5. a gear; 51. a screw rod; 52. a fixing frame; 53. meshing teeth; 6. a baffle; 7. a second rotating roller; 71. a support plate; 72. a support block; 8. a pressing plate; 81. a sensor; 82. and (5) a top block.
Detailed Description
The invention is further described in connection with the following detailed description in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
As shown in fig. 1 to 3, a material conveying manipulator according to an embodiment of the present invention includes a manipulator base 1; a servo motor 11 is fixedly connected to the top end of the manipulator base 1; the output end of the servo motor 11 is fixedly connected with a rotating frame 12; the bottom end of the rotating frame 12 is connected with a first electric sliding block 13 in a sliding manner; the bottom end of the first electric sliding block 13 is fixedly connected with a connecting column 14; the bottom end of the connecting column 14 is fixedly connected with a vacuum machine 15; a first electric cylinder 16 is fixedly connected to the bottom end of the vacuum machine 15; the output end of the first electric cylinder 16 is fixedly connected with a vacuum chuck 17, and the vacuum chuck 17 is connected with the inside of the vacuum machine 15 through an air pipe; a clamping assembly is arranged outside the vacuum machine 15 and used for clamping materials; when using material transport manipulator to snatch flat material and transport processing, flat material is sent to the below of vacuum chuck 17 by the conveyer, utilize the output of electric jar 16 to drive vacuum chuck 17 and stretch to the surface of flat material downwards, vacuum chuck 17 is upwards promoted to flat material vacuum adsorption through the trachea cooperation vacuum chuck 15, the clamping assembly bearing is in the bottom of flat material thereupon, and centre gripping from the both sides of flat material, servo motor 11 on manipulator base 1 top drives rotating turret 12 and rotates, transport flat material to another station on processing, the clamping assembly loosens flat material after flat material reaches the station, electric slider 13 cooperation spliced pole 14 drives vacuum machine 15 and slides to one side, make flat material break away from the clamping assembly, thereby play the effect to flat material centre gripping transport, simultaneously when flat material is by clamping assembly bearing bottom, vacuum chuck 17 stops adsorbing and covers in the surface of flat material, not only can reduce the energy consumption of vacuum adsorption, and stability when can improving flat material and transporting.
The clamping assembly comprises a sliding box 2, a second electric sliding block 21 and a clamping plate 22; the two sliding boxes 2 are fixedly connected to two sides of the vacuum machine 15, and the directions of the two sliding boxes 2 are opposite; the second electric sliding block 21 is connected inside the sliding box 2 in a sliding way; the clamping plate 22 is fixedly connected to the outside of the second electric sliding block 21; when carrying flat material centre gripping, adsorb flat material at vacuum chuck 17 and carry the back, utilize two No. two electric sliders 21 opposite direction to slide inside two slip boxes 2, and two No. two electric sliders 21 drive grip block 22 respectively and be close to the bottom of flat material, and two grip blocks 22 are spacing to the both sides centre gripping of flat material, when vacuum chuck 17 stops adsorbing flat material, flat material whereabouts is placed on two grip blocks 22, the output of cylinder 16 drives vacuum chuck 17 and presss from both sides the surface transport of covering in flat material afterwards, play the effect to flat material centre gripping transport.
The top ends of the clamping plates 22 are fixedly connected with friction blocks 3, and the friction blocks 3 are provided with a plurality of friction blocks; a slope is formed on one side of the bottom ends of the clamping plates 22; when transporting flat material centre gripping, utilize two grip blocks 22 to slide and be close to flat material to shovel flat material on grip block 22 through the slope of grip block 22 one end, a plurality of grip blocks 22 bearing are in the bottom of flat material, fall on two grip blocks 22 the back at flat material, the bottom increase friction of the closely laminating flat material of a plurality of friction blocks 3, at the in-process of transporting flat material, a plurality of friction blocks 3 play the effect to flat material antiskid anticreep.
As shown in fig. 1,2 and 4, a first rotary roller 4 is rotatably connected in the manipulator base 1 away from the servo motor 11; a placing frame 41 is fixedly connected to the outer part of the first rotating roller 4; the outside of the manipulator base 1 is provided with a transmission component which is used for driving the first rotary roller 4 to rotate; when the flat material is transported and processed, as the surface of the flat material is provided with a plurality of holes, when part of the holes of the flat material are horizontally placed, the positions, which need to be processed, in the holes are difficult to be exposed, so that the holes of the flat material are affected, when the flat material is clamped, the placing frame 41 is in an inclined state, the output end of the servo motor 11 drives the flat material to be transported, the first rotating roller 4 is driven by the transmission component to rotate, the first rotating roller 4 drives the placing frame 41 to rotate into a parallel state, the clamping plates 22 place the flat material on the placing frame 41, and when the clamping plates 22 are reset, the transmission component drives the placing frame 41 to incline, so that the flat material is inclined along with the placing frame 41, the processing positions of the holes are exposed, and the holes of the flat material are convenient to process.
The transmission assembly comprises a gear 5, a screw rod 51, a fixing frame 52 and meshing teeth 53; the gear 5 is fixedly connected to the outside of the rotating frame 12; the screw rod 51 screw rod nut pair is connected to the inside of the first rotary roller 4, and the screw rod 51 is rotatably connected to the inside of the manipulator base 1; the fixed frame 52 is fixedly connected to one end of the screw rod 51, which is far away from the first rotary roller 4; a plurality of meshing teeth 53 are fixedly connected to the outside of the fixed frame 52, and the meshing teeth 53 are meshed with the gear 5; when the flat material on the conveyor is transferred to a station, the output end of the servo motor 11 is utilized to drive the rotating frame 12 to rotate, the gear 5 on the rotating frame 12 rotates along with the rotating frame, the fixed frame 52 is matched with the plurality of meshing teeth 53 to mesh and slide with the gear 5, the fixed frame 52 drives the screw rod 51 to be inserted into the internal thread fit of the first rotating roller 4, the first rotating roller 4 drives the placing frame 41 to rotate to a parallel state, the flat material is placed on the placing frame 41, and after the output end of the servo motor 11 reversely drives the rotating frame 12 to rotate and reset, the screw rod 51 reversely drives the placing frame 41 on the first rotating roller 4 to rotate, so that the placing frame 41 rotates to be in an inclined state, and the inclination control function on the placing frame 41 is achieved.
The top end of the placement frame 41 is connected with a baffle 6 in a sliding way near the first rotating roller 4; an elastic piece is fixedly connected between the baffle 6 and the placement frame 41; when the flat material on the placing frame 41 is obliquely processed, the clamping plate 22 is utilized to extrude the baffle plate 6 when the flat material is placed on the placing frame 41, the baffle plate 6 extrudes the elastic piece to shrink, so that the baffle plate 6 is retracted into the placing frame 41, after the clamping plate 22 is reset, the elastic piece extrudes the baffle plate 6 to slide upwards, the placing frame 41 drives the flat material to incline, and the flat material can slide against one side of the baffle plate 6, so that the effect of preventing the flat material from falling is achieved.
As shown in fig. 1,2 and 4, a second rotating roller 7 is rotatably connected in the manipulator base 1 and far away from the first rotating roller 4 through a torsion spring; the support plate 71 is fixedly connected to the outer part of the second rotating roller 7; the outer part of the supporting plate 71 is hinged with a supporting block 72, and the supporting block 72 is attached to the outer part of the placing frame 41; when the flat material to be transported on the rack 41 is obliquely processed, the torsion spring is utilized to drive the second rotary roller 7 to rotate in the tilting process of the rack 41 due to the heavier part of the flat material, and the support block 72 hinged with the support plate 71 is supported at the bottom end of the rack 41, so that the function of supporting the tilted end of the rack 41 in an auxiliary manner is achieved.
The pressing plate 8 is fixedly connected to the outer part of the rotating frame 12 and the position close to the servo motor 11; a sensor 81 is arranged at the top end of the manipulator base 1; a second electric cylinder is arranged in the placement frame 41, and the second electric cylinder is in signal connection with the sensor 81; the output end of the second electric cylinder is fixedly connected with a top block 82; when the flat material is transported and placed on the placement frame 41, the rotating frame 12 rotates to drive the pressing plate 8 to squeeze the sensor 81, the sensor 81 is triggered by squeezing and then sends a signal to the second electric cylinder, the plurality of clamping plates 22 transport the supported flat material to the upper side of the placement frame 41, at the moment, the output end of the second electric cylinder drives the jacking block 82 to jack the flat material, the flat material is higher than the clamping plates 22, then the clamping plates 22 slide along with the first electric sliding block 13, the servo motor 11 synchronously drives the pressing plate 8 and the clamping plates 22 to reset, and at the moment, the sensor 81 sends a signal again to the second electric cylinder to retract, so that the effect of jacking and discharging the flat material is achieved.
As shown in fig. 5, a material conveying method, which is suitable for conveying by using the material conveying manipulator described in the above, comprises the following steps:
S1: when the flat material is conveyed and processed, firstly, the flat material is placed on a conveyor for conveying, the material is conveyed to the lower part of the vacuum chuck 17 by the conveyor, the output end of the first electric cylinder 16 drives the vacuum chuck 17 to attach to the surface of the flat material for vacuum adsorption and lifting upwards, two opposite second electric sliding blocks 21 respectively drive the clamping plates 22 to clamp the two sides of the flat material, and then the vacuum chuck 17 stops adsorbing the flat material and presses the surface of the flat material;
S2: then the output end of the servo motor 11 drives the suspended flat material on the rotating frame 12 to transfer, the flat material is transferred to the position of the placing frame 41, the clamping plate 22 extrudes the baffle 6 to retract into the placing frame 41, the pressing plate 8 rotates along with the rotating frame 12 to extrude the triggering sensor 81, the output end of the second electric cylinder drives the top block 82 to push the flat material, and the two clamping plates 22 reversely slide to loosen the material on the top block 82;
S3: then the rotating frame 12 drives the plurality of clamping plates 22 to rotate and reset, the top blocks 82 retract inside the placing frame 41 to enable the flat materials to be placed on the surface of the placing frame 41, the screw-nut pair is matched to enable the first rotating roller 4 to rotate when the screw rod 51 resets, the placing frame 41 rotates to incline the flat materials to abut against one side of the baffle 6, and finally after the flat materials are processed in an inclined mode, the protruding portions of the flat materials on two sides of the placing frame 41 are clamped by the clamping jaws to be taken away.
The rotating and tilting angle of the placing frame 41 in S3 is sixty degrees, and the bottom end of the placing frame 41 and the side far away from the first rotating roller 4 are supported by the supporting plate 71 in a tilting manner in cooperation with the supporting block 72.
The working process comprises the following steps: when a material conveying manipulator is used for grabbing and transferring flat materials, the flat materials are conveyed to the lower part of the vacuum chuck 17 by the conveyor, the output end of the first electric cylinder 16 is utilized to drive the vacuum chuck 17 to extend downwards to the surface of the flat materials, the vacuum machine 15 is matched with the vacuum chuck 17 to absorb and lift the flat materials upwards through an air pipe, the clamping assembly is supported at the bottom end of the flat materials, the flat materials are clamped from two sides of the flat materials, then the servo motor 11 at the top end of the manipulator base 1 drives the rotating frame 12 to rotate, the flat materials are transferred to another station for processing, the clamping assembly loosens the flat materials after the flat materials reach the station, the first electric sliding block 13 is matched with the connecting column 14 to drive the vacuum machine 15 to slide to one side, so that the flat materials are separated from the clamping assembly, the effect of clamping and transferring the flat materials is achieved, and meanwhile when the flat materials are supported at the bottom by the clamping assembly, the vacuum chuck 17 stops absorbing and covers the surface of the flat materials, not only energy consumption of vacuum absorption can be reduced, but also the stability of the flat materials during transferring can be improved; when the flat material is clamped and conveyed, after the vacuum chuck 17 adsorbs the flat material and lifts, the two second electric sliding blocks 21 slide in opposite directions inside the two sliding boxes 2, the two second electric sliding blocks 21 respectively drive the clamping plates 22 to be close to the bottom ends of the flat material, the two clamping plates 22 clamp and limit the two sides of the flat material, when the vacuum chuck 17 stops adsorbing the flat material, the flat material falls on the two clamping plates 22 and is placed, and then the output end of the first electric cylinder 16 drives the vacuum chuck 17 to be pressed and covered on the surface of the flat material for transportation, so that the function of clamping and transporting the flat material is achieved; when the flat materials are clamped and transported, the two clamping plates 22 are utilized to slide to be close to the flat materials, the flat materials are shoveled on the clamping plates 22 through slopes at one ends of the clamping plates 22, the clamping plates 22 are supported at the bottom ends of the flat materials, after the flat materials fall on the two clamping plates 22, the friction blocks 3 are tightly attached to the bottom ends of the flat materials to increase friction, and in the process of transporting the flat materials, the friction blocks 3 play a role in preventing the flat materials from slipping;
When the flat material is transported and processed, as the surface of the flat material is provided with a plurality of holes, when part of the holes of the flat material are horizontally placed, the positions, which need to be processed, in the holes are difficult to be exposed, so that the holes of the flat material are affected, when the flat material is clamped, the placing frame 41 is in an inclined state, the output end of the servo motor 11 drives the flat material to be transported, the first rotating roller 4 is driven by the transmission component to rotate, the first rotating roller 4 drives the placing frame 41 to rotate to be in a parallel state, the clamping plates 22 place the flat material on the placing frame 41, and when the clamping plates 22 are reset, the transmission component drives the placing frame 41 to incline, so that the flat material is inclined along with the placing frame 41, the processing positions of the holes are exposed, and the holes of the flat material are convenient to process; when the flat materials on the conveyor are transferred to a station, the output end of the servo motor 11 is utilized to drive the rotating frame 12 to rotate, the gear 5 on the rotating frame 12 rotates along with the rotating frame, the fixed frame 52 is matched with the plurality of meshing teeth 53 to mesh and slide with the gear 5, the fixed frame 52 drives the screw rod 51 to be inserted into the internal screw thread of the first rotating roller 4, so that the first rotating roller 4 drives the placing frame 41 to rotate to be in a parallel state, the flat materials are placed on the placing frame 41, and after the output end of the servo motor 11 reversely drives the rotating frame 12 to rotate and reset, the screw rod 51 reversely drives the placing frame 41 on the first rotating roller 4 to rotate, so that the placing frame 41 rotates to be in an inclined state, and the inclination control function on the placing frame 41 is realized;
When the flat materials on the placing frame 41 are obliquely processed, the clamping plate 22 is utilized to press the baffle plate 6 when the flat materials are placed on the placing frame 41, the baffle plate 6 presses the elastic piece to shrink, so that the baffle plate 6 is retracted into the placing frame 41, after the clamping plate 22 is reset, the elastic piece presses the baffle plate 6 to slide upwards, the placing frame 41 drives the flat materials to incline, and the flat materials can slide against one side of the baffle plate 6, so that the effect of preventing the flat materials from falling is achieved;
When the flat materials transported on the placing frame 41 are obliquely processed, as part of the flat materials are heavier, the torsion spring is utilized to drive the second rotary roller 7 to rotate in the tilting process of the placing frame 41, and the supporting block 72 hinged with the supporting plate 71 is supported at the bottom end of the placing frame 41, so that the auxiliary support function for one end of the placing frame 41, which is tilted, is realized;
When the flat material is transported and placed on the placement frame 41, the rotating frame 12 rotates to drive the pressing plate 8 to squeeze the sensor 81, the sensor 81 is triggered by squeezing and then sends a signal to the second electric cylinder, the plurality of clamping plates 22 transport the supported flat material to the upper side of the placement frame 41, at the moment, the output end of the second electric cylinder drives the jacking block 82 to jack the flat material, the flat material is higher than the clamping plates 22, then the clamping plates 22 slide along with the first electric sliding block 13, the servo motor 11 synchronously drives the pressing plate 8 and the clamping plates 22 to reset, and at the moment, the sensor 81 sends a signal again to the second electric cylinder to retract, so that the effect of jacking and discharging the flat material is achieved.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A material conveying manipulator which is characterized in that: comprises a manipulator base (1); a servo motor (11) is fixedly connected to the top end of the manipulator base (1); the output end of the servo motor (11) is fixedly connected with a rotating frame (12); the bottom end of the rotating frame (12) is connected with a first electric sliding block (13) in a sliding way; the bottom end of the first electric sliding block (13) is fixedly connected with a connecting column (14); the bottom end of the connecting column (14) is fixedly connected with a vacuum machine (15); a first electric cylinder (16) is fixedly connected to the bottom end of the vacuum machine (15); the output end of the first electric cylinder (16) is fixedly connected with a vacuum chuck (17), and the vacuum chuck (17) is connected with the inside of the vacuum machine (15) through an air pipe; the outside of vacuum machine (15) is provided with clamping assembly, and clamping assembly is used for the centre gripping to the material.
2. A material handling robot as claimed in claim 1, wherein: the clamping assembly comprises a sliding box (2), a second electric sliding block (21) and a clamping plate (22); the two sliding boxes (2) are fixedly connected to two sides of the vacuum machine (15), and the directions of the two sliding boxes (2) are opposite; the second electric sliding block (21) is connected inside the sliding box (2) in a sliding way; the clamping plate (22) is fixedly connected to the outside of the second electric sliding block (21).
3. A material handling robot as claimed in claim 2, wherein: the top ends of the clamping plates (22) are fixedly connected with friction blocks (3), and the friction blocks (3) are provided with a plurality of friction blocks; a slope is arranged on one side of the bottom ends of the clamping plates (22).
4. A material handling robot as claimed in claim 1, wherein: a first rotating roller (4) is rotatably connected in the manipulator base (1) away from the servo motor (11); a placing frame (41) is fixedly connected to the outer part of the first rotating roller (4); the outside of manipulator base (1) is provided with drive assembly, and drive assembly is used for driving first commentaries on classics roller (4) rotation.
5. The material handling robot of claim 4, wherein: the transmission assembly comprises a gear (5), a screw rod (51), a fixing frame (52) and meshing teeth (53); the gear (5) is fixedly connected to the outside of the rotating frame (12); the screw rod (51) is connected with the inside of the first rotating roller (4) in a screw nut pair, and the screw rod (51) is rotatably connected with the inside of the manipulator base (1); the fixing frame (52) is fixedly connected to one end of the screw rod (51) far away from the first rotating roller (4); the plurality of meshing teeth (53) are fixedly connected to the outside of the fixing frame (52), and the plurality of meshing teeth (53) are meshed with the gear (5).
6. The material handling robot of claim 4, wherein: the top end of the placement frame (41) is connected with a baffle (6) in a sliding way near the first rotating roller (4); an elastic piece is fixedly connected between the baffle (6) and the placing frame (41).
7. The material handling robot of claim 4, wherein: the manipulator base (1) is internally provided with a first rotating roller (4) and is far away from the first rotating roller, and a second rotating roller (7) is rotationally connected with the manipulator base through a torsion spring; a supporting plate (71) is fixedly connected to the outer part of the second rotating roller (7); the outside of backup pad (71) articulates has supporting shoe (72), and supporting shoe (72) laminating are in rack (41) outside.
8. The material handling robot of claim 4, wherein: a pressing plate (8) is fixedly connected to the outer part of the rotating frame (12) and close to the servo motor (11); a sensor (81) is arranged at the top end of the manipulator base (1); a second electric cylinder is arranged in the placement frame (41), and the second electric cylinder is in signal connection with the sensor (81); and a top block (82) is fixedly connected with the output end of the second electric cylinder.
9. A material conveying method, which is applicable to the material conveying manipulator according to any one of claims 1-8, and is characterized in that: the method comprises the following steps:
S1: when the flat material is conveyed and processed, firstly, the flat material is placed on a conveyor for conveying, the material is conveyed to the lower part of a vacuum chuck (17) by the conveyor, the output end of a first electric cylinder (16) drives the vacuum chuck (17) to attach to the surface of the flat material for vacuum adsorption and lifting upwards, two opposite second electric sliding blocks (21) respectively drive clamping plates (22) to clamp two sides of the flat material, and then the vacuum chuck (17) stops adsorbing the flat material and presses the surface of the flat material;
S2: then, the output end of the servo motor (11) drives the suspended flat material on the rotating frame (12) to be transported, the flat material is transported to the position of the placing frame (41), the clamping plates (22) squeeze the baffle plate (6) to retract into the placing frame (41), the pressing plate (8) rotates along with the rotating frame (12) to squeeze the triggering sensor (81), the output end of the second electric cylinder drives the top block (82) to push the flat material, and the two clamping plates (22) reversely slide to loosen the material on the top block (82);
S3: then the rotating frame (12) drives the plurality of clamping plates (22) to rotate and reset, the top block (82) is retracted inside the placing frame (41) to enable the flat materials to be placed on the surface of the placing frame (41), the screw rod and nut pair is matched to enable the first rotating roller (4) to rotate when the screw rod (51) resets, the placing frame (41) rotates to incline the flat materials to prop against one side of the baffle (6), and finally after the flat materials are obliquely processed, the protruding parts of the flat materials on two sides of the placing frame (41) are clamped by the clamping jaws to be taken away.
10. A method of material delivery according to claim 9, wherein: the angle of rotation inclination of the placing frame (41) in the S3 is sixty degrees, and one side, far away from the first rotating roller (4), of the bottom end of the placing frame (41) is obliquely supported by a supporting plate (71) in cooperation with a supporting block (72).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410568765.9A CN118239258A (en) | 2024-05-09 | 2024-05-09 | Material conveying manipulator and material conveying method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410568765.9A CN118239258A (en) | 2024-05-09 | 2024-05-09 | Material conveying manipulator and material conveying method |
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| CN118239258A true CN118239258A (en) | 2024-06-25 |
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| CN202410568765.9A Pending CN118239258A (en) | 2024-05-09 | 2024-05-09 | Material conveying manipulator and material conveying method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118721271A (en) * | 2024-09-02 | 2024-10-01 | 吉林交通职业技术学院 | Robotic arm vision collaboration system based on bionic hand |
-
2024
- 2024-05-09 CN CN202410568765.9A patent/CN118239258A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118721271A (en) * | 2024-09-02 | 2024-10-01 | 吉林交通职业技术学院 | Robotic arm vision collaboration system based on bionic hand |
| CN118721271B (en) * | 2024-09-02 | 2024-12-27 | 吉林交通职业技术学院 | Robotic arm vision collaboration system based on bionic hand |
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