CN205799484U - A kind of material automatic conveying mechanical arm - Google Patents

Abstract

The utility model discloses a kind of material automatic conveying mechanical arm, including lift cylinder, rotary drive motor, mechanical arm, mechanical hand holder, connecting plate and jaw, wherein, above-mentioned lift cylinder is fixedly installed on bearing, the output shaft of lift cylinder is arranged upward, and the upper end of output shaft is fixed with motor support plate；Above-mentioned rotary drive motor is fixed on motor support plate, and lift cylinder is rotated driving motor elevating movement by output shaft；One end of above-mentioned mechanical arm is connected on rotary drive motor, and the other end stretches out, and mechanical hand holder is fixed on the other end of mechanical arm, and rotary drive motor drives mechanical arm driving mechanical hands holder at horizontal in-plane moving；Above-mentioned jaw includes two, and is rotatably connected at the left and right sides of mechanical hand holder respectively by connecting plate, and jaw rotates with connecting plate, to clamp or to unclamp material.This utility model can complete automated material sorting, compact conformation, and sorting efficiency is high, effectively reduces production cost.

Description

A material automatic handling manipulator

technical field

The utility model relates to the field of automatic machinery, in particular to an automatic material handling manipulator.

Background technique

Automation refers to the process of achieving the expected goal through automatic detection, information processing, analysis and judgment, manipulation and control in accordance with the requirements of people without the direct participation of people or fewer people in the process of production and management of machinery, equipment, systems or processes. ;Automation technology is widely used in industry, agriculture, military, scientific research, transportation, commerce, medical care, service and family, etc.; the use of automation technology can not only save people from heavy physical labor, part of mental work, and harsh and dangerous work. It can be liberated from the environment, and can expand human organ functions, greatly improve labor productivity, and enhance human ability to understand and transform the world; therefore, automation is an important condition and a significant symbol for the modernization of industry, agriculture, national defense, and science and technology. In the actual industrial processing process, the sorting of good and bad products is often involved. After the product completes the entire processing process, the good and bad products after processing are detected by the inspection mechanism. The good and bad products need to be sorted and stored in different belts Above; the traditional manual sorting of materials has low work efficiency and high production costs, and is not suitable for modern industrial automation production.

Utility model content

The technical problem to be solved by the utility model is to provide a material with three degrees of freedom of movement to complete automatic material sorting, which has a compact structure, high sorting efficiency, and effectively reduces production costs. Automatic handling manipulator.

The technical scheme adopted by the utility model is as follows: an automatic material handling manipulator, including a lifting cylinder, a rotating drive motor, a mechanical arm, a manipulator clamping seat, a connecting plate and a jaw, wherein the above-mentioned lifting cylinder is fixed on a support, and the lifting The output shaft of the cylinder is set upwards, and the upper end of the output shaft is fixed with a motor support plate; the above-mentioned rotary drive motor is fixed on the motor support plate, and the lifting cylinder drives the rotary drive motor to move up and down through the output shaft; one end of the above-mentioned mechanical arm is connected to the rotary drive On the motor, the other end extends outward, and the manipulator holder is fixed on the other end of the mechanical arm. The rotating drive motor drives the mechanical arm to drive the manipulator holder to move in the horizontal plane; Connected to the left and right sides of the manipulator holder, the jaws rotate with the connecting plate to clamp or loosen the material.

Preferably, guide rods are respectively provided on both sides of the output shaft, the lower end of the guide rod is inserted into the lifting cylinder, and freely slides up and down in the lifting cylinder, and the upper end of the guide rod is connected to the motor support plate, so as to guide the limit Rotate the drive motor.

Preferably, the output end of the rotary drive motor is set upwards, an output port is opened on the top, and a swivel seat is inserted in the output port, and the rotary drive motor drives the swivel seat to rotate; one end of the above-mentioned mechanical arm is fixedly arranged on the rotary On the seat, the other end extends outward; the manipulator clamp seat is fixed on the other end of the mechanical arm, and one end of the mechanical arm rotates with the swivel base to drive the manipulator clamp seat to move in the horizontal plane.

Preferably, the manipulator holder has a rectangular structure, and its lower part is provided with an installation groove, which runs through the left and right sides of the manipulator holder; the upper part of the installation groove is provided with a miniature cylinder whose output ends are respectively located on the left and right sides; the above The lower part of the installation groove is provided with a supporting shaft near the left and right sides, and the lower part of the supporting shaft is provided with a rotating shaft. The two ends of the supporting shaft and the rotating shaft are respectively connected to the front and rear inner walls of the installation groove; There are card slots respectively, the above-mentioned spring seat is a U-shaped structure, and the two ends of the spring seat are respectively clamped in the card slots on the front and rear side walls of the manipulator clamp seat; the above-mentioned spring is arranged on the spring seat and extends upward into the installation groove , supported by a spring seat.

Preferably, the connecting plate includes two, which are respectively arranged on the left and right sides of the manipulator holder. The connecting plate is a T-shaped structure, and a rotating hole is opened on the connecting plate, and the rotating hole penetrates the front and rear side walls of the connecting plate. The above-mentioned rotating shaft Inserted in the rotation hole; the upper end of the connecting plate extends to the outside of the above-mentioned miniature cylinder, and the output end of the miniature cylinder pushes the upper end of the connecting plate to move outward, so that the connecting plate rotates around the rotating shaft, and the lower end of the connecting plate moves inward; the connecting plate The inside of the inner side is provided with an extension part extending inward, and the extension part passes through the gap between the support shaft and the rotating shaft and extends into the installation groove of the manipulator holder; the bottom surface of the extension part is close to the upper end of the spring arranged on the spring seat, When the output end of the miniature cylinder pushes outward and drives the lower end of the connecting plate to move inward, the extension part stretches the spring; when the output end of the miniature cylinder retracts inward, the tension generated by the spring pulls the extension part down to move The lower end of the connecting plate moves outward.

Preferably, the jaws include two, and the two jaws are respectively fixed on the connecting plates on the left and right sides of the above-mentioned manipulator holder, and the lower end of the jaws is fixedly provided with a gripping part. When the jaws rotate with the connecting plate, the two The clamping part is opened or clamped to clamp or loosen the material.

The beneficial effects of the utility model are:

The utility model improves and innovates on the defects and deficiencies of the existing technology, and designs an automatic material handling manipulator that can carry out automatic material sorting, has a compact structure, high sorting efficiency, and effectively reduces production costs; the utility model sets On the outside of the material transmission line, there is also a material guide mechanism on its side. The function of the utility model is to complete the material transfer, so that the material is transferred from the assembly line to the material guide mechanism, and then the material is driven by the material guide mechanism. , so that the material is transported to the good or bad product belt; when working, the material clamping mechanism first grabs the tested good or bad product materials from the material transmission line to the material guide mechanism one by one, and the material guide mechanism drives The material moves in a straight line to the good product belt or the defective product belt of the material transmission line, and the material is pushed into the good product belt or the defective product belt, and the movement is repeated to complete the sorting action of good products and defective products.

The utility model includes the freedom of movement in three directions, respectively realizing the lifting movement, the rotating movement and the clamping movement back and forth; the lifting movement of the material clamping mechanism is realized by the lifting cylinder arranged on the first support, and the output shaft of the lifting cylinder Set it upwards, and push the rotary drive motor installed on the upper end of the output shaft to move up and down, and guide the limit through the guide rod; the rotary motion is realized by the rotary drive motor driven by the rotary seat inserted in the output port, and one end of the mechanical arm is fixed. On the swivel seat, the swivel seat drives the end of the mechanical arm to rotate, so that the manipulator holder set at the other end of the mechanical arm rotates in the horizontal plane; When the connecting plates on both sides of the clamping seat rotate, the gripping part at the lower end of the jaws is opened or clamped so as to loosen or clamp the material; the utility model creatively designs the structural design of the connecting plate and the manipulator clamping seat to To realize the action of picking and unloading the jaws, the lower end of the gripper seat of the manipulator is provided with an installation groove, and a miniature cylinder with output ends on the left and right sides is embedded in the installation groove. A support shaft and a rotating shaft are respectively arranged under the miniature cylinder, and a spring is arranged at the bottom of the installation groove. The spring seat is fixed with a spring; the T-shaped connecting plate is supported by a rotating shaft inserted in it, and can rotate freely around the rotating shaft. The upper end of the connecting plate extends to the outside of the miniature cylinder, and the inner extension of the connecting plate faces in Extending into the installation groove, the bottom surface of the extension part is fixedly connected with the spring; when the jaws are clamped, the output end of the miniature cylinder pushes the upper end of the connecting plate outward, so that the lower end of the connecting plate moves inward, and the extension part pulls the spring apart at this time , is clamped on the fulcrum limit extension above the extension to prevent excessive stretching of the spring; when the jaws are released, the output end of the miniature cylinder retracts inward, and the pulled spring pulls the extension under its own rebound force The downward movement drives the connecting plate to rotate inwardly around the axis, so that the lower end of the connecting plate is opened, and the loosening action is automatically completed.

Description of drawings

Fig. 1 is a schematic diagram of the exploded structure of the components of the present utility model.

detailed description

The utility model will be further described below in conjunction with accompanying drawing:

As shown in Figure 1, the technical scheme adopted by the utility model is as follows, a material automatic handling manipulator, including a lifting cylinder 41, a rotating drive motor 44, a mechanical arm 47, a manipulator clamp seat 48, a connecting plate 414 and a jaw 417, wherein The above-mentioned lifting cylinder 41 is fixedly arranged on the support, the output shaft 42 of the lifting cylinder 41 is set upward, and the upper end of the output shaft 42 is fixed with a motor support plate; the above-mentioned rotary drive motor 44 is fixed on the motor support plate, and the lifting cylinder 41 passes through The output shaft 42 drives the rotary drive motor 44 to move up and down; one end of the above-mentioned mechanical arm 47 is connected to the rotary drive motor 44, and the other end extends outward. Arm 47 drives manipulator holder 48 to move in the horizontal plane; Above-mentioned jaw 417 comprises two, and is connected to the left and right sides of manipulator holder 48 rotatably by connecting plate 414 respectively, and jaw 417 rotates with connecting plate 414, with Clamp or loosen material.

Both sides of the output shaft 42 are respectively provided with a guide rod 43, the lower end of the guide rod 43 is inserted into the lifting cylinder 41, and freely slides up and down in the lifting cylinder 41, and the upper end of the guide rod 43 is connected to the motor support plate, so as to guide the limit Rotation drive motor 44 .

The output end of the rotary drive motor 44 is arranged upwards, and its top is provided with an output port 45, and the output port 45 is inserted with a swivel seat 46, and the rotary drive motor 44 drives the swivel seat 46 to rotate; one end of the above-mentioned mechanical arm 47 is fixedly arranged on On the swivel base 46, the other end extends outwards; the above-mentioned manipulator clamp seat 48 is fixed on the other end of the mechanical arm 47, and one end of the mechanical arm 47 rotates with the swivel base 46 to drive the manipulator clamp seat 48 to move in the horizontal plane.

The manipulator holder 48 is a rectangular structure, and its bottom is provided with a mounting groove, which runs through the left and right sides of the manipulator holder 48; the top of the installation groove is provided with a miniature cylinder 49 whose output end is located at the left and right sides respectively; the above-mentioned installation groove Bottom is respectively provided with fulcrum 410 near the left and right sides, and the bottom of fulcrum 410 is provided with rotating shaft 411, and the two ends of fulcrum 410 and rotating shaft 411 are respectively connected on the front and rear inner side walls of mounting groove; The side walls are respectively provided with draw-in slots, the above-mentioned spring seat 412 is a U-shaped structure, and the two ends of the spring seat 412 are respectively clamped in the draw-in slots on the front and rear side walls of the manipulator clamp seat 48; the above-mentioned spring 413 is arranged on the spring seat 412 , and extend upward into the installation groove, supported by the spring seat 412 .

Connecting plate 414 comprises two, is arranged on the left and right sides of manipulator holder 48 respectively, and connecting plate 414 is T-shaped structure, is provided with rotating hole 415 on connecting plate 414, and rotating hole 415 runs through the front and rear side wall of connecting plate 414, and above-mentioned The rotating shaft 411 is inserted in the rotating hole 415; the upper end of the connecting plate 414 extends to the outside of the above-mentioned miniature cylinder 49, and the output end of the miniature cylinder 49 pushes the upper end of the connecting plate 414 to move outwards, so that the connecting plate 414 rotates around the rotating shaft 411, and connects The lower end of the plate 414 moves inward; the inner side of the connecting plate 414 is provided with an extension 416 extending inward, and the extension 416 passes through the gap between the support shaft 410 and the rotating shaft 411 and extends into the installation groove of the manipulator holder 48; The bottom surface of the extension part 416 is close to the upper end of the spring 413 arranged on the spring seat 412, and the output end of the miniature cylinder 49 pushes outwards, and when the lower end of the connecting plate 414 is driven to move inwardly, the extension part 416 stretches the spring 413; When the output end of the miniature cylinder 49 retracts inwardly, the pulling force generated by the spring 413 pulls the extension part 416 to move downward, so that the lower end of the connecting plate 414 moves outwardly.

Clamping jaw 417 comprises two, and two clamping jaws 417 are respectively fixed on the connecting plate 414 on the left and right sides of above-mentioned manipulator holder 48, and the lower end of clamping jaw 417 is fixedly provided with gripper 418, and when clamping jaw 417 rotates with connecting plate 414, , the two clamping parts 418 are opened or clamped so as to clamp or loosen the material.

Further, the utility model designs an automatic material handling manipulator that can carry out automatic material sorting, has a compact structure, high sorting efficiency, and effectively reduces production costs; There is also a material guide mechanism at the top of the utility model. The function of the utility model is to complete the transportation and transfer of materials, so that the materials are transferred from the assembly line to the material guide mechanism, and then the material is driven by the material guide mechanism to move linearly, so that the materials are transported to the good product belt or On the belt of defective products; when working, the material clamping mechanism first grabs the detected good or defective products from the material transmission line to the material guide mechanism one by one, and the material guide mechanism drives the materials to move linearly to the good products of the material transmission line The material belt or the defective product belt, and push the material into the good product material belt or the defective product material belt, so that the movement is repeated to complete the sorting action of the good product and the defective product. The utility model includes the freedom of movement in three directions, respectively realizing the lifting movement, the rotating movement and the clamping movement back and forth; the lifting movement of the material clamping mechanism is realized by the lifting cylinder arranged on the first support, and the output shaft of the lifting cylinder Set it upwards, and push the rotary drive motor installed on the upper end of the output shaft to move up and down, and guide the limit through the guide rod; the rotary motion is realized by the rotary drive motor driven by the rotary seat inserted in the output port, and one end of the mechanical arm is fixed. On the swivel seat, the swivel seat drives the end of the mechanical arm to rotate, so that the manipulator holder set at the other end of the mechanical arm rotates in the horizontal plane; When the connecting plates on both sides of the clamping seat rotate, the gripping part at the lower end of the jaws is opened or clamped so as to loosen or clamp the material; the utility model creatively designs the structural design of the connecting plate and the manipulator clamping seat to To realize the action of picking and unloading the jaws, the lower end of the gripper seat of the manipulator is provided with an installation groove, and a miniature cylinder with output ends on the left and right sides is embedded in the installation groove. A support shaft and a rotating shaft are respectively arranged under the miniature cylinder, and a spring is arranged at the bottom of the installation groove. The spring seat is fixed with a spring; the T-shaped connecting plate is supported by a rotating shaft inserted in it, and can rotate freely around the rotating shaft. The upper end of the connecting plate extends to the outside of the miniature cylinder, and the inner extension of the connecting plate faces in Extending into the installation groove, the bottom surface of the extension part is fixedly connected with the spring; when the jaws are clamped, the output end of the miniature cylinder pushes the upper end of the connecting plate outward, so that the lower end of the connecting plate moves inward, and the extension part pulls the spring apart at this time , is clamped on the fulcrum limit extension above the extension to prevent excessive stretching of the spring; when the jaws are released, the output end of the miniature cylinder retracts inward, and the pulled spring pulls the extension under its own rebound force The downward movement drives the connecting plate to rotate inwardly around the axis, so that the lower end of the connecting plate is opened, and the loosening action is automatically completed.

The embodiment of the utility model is only to introduce its specific implementation, not to limit its protection scope. Those skilled in the industry can make some modifications under the inspiration of this embodiment, so all equivalent changes or modifications made according to the patent scope of the utility model all belong to the scope of the patent claims of the utility model.

Claims (6)

1. An automatic material handling manipulator, characterized in that it includes a lifting cylinder (41), a rotating drive motor (44), a mechanical arm (47), a manipulator holder (48), a connecting plate (414) and a gripper (417 ), wherein the above-mentioned lifting cylinder (41) is fixedly arranged on the support, the output shaft (42) of the lifting cylinder (41) is set upward, and the upper end of the output shaft (42) is fixed with a motor support plate; the above-mentioned rotary drive motor ( 44) Fixed on the motor support plate, the lifting cylinder (41) drives the rotating drive motor (44) to move up and down through the output shaft (42); one end of the above-mentioned mechanical arm (47) is connected to the rotating drive motor (44), and the other end Extending outward, the manipulator holder (48) is fixed on the other end of the mechanical arm (47), and the rotating drive motor (44) drives the robot arm (47) to drive the manipulator holder (48) to move in the horizontal plane; the above-mentioned jaws (417 ) consists of two, which are respectively rotatably connected to the left and right sides of the manipulator holder (48) through the connecting plate (414), and the clamping jaws (417) rotate with the connecting plate (414) to clamp or loosen the material. 2. An automatic material handling manipulator according to claim 1, characterized in that guide rods (43) are provided on both sides of the output shaft (42), and the lower ends of the guide rods (43) are inserted into the lifting cylinder (41), and freely slide up and down in the lift cylinder (41), the upper end of the guide rod (43) is connected to the motor support plate, so as to guide the limiting rotation drive motor (44). 3. An automatic material handling manipulator according to claim 2, characterized in that: the output end of the rotary drive motor (44) is set upwards, and an output port (45) is opened on the top, and the output port (45 ) is inserted with a swivel seat (46), and the rotary drive motor (44) drives the swivel seat (46) to rotate; one end of the mechanical arm (47) is fixed on the swivel seat (46), and the other end extends outward; The manipulator holder (48) is fixed on the other end of the mechanical arm (47), and one end of the robot arm (47) rotates with the swivel base (46) to drive the manipulator holder (48) to move in the horizontal plane. 4. An automatic material handling manipulator according to claim 3, characterized in that: the manipulator holder (48) is a rectangular structure, and its lower part is provided with a mounting groove, and the installation groove runs through the manipulator holder (48) ) on the left and right sides; the upper part of the installation groove is provided with a miniature cylinder (49) whose output ends are respectively located on the left and right sides; The lower part is provided with a rotating shaft (411), and the two ends of the supporting shaft (410) and the rotating shaft (411) are respectively connected to the front and rear inner side walls of the mounting groove; The above-mentioned spring seat (412) has a U-shaped structure, and the two ends of the spring seat (412) are respectively clamped in the slots on the front and rear side walls of the manipulator clamp seat (48); the above-mentioned spring (413) is arranged on the spring seat (412) up, and extend upward into the mounting groove, supported by the spring seat (412). 5. A material automatic handling manipulator according to claim 4, characterized in that: the connecting plate (414) includes two, which are respectively arranged on the left and right sides of the manipulator holder (48), and the connecting plate (414) ) is a T-shaped structure, the connecting plate (414) is provided with a rotating hole (415), the rotating hole (415) runs through the front and rear side walls of the connecting plate (414), and the above-mentioned rotating shaft (411) is inserted in the rotating hole (415) The upper end of the connecting plate (414) extends to the outside of the miniature cylinder (49), and the output end of the miniature cylinder (49) pushes the upper end of the connecting plate (414) to move outward, so that the connecting plate (414) revolves around the rotating shaft (411) Rotate, the lower end of the connecting plate (414) moves inwardly; the inner side of the connecting plate (414) is provided with an extension part (416) extending inward, and the extension part (416) passes between the support shaft (410) and the rotating shaft (411) The gap between them extends into the installation groove of the manipulator clamp seat (48); the bottom surface of the extension part (416) is close to the upper end of the spring (413) arranged on the spring seat (412), and the output end of the miniature cylinder (49) When pushing outward and driving the lower end of the connecting plate (414) to move inwardly, the extension part (416) stretches the spring (413); when the output end of the miniature cylinder (49) retracts inwardly, the spring (413) produces The pulling force pulls the extension part (416) to move downward, so that the lower end of the connecting plate (414) moves outward. 6. An automatic material handling manipulator according to claim 5, characterized in that: said jaws (417) include two, and the two jaws (417) are respectively fixed on the left and right sides of the manipulator holder (48). On the connecting plate (414) on the side, the lower end of the jaws (417) is fixed with a clamping part (418). When the clamping jaws (417) rotate with the connecting plate (414), the two clamping parts (418) open or Clamp to clamp or loosen material.