CN210061176U

CN210061176U - Material taking mechanism of piece discharging manipulator

Info

Publication number: CN210061176U
Application number: CN201920872819.5U
Authority: CN
Inventors: 赫英强; 刘吉; 郑恒飞
Original assignee: Suzhou Hagong Zhongzhi Automatic Technology Co Ltd
Current assignee: Suzhou Hagong Zhongzhi Automatic Technology Co Ltd
Priority date: 2019-06-11
Filing date: 2019-06-11
Publication date: 2020-02-14
Anticipated expiration: 2029-06-11
Also published as: WO2020248500A1

Abstract

The utility model relates to a material taking mechanism of a piece discharging manipulator, which comprises a material taking frame, a plurality of sucker components arranged on the material taking frame, anti-falling hook parts which are arranged on the two opposite sides of the material taking frame in a way of overturning around the length direction or the width direction of the material taking frame and form an anti-falling enclosing frame with the material taking frame, and a driving component for driving the anti-falling hook parts to overturn, wherein the anti-falling hook parts have two motion states of inward and outward turning of the material taking frame; after a plurality of sucking disc subassemblies adsorb the work piece, prevent falling the card hook piece and inwards overturn and form with the work or material rest and prevent falling and enclose the frame, the work piece is located and prevents falling to enclose the frame. The utility model discloses a what can make up prevents falling of transferring the in-process of work piece after the absorption and encloses the frame setting, eliminates the potential safety hazard to increase the security that the work piece was taken to the manipulator, simultaneously, simple structure, it is convenient to implement.

Description

Material taking mechanism of piece discharging manipulator

Technical Field

The utility model belongs to the manipulator field, concretely relates to feeding agencies of mechanical hand down.

Background

A manipulator, which imitates some action functions of human hand and arm, for grabbing, carrying objects or operating the automatic operation device of tool according to fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

However, for the sucker type manipulator, the product is sucked and transferred to a designated position mainly by the suction force provided by the plurality of sucker components, however, in the process of sucking or transferring, once the sucker components are damaged, the damage is not found in time, which is very easy to cause the risk of product falling off, especially for the manipulator working high above the ground, the manipulator is very dangerous, has great potential safety hazard, and the product can be damaged after falling off, so the problem needs to be solved urgently.

Disclosure of Invention

The utility model aims to solve the technical problem that overcome prior art not enough, provide a modified unloading mechanism of lower manipulator.

In order to solve the technical problem, the utility model discloses take following technical scheme:

a material taking mechanism of a piece discharging manipulator comprises a material taking frame, a plurality of sucker components arranged on the material taking frame, anti-falling hook parts and a driving component, wherein the anti-falling hook parts are arranged on two opposite sides of the material taking frame in a turnover mode around the length direction or the width direction of the material taking frame and form an anti-falling enclosing frame with the material taking frame; after a plurality of sucking disc subassemblies adsorb the work piece, prevent falling the card hook piece and inwards overturn and form with the work or material rest and prevent falling and enclose the frame, the work piece is located and prevents falling to enclose the frame.

Preferably, the anti-falling clamping hook piece is rotatably connected with the material taking frame through a connecting shaft and a shaft seat, and the driving assembly is used for driving the connecting shaft to rotate around the axis of the driving assembly.

According to the utility model discloses a concrete implementation and preferred aspect, prevent falling trip spare include from the end fixing on a connecting epaxial L type trip of a connecting limit, wherein lie in every connecting epaxial L type trip at least two, and two limits of every L type trip align the setting in the axial of connecting axle, after L type trip to the work fetching frame internal rotation, lie in two connecting epaxial a plurality of L type trips and the work fetching frame formation of connecting and prevent falling and enclose the frame, and another connecting limit of L type trip and sucking disc subassembly correspond the relative both sides that set up the work piece after adsorbing.

Specifically, two L-shaped clamping hooks are arranged on each connecting shaft and are respectively and correspondingly arranged at two end parts of each connecting shaft.

Furthermore, the L-shaped clamping hooks are right-angle clamping hooks, and the L-shaped clamping hooks positioned on the two connecting shafts are symmetrically arranged along the central line of the length direction of the connecting shafts relative to the material taking frame.

In this example, when the anti-falling enclosure frame is formed, the connecting edges of the L-shaped hooks on the two opposite sides, which are far away from the connecting shafts, are located on the same straight line, and the ends of the two connecting edges can be arranged at intervals or spliced to form one edge, but considering the distance between the two connecting shafts, the arrangement at intervals is more favorable for the miniaturization of the material taking mechanism.

Preferably, two right angle edges on the inside of the right angle hook are respectively provided with a cushion block, and after the sucker component adsorbs a workpiece, the clamping hook contacts the cushion block and the workpiece to limit the workpiece in the anti-falling enclosure frame. The cushion block is mainly used for preventing the workpiece from being damaged when the clamping hook contacts the workpiece.

According to the utility model discloses a still another concrete implementation and preferred aspect, drive assembly including set up respectively on the work or material rest and with two pneumatic tilt cylinders that the connecting axle one-to-one set up, respectively will pneumatic tilt cylinder output end and corresponding the driving chain or the drive belt that the connecting axle transmission is connected.

Preferably, the drive assembly further comprises limiting pieces which are fixed on the connecting shaft and provided with limiting insertion holes, and limiting pins which are arranged on the material taking frame and matched with the limiting insertion holes of the limiting pieces, and when the anti-falling enclosure frame is formed, the limiting pins are inserted into the limiting insertion holes.

In addition, the material taking frame comprises four profile parts, wherein every two profile parts are positioned on the same plane and arranged in parallel, and the profile parts positioned on the two planes are vertically connected together and form a groined shape.

Further, the material taking frame further comprises a connecting seat connected with an arm of the manipulator, wherein the connecting seat is fixed on the # -shaped profile part and correspondingly arranged on the opposite side of the sucker component.

Preferably, the sucking disc subassembly adsorbs on the workpiece surface through the mode that the negative pressure adsorbs, and a plurality of sucking disc subassemblies are located and form the inside of preventing falling the enclosure interval. Specifically, four of the sucker assemblies are distributed on the profile piece on the periphery of the cross part in the shape of a Chinese character jing in a rectangular mode, and the rest sucker assemblies are located on the profile piece on the side edge of the inside of the Chinese character jing.

Due to the implementation of the above technical scheme, compared with the prior art, the utility model have the following advantage:

the utility model discloses a what can make up prevents falling of transferring the in-process of work piece after the absorption and encloses the frame setting, eliminates the potential safety hazard to increase the security that the work piece was taken to the manipulator, simultaneously, simple structure, it is convenient to implement.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a schematic structural view (front side) of the material taking mechanism of the present invention;

fig. 2 is a rear view of the material taking mechanism of the present invention;

wherein: 1. a material taking frame; 10. a profile piece; 11. a connecting seat; 2. a sucker component; 3. a falling prevention hook member; a. a connecting shaft; b. a shaft seat; 30. an L-shaped hook; 30a, a connecting edge; 30b, the other connecting edge; 31. cushion blocks; 4. a drive assembly; 40. a pneumatic tilt cylinder; 41. a drive belt (or drive chain); 42. a limiting sheet; 43. and a limiting pin.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature. It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 and 2, the material taking mechanism of the piece feeding manipulator according to the embodiment includes a material taking frame 1, a plurality of sucker assemblies 2 arranged on the material taking frame 1, anti-falling hooks 3 arranged on two opposite sides of the material taking frame 1 in a manner of being overturned around the length direction or the width direction of the material taking frame 1 and forming an anti-falling enclosure frame with the material taking frame 1, and a driving assembly 4 for driving the anti-falling hooks 3 to overturn, wherein the anti-falling hooks 3 have two movement states of turning inside and outside of the material taking frame 1, and when the plurality of sucker assemblies 2 adsorb a workpiece, the anti-falling hooks 3 are overturned outwards to avoid the workpiece; after a plurality of sucking disc subassemblies 2 adsorb the work piece, prevent falling trip 3 inwards overturn and form with the work or material rest 1 and prevent falling and enclose the frame, the work piece is located and prevents falling and encloses the frame.

Specifically, the material taking frame 1 comprises four profile parts 10 and connecting seats 11 used for being connected with arms of a manipulator, wherein every two profile parts 10 are located on the same plane and are arranged in parallel, the profile parts 10 located on the two planes are vertically connected together and form a # -shaped structure, and the connecting seats 11 are fixed on the profile parts 10 in the # -shaped structure and are correspondingly arranged on the opposite sides of the sucker assemblies 2.

Referring to fig. 1, the falling prevention hook 3 is rotatably connected to the material taking frame 1 through a connecting shaft a and a shaft seat b, and the driving assembly 4 is used for driving the connecting shaft a to rotate around the axis of the driving assembly.

In this example, there are two connecting shafts a, which extend in the vertical direction (parallel to the two longitudinally extending profile members 10) and are respectively connected to two ends of the two transversely extending profile members 10 through shaft seats b, and specifically, the rotating connection between the connecting shafts a and the shaft seats b is realized by using bearings.

In this example, the anti-falling hook member 3 includes an L-shaped hook 30 fixed to a connecting shaft a from an end of a connecting side 30a, which should be horizontally arranged as viewed in the drawing.

Meanwhile, each connecting shaft a is provided with two L-shaped clamping hooks 30, and two connecting edges of the two L-shaped clamping hooks 30 are arranged in an aligned mode in the vertical direction. After the L-shaped clamping hook 30 rotates towards the material taking frame 1, the L-shaped clamping hook 30 positioned on the two connecting shafts a and the material taking frame 1 form a falling-prevention enclosing frame, and the other connecting edge 30b of the L-shaped clamping hook 30 and the sucker component 2 are correspondingly arranged on two opposite sides of the adsorbed workpiece.

Specifically, the L-shaped hooks 30 are right-angled hooks, the L-shaped hooks 30 located on the two connecting shafts a are symmetrically arranged along the central line of the connecting shaft a in the length direction of the material taking frame 1, and meanwhile, the L-shaped hooks 30 are respectively arranged at the upper end and the lower end of the connecting shaft a. This is only an embodiment, but asymmetry is also possible, for example: the position of the L-shaped hooks 30 on the connecting shaft a changes, and the L-shaped hooks 30 on two sides can be crossed or staggered. But symmetrical embodiments are most preferred in view of stability.

After the symmetrical implementation mode is adopted, when the anti-falling enclosure frame is formed, the connecting edges (namely the other connecting edge 30 b) of the L-shaped clamping hooks 30 which are positioned on the two opposite sides and far away from the connecting shafts are positioned on the same straight line, the end parts of the two connecting edges can be arranged at intervals, the two connecting edges can also be spliced to form one edge type arrangement, and the interval between the two connecting shafts is considered, so that the interval arrangement is more favorable for the miniaturization of the material taking mechanism.

In this embodiment, the two right-angle sides at the inner side of the right-angle hook are respectively provided with a cushion block 31, and after the sucker assembly 2 adsorbs a workpiece, the hook is contacted with the workpiece through the cushion block 31, so that the workpiece is limited in the anti-falling enclosure frame. The cushion block 31 mainly prevents the workpiece from being damaged when the hook contacts the workpiece.

The driving component 4 comprises two pneumatic tilt cylinders 40 which are respectively arranged on the connecting seat 11 and are in one-to-one correspondence with the connecting shaft a, a transmission belt 41 which is respectively used for connecting the output end parts of the pneumatic tilt cylinders 40 with the corresponding connecting shaft a in a transmission way, limiting pieces 42 which are respectively fixed on the connecting shaft a and are provided with limiting insertion holes, and limiting pins 43 which are arranged on the material taking frame 1 and are matched with the limiting insertion holes of the limiting pieces 42, when a falling prevention enclosure frame is formed, the limiting pins 43 are inserted into the limiting insertion holes to limit the rotation of the L-shaped clamping hook 30, meanwhile, the accuracy control of movement is considered, the slipping of the transmission belt 41 is prevented, and matched grooves and protrusions are respectively arranged on the transmission wheel and the transmission belt.

Specifically, the limit pin 43 is inserted into or withdrawn from the limit insertion hole under the movement of the cylinder.

The suction cup assembly 2 is adsorbed on the surface of a workpiece in a negative pressure adsorption mode, and the implementation mode is very common in the field of material taking manipulators, and how to implement adsorption is not explained and is also quite clear.

As incorporated in the present application, there are 5 sucker assemblies 2, four of which are distributed in a rectangular shape on the profile 10 around the cross-shaped portion of the #, and the remaining one sucker assembly 2 is located on the profile 10 on the side of the cross-shaped portion of the #.

In this example, two of the four suction cup assemblies 2 forming a rectangle are arranged on opposite outer sides of two longitudinally arranged profile pieces 10, and the remaining one suction cup assembly 2 is arranged on the inner side of the laterally extending profile piece 10 located below.

To sum up, this embodiment sets up through the upset of right angle L type trip, and after the work piece adsorbs, can prevent the work piece to falling in the anti-falling enclosure frame that forms as for the work piece, prevents the work piece and removes falling of in-process after adsorbing, eliminates the potential safety hazard to increase the security that the manipulator took the work piece, simultaneously under the cushion contact of the enclosure frame of preventing falling, alleviate sucking disc subassembly's pressure, make the manipulator at the in-process of taking the work piece and removing the work piece, more stable.

The present invention has been described in detail, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the same, and the scope of the present invention is not limited thereto, and the present invention is not limited to the above-mentioned embodiments, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the scope of the present invention.

Claims

1. The utility model provides a feeding manipulator's extracting mechanism, it includes the work or material rest, sets up the work or material rest on a plurality of sucking disc subassemblies, its characterized in that: the material taking mechanism further comprises anti-falling hook members and a driving assembly, wherein the anti-falling hook members are arranged on two opposite sides of the material taking frame in a manner of overturning in the length direction or the width direction of the material taking frame and form an anti-falling enclosing frame with the material taking frame, the driving assembly is used for driving the anti-falling hook members to overturn, and the anti-falling hook members have two movement states of turning inwards and outwards of the material taking frame; when a plurality of sucking disc subassembly adsorbs the work piece after, prevent falling trip spare inwards overturn and with the work fetching frame forms prevent falling and enclose the frame, the work piece is located prevent falling and enclose the frame in.

2. The lower manipulator take off mechanism of claim 1, further comprising: the anti-falling clamping hook piece is rotatably connected with the material taking frame through a connecting shaft and a shaft seat, and the driving assembly is used for driving the connecting shaft to rotate around the axis of the driving assembly.

3. The lower robot take off mechanism of claim 2, further comprising: prevent falling trip spare include that the tip from a connecting edge is fixed L type trip on the connecting axle, wherein be located every connecting epaxial L type trip is at least two, and two limits of every L type trip are in align the setting in the axial of connecting axle, work as L type trip to after the work or material rest internal rotation, be located two connecting epaxial a plurality of L type trip with the work or material rest forms prevent falling enclose the frame, just another connection limit of L type trip with the sucking disc subassembly corresponds the relative both sides that set up adsorbing the back work piece.

4. The lower robot take off mechanism of claim 3, further comprising: the L-shaped clamping hooks on each connecting shaft are two and are respectively and correspondingly arranged at two ends of the connecting shaft.

5. The lower manipulator take off mechanism of claim 4, wherein: the L-shaped clamping hooks are right-angle clamping hooks and are positioned on the two connecting shafts, and the L-shaped clamping hooks are symmetrically arranged on the material taking frame along the central line of the length direction of the connecting shafts.

6. The lower robot take off mechanism of claim 5, further comprising: the two right-angle edges on the inner side of the right-angle hook are respectively provided with a cushion block, and after the sucker component adsorbs a workpiece, the clamping hook contacts the cushion block with the workpiece to limit the workpiece in the anti-falling enclosure frame.

7. The lower robot take off mechanism of claim 2, further comprising: the driving assembly comprises two pneumatic tilt cylinders which are respectively arranged on the material taking frame and are in one-to-one correspondence with the connecting shafts, and a transmission chain or a transmission belt which respectively connects the output end parts of the pneumatic tilt cylinders with the corresponding connecting shafts in a transmission manner.

8. The lower robot take off mechanism of claim 7, further comprising: the driving assembly further comprises a limiting piece and a limiting pin, the limiting piece is fixed on the connecting shaft and provided with a limiting jack, the limiting pin is arranged on the material taking frame and matched with the limiting jack of the limiting piece, and when the anti-falling enclosure frame is formed, the limiting pin is inserted into the limiting jack.

9. The lower manipulator take off mechanism of claim 1, further comprising: the material taking frame comprises four profile parts, wherein every two profile parts are positioned on the same plane and are arranged in parallel, and the profile parts positioned on the two planes are vertically connected together and form a groined shape.

10. The lower robot take off mechanism of claim 9, further comprising: the material taking frame further comprises a connecting seat which is used for being connected with an arm of a manipulator, wherein the connecting seat is fixed on the # -shaped profile part and correspondingly arranged on the opposite side of the sucker component; sucking disc subassembly pass through the adsorbed mode of negative pressure and adsorb on the workpiece surface, it is a plurality of sucking disc subassembly is located and forms prevent falling the inside between the enclosing frame interval, and it is a plurality of there are four one-tenth rectangles to distribute at # -shaped cross position is peripheral on the section bar spare, remaining sucking disc subassembly is located the inside place side of # -shaped on the section bar spare.