CN210476082U

CN210476082U - High-speed 90-degree rotary material taking and assembling manipulator

Info

Publication number: CN210476082U
Application number: CN201921230284.8U
Authority: CN
Inventors: 熊友鹏
Original assignee: Dongguan Minjiang Intelligent Technology Co Ltd
Current assignee: Dongguan Minjiang Intelligent Technology Co Ltd
Priority date: 2019-07-31
Filing date: 2019-07-31
Publication date: 2020-05-08
Anticipated expiration: 2029-07-31

Abstract

The utility model discloses a high-speed 90 degrees rotations are got and are assembled manipulator, the parcel frame, the frame is provided with the gripper, is connected the arm of gripper, drive arm pivoted swivel mount, drive the shift fork that the arm removed, connect shift fork connection's shaft coupling, connection the servo motor of shaft coupling still includes the material pushing component, the material pushing component includes sliding connection gripper's scraping wings, connection the return spring of scraping wings, connection the roller bearing of scraping wings, can with the sloping of roller bearing butt, drive the first cylinder that the sloping removed, first cylinder is connected with the frame, and first cylinder is used for the drive the scraping wings pushes away the material, and return spring is used for driving the scraping wings return. The utility model discloses a high-speed 90 degrees rotations are got material and are assembled manipulator can avoid producing the interference to the assembly of product, the efficient assembly.

Description

High-speed 90-degree rotary material taking and assembling manipulator

Technical Field

The utility model relates to an automation equipment especially relates to a high-speed 90 degrees rotations are got material and are assembled manipulator.

Background

In the prior art, a manipulator is an efficient tool for realizing automatic assembly, and common structures are a CN201711377458.9 cam manipulator and a CN201610058208.8 track-driven manipulator.

The structure of the mechanical arm comprises a mechanical claw, a mechanical arm connected with the mechanical claw and a cam transmission mechanism driving the mechanical arm to rotate and move.

However, the gripper usually takes and places the material in a clamping manner, which interferes with the assembly of the product and affects the assembly of the product.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving the above-mentioned technical problem, provide a high-speed 90 degrees rotations get material equipment manipulators, can avoid producing the interference, the efficient assembly to the assembly of product.

The utility model discloses a realize through following technical scheme:

the utility model provides a high-speed 90 degrees rotations get material equipment manipulators, package frame, the frame is provided with the gripper, connects the arm, the drive of gripper the arm pivoted swivel mount, drive the shift fork that the arm removed, connect the shaft coupling of shift fork connection, connection the servo motor of shaft coupling still includes and pushes away the material subassembly, it includes sliding connection gripper's scraping wings, connection to push away the material subassembly the return spring of scraping wings, connect the roller bearing of scraping wings, can with the sloping block of roller bearing butt, drive the first cylinder that the sloping block removed, first cylinder with the frame is connected, first cylinder is used for the drive the scraping wings pushes away the material, return spring is used for driving the scraping wings return.

Preferably, the moving direction of the inclined block is perpendicular to the pushing direction, the inclined block is provided with a first side surface which is abutted against the roller, and the first side surface is used for pushing the material pushing plate towards the direction far away from the rotating seat.

Preferably, the material pushing assembly further comprises a limiting block and an accommodating groove, the limiting block is connected with the limiting block, the limiting groove is provided with an adjusting bolt, and the adjusting bolt is used for abutting against the limiting block in the moving direction.

Preferably, the first cylinder is arranged between the material taking position and the material placing position of the mechanical claw.

Preferably, the frame is provided with first backing roll and second backing roll, first backing roll is used for supporting and is in the blowing position the gripper, the second backing roll is used for supporting and is in getting the material position the gripper, first backing roll with the second backing roll with the frame rotates and is connected.

Preferably, the rack is provided with a first conveying guide rail, the first conveying guide rail is arranged at the material taking position of the mechanical claw, the first conveying guide rail is provided with a first pressing claw for limiting material conveying and a sensor for identifying materials, and the first pressing claw is connected with a second cylinder.

Furthermore, the first conveying guide rail is provided with a bracket for fixing the inductor, a first sliding groove for accommodating the bracket to move and a wrench for adjusting the position of the bracket, and the wrench penetrates through the bracket and then is connected with the first conveying guide rail through threads.

Preferably, the frame is provided with a second conveying guide rail, the second conveying guide rail set up in the blowing position of gripper, the second conveying guide rail is provided with the second pressure claw that is used for pressing the material, the second is pressed the claw and is connected with the torsional spring.

Furthermore, the second conveying guide rail is provided with a lifting claw, the lifting claw is used for pushing and lifting materials, and the lifting claw is arranged below the second pressing claw.

Preferably, the swivel mount is provided with a second chute for accommodating the mechanical arm and a cover for covering the second chute, the cover is provided with a limiting post for limiting the rotation range, and the rack is provided with a limiting plate for abutting against the limiting post.

The beneficial effects are that: compared with the prior art, the high-speed 90-degree rotating material taking and assembling manipulator of the utility model is provided with the material pushing assembly, so that when the gripper rotates and moves to the material placing position, the first cylinder drives the inclined block to move, the inclined block and the rolling shaft extrude, and further, the rolling shaft drives the material pushing plate to move, so that the material is pushed out of the gripper, the interference of the gripper on assembly is avoided, and the product assembly is facilitated; meanwhile, the return spring is arranged, so that the material pushing plate can be pushed back to the original position, and the material taking and placing of the mechanical claw are not influenced; moreover, the inclined block and the first cylinder which drive the material pushing plate to push are arranged on the frame, so that the weight of the mechanical claw is reduced, and the movement resistance of the mechanical claw is reduced, therefore, the mechanical claw can run at high speed and is very efficient; moreover, the weight of the mechanical claw is reduced, the deformation of the mechanical arm is reduced, and the mechanical claw is accurate in position when taking and placing materials and is suitable for fine assembly.

Drawings

In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below.

It is clear that the described figures represent only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from these figures without inventive effort.

Fig. 1 is a schematic structural view of a high-speed 90-degree rotary material-taking assembly manipulator of the present invention at a material-taking position;

FIG. 2 is a schematic structural view of the manipulator of FIG. 1 in a discharge position;

FIG. 3 is an enlarged schematic view of direction A of the robot of FIG. 2;

FIG. 4 is a bottom view of FIG. 3;

FIG. 5 is a cross-sectional view of FIG. 3;

FIG. 6 is a partial schematic view of the pusher assembly of FIG. 3;

fig. 7 is a partial schematic view of a reclaiming station in the robot of fig. 1.

Detailed Description

This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

As shown in fig. 1 and 2, a high-speed 90-degree rotary material taking and assembling manipulator is a block wrapping machine frame 10, wherein the machine frame 10 is provided with a mechanical claw 20, a mechanical arm 30 connected with the mechanical claw 20, a rotary seat 40 driving the mechanical arm 30 to rotate, a shifting fork 50 driving the mechanical arm 30 to move, a coupling connected with the shifting fork 50, and a servo motor connected with the coupling.

In order to prevent the rotation and movement of the robot arm 30 from affecting each other, the swivel base 40 is provided with a second sliding groove for accommodating the robot arm 30 and a cover 41 for covering the second sliding groove.

In order to limit the rotation range of the mechanical arm 30, the cover 41 is provided with a limiting post 42 for limiting the rotation range, and correspondingly, the frame 10 is provided with a limiting plate abutting against the limiting post 42.

As shown in fig. 1 and 2, the frame 10 is provided with a first conveying rail 70, the first conveying rail 70 is disposed at the material taking position of the gripper 20, and the first conveying rail 70 provides the material grabbed by the gripper 20.

Correspondingly, the rack 10 is provided with a second conveying guide rail 80, the second conveying guide rail 80 is arranged at the discharging position of the gripper 20, the second conveying guide rail 80 is used for providing materials to be assembled, and the materials conveyed by the first conveying guide rail 70 and the materials conveyed by the second conveying guide rail 80 need to be assembled in design.

As shown in fig. 1, the gripper 20 is located at the material taking position, and when the servo motor works, the shifting fork 50 drives the mechanical arm 30 to move, so that the gripper 20 is far away from the material taking position, then the rotary seat 40 synchronously moves to drive the mechanical arm 30 to rotate, so that the mechanical arm 30 faces the material placing position, namely, the state shown in fig. 2, and then the shifting fork 50 moves again to push the mechanical arm 30 to move, so that the gripper 20 moves to the material placing position and then is assembled.

After the assembly is completed for one time, the shifting fork 50 drives the mechanical arm 30 to be far away from the material placing position, then the rotary seat 40 drives the mechanical arm 30 to rotate synchronously, the material taking position is returned, the shifting fork 50 drives the mechanical arm 30 and the mechanical claw 20 to be close to the material taking position, the material is taken again, and the assembly is repeated.

The detailed arrangement and working principle of the manipulator can be seen in the patent documents CN201711377458.9 cam manipulator and CN201610058208.8 track-driven manipulator.

In order to solve the problems faced by the existing manipulator, the pushing assembly 60 is provided in the present embodiment.

As shown in fig. 2, the pusher assembly 60 is disposed at the discharge position of the gripper 20, so as to ensure that the positional deviation of the gripper 20 is small during assembly.

Specifically, as shown in fig. 3, 4, 5, and 6, the pushing assembly 60 includes a pushing plate 21 slidably connected to the gripper 20, a return spring 23 connected to the pushing plate 21, a roller 22 connected to the pushing plate 21, an inclined block 61 capable of abutting against the roller 22, and a first cylinder 62 driving the inclined block 61 to move, the first cylinder 62 is connected to the frame 10, the first cylinder 62 is used for driving the pushing plate 21 to push material, and the return spring 23 is used for driving the pushing plate 21 to return.

As shown in fig. 5, in detail, the gripper 20 includes an upper jaw and a lower jaw, the upper jaw and the lower jaw clamp the material therebetween, the ejector plate 21 is disposed between the upper jaw and the lower jaw, the roller 22 penetrates through the lower jaw and then contacts with the inclined block 61, the return spring 23 is disposed in the lower jaw, and the acting force of the return spring 23 on the ejector plate 21 is opposite to the acting force of the inclined block 61 on the roller 22.

When the first cylinder 62 works, the inclined block 61 drives the roller 22 to move, and then the roller 22 drives the material pushing plate 21 to move, so as to push out the material, and after the material pushing is completed, the material pushing plate 21 is returned to the original position by the return spring 23.

As shown in the figure, the moving direction of the inclined block 61 is perpendicular to the pushing direction, the inclined block 61 is provided with a first side surface 66, and the first side surface 66 can push the material pushing plate 21 away from the rotating seat 40 under the action of the first cylinder 62.

The first side surface 66 is used for pushing the roller 22, and the moving distance of the material pushing plate 21 can be set by utilizing the curvature change of the first side surface 66, so that the adjustment is convenient.

In the embodiment, the material pushing assembly 60 is arranged, so that when the gripper 20 rotates and moves to the material placing position, the first cylinder 62 drives the inclined block 61 to move, the inclined block 61 and the roller 22 generate extrusion, and further, the roller 22 drives the material pushing plate 21 to move, so that the material is pushed out of the gripper 20, interference of the gripper 20 on assembly is avoided, and product assembly is facilitated.

Meanwhile, the return spring 23 is arranged, so that the material pushing plate 21 can be pushed back to the original position, and the material taking and placing of the mechanical claw 20 are not influenced.

Moreover, the inclined block 61 and the first cylinder 62 for driving the material pushing plate 21 to push material are mounted on the frame 10, so that the weight of the gripper 20 is reduced, and the resistance to the movement of the gripper 20 is reduced, therefore, the gripper 20 can operate at high speed and with high efficiency.

Moreover, because the weight of the mechanical claw 20 is reduced, the deformation of the mechanical arm 30 is reduced, and the position of the mechanical claw 20 is accurate when the material is taken and placed, so that the mechanical claw is suitable for fine assembly.

In some implementations, as shown in fig. 6, in order to accurately control the moving range of the inclined block 61 and further accurately control the position of the material pushing plate 21, the material pushing assembly 60 may further include a limiting block 64 connected to the inclined block 61, and a limiting groove receiving the limiting block 64, where the limiting groove is provided with an adjusting bolt 65, and the adjusting bolt 65 is used for abutting against the limiting block 64 along the moving direction of the limiting block 64.

That is, the adjusting bolt 65 is rotated to change the moving range of the limiting block 64, and further, the moving range of the inclined block 61 is changed, so as to adjust the position of the material pushing plate 21.

In some embodiments, the first cylinder 62 may be disposed between the picking position and the placing position of the gripper 20 to allow for a reasonable robot layout and thus reduce the space occupied.

Since the gripper 20 is connected to the end of the robot arm 30, the gripper 20 and the robot arm 30 are in a cantilever state, and the gripper 20 may generate a deviation in a direction perpendicular to the rotation plane of the robot arm 30.

To solve this problem, the frame 10 may be further provided with a first supporting roller 63 and a second supporting roller 90, the first supporting roller 63 is used for supporting the gripper 20 at the discharging position, and the first supporting roller 63 is rotatably connected with the frame 10.

Similarly, the second supporting roller 90 is used for supporting the gripper 20 at the material taking position, and the second supporting roller 90 is rotatably connected with the frame 10.

In order to ensure the automatic assembly, the first conveying guide 70 may be provided with a first pressing claw 71 for limiting the material conveying and a sensor 73 for identifying the material, and a second air cylinder 72 is connected to the first pressing claw 71.

That is, the second cylinder 72 controls the first pressing claw 71 to act, so that the first pressing claw 71 intermittently compresses the material, and the material intermittently flows down the mechanical claw 20, thereby meeting the assembly requirement.

The sensor 73 is preferably an optical sensor to determine whether the gripper 20 has removed material to avoid a missing load.

As shown in fig. 7, in order to reasonably adjust the position of the sensor 73, the first conveying rail 70 may be provided with a bracket 74 for fixing the sensor 73, a first sliding groove 75 for accommodating the movement of the bracket 74, and a wrench 76 for adjusting the position of the bracket 74, wherein the wrench 76 penetrates through the bracket 74 and is then screwed to the first conveying rail 70.

That is, the bracket 74 is adjusted along the first sliding groove 75 to adjust the position of the sensor 73, and then the wrench 76 is rotated to fix the bracket 74 to the first conveying rail 70.

For the convenience of assembly, as shown in fig. 3, the second conveying guide rail 80 is provided with a second pressing claw 81 for pressing the material, the second pressing claw 81 is connected with a torsion spring, and the torsion spring provides an acting force for the second pressing claw 81 to press the material, so that the material is ensured not to be accidentally deviated during assembly.

In order to facilitate the assembly of the material of the second conveyor rail 80 with the material gripped by the gripper 20, it is also possible to provide the second conveyor rail 80 with a lifting claw 82, the lifting claw 82 being used to lift the material, the lifting claw 82 being provided below the second pressing claw 81.

The lifting claw 82 is arranged below the second pressing claw 81, so that the occupied space can be reduced, and the increase of the occupied area of the manipulator is avoided.

The above embodiments are not limited to the technical solutions of the embodiments themselves, and the embodiments may be combined with each other into a new embodiment. The above embodiments are only used for illustrating the technical solutions of the present invention and are not limited thereto, and any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of the technical solutions of the present invention.

Claims

1. The high-speed 90-degree rotary material taking and assembling manipulator is characterized in that a block wrapping rack (10) is arranged on the rack (10), the manipulator (30) connected with the manipulator (20), a rotary seat (40) driving the manipulator (30) to rotate, a shifting fork (50) driving the manipulator (30) to move, a coupler connected with the shifting fork (50), a servo motor connected with the coupler are arranged on the rack, the manipulator further comprises a material pushing assembly (60), the material pushing assembly (60) comprises a material pushing plate (21) connected with the manipulator (20) in a sliding mode, a return spring (23) connected with the material pushing plate (21), a roller (22) connected with the material pushing plate (21), an inclined block (61) capable of being abutted against the roller (22) and a first air cylinder (62) driving the inclined block (61) to move, and the first air cylinder (62) is connected with the rack (10), the first air cylinder (62) is used for driving the material pushing plate (21) to push materials, and the return spring (23) is used for driving the material pushing plate (21) to return.

2. The high-speed 90-degree rotary reclaiming assembly robot of claim 1 wherein the direction of movement of the ramp (61) is perpendicular to the direction of reclaiming, the ramp (61) having a first side surface (66) abutting the roller (22), the first side surface (66) being configured to push the stripper plate (21) away from the swivel mount (40).

3. The high-speed 90-degree rotary material taking and assembling manipulator according to claim 1, wherein the material pushing assembly (60) further comprises a limiting block (64) connected with the inclined block (61), and a limiting groove accommodating the limiting block (64), the limiting groove is provided with an adjusting bolt (65), and the adjusting bolt (65) is used for abutting against the limiting block (64) along the moving direction of the limiting block (64).

4. The high speed 90 degree rotary reclaiming and assembly robot of claim 1 wherein the first cylinder (62) is disposed between the reclaiming and discharge positions of the gripper (20).

5. The high-speed 90-degree rotary material taking and assembling manipulator according to claim 1, wherein the rack (10) is provided with a first supporting roller (63) and a second supporting roller (90), the first supporting roller (63) is used for supporting the mechanical claw (20) at the material placing position, the second supporting roller (90) is used for supporting the mechanical claw (20) at the material taking position, and the first supporting roller (63) and the second supporting roller (90) are rotatably connected with the rack (10).

6. The high-speed 90-degree rotary material taking and assembling manipulator according to claim 1, characterized in that the rack (10) is provided with a first conveying guide rail (70), the first conveying guide rail (70) is arranged at a material taking position of the mechanical claw (20), the first conveying guide rail (70) is provided with a first pressing claw (71) for limiting material conveying and a sensor (73) for identifying materials, and the first pressing claw (71) is connected with a second air cylinder (72).

7. The high-speed 90-degree rotary reclaiming assembly manipulator according to claim 6, wherein the first conveying guide rail (70) is provided with a bracket (74) for fixing the inductor (73), a first sliding chute (75) for accommodating the bracket (74) to move, and a wrench (76) for adjusting the position of the bracket (74), and the wrench (76) penetrates through the bracket (74) and then is connected with the first conveying guide rail (70) through threads.

8. The high-speed 90-degree rotary material taking and assembling manipulator according to claim 1, wherein the rack (10) is provided with a second conveying guide rail (80), the second conveying guide rail (80) is arranged at the material placing position of the mechanical claw (20), the second conveying guide rail (80) is provided with a second pressing claw (81) used for pressing materials, and a torsion spring is connected to the second pressing claw (81).

9. The high-speed 90-degree rotary reclaiming and assembling robot of claim 8 wherein the second conveyor rail (80) is provided with a lifting claw (82), the lifting claw (82) is used for pushing and lifting materials, and the lifting claw (82) is arranged below the second pressing claw (81).

10. The high-speed 90-degree rotary material taking and assembling manipulator according to claim 1, wherein the rotary seat (40) is provided with a second chute for accommodating the mechanical arm (30) and a cover body (41) for covering the second chute, the cover body (41) is provided with a limiting column (42) for limiting a rotation range, and the rack (10) is provided with a limiting plate abutted against the limiting column (42).