CN219213145U

CN219213145U - Charging tray unloading manipulator

Info

Publication number: CN219213145U
Application number: CN202222705639.2U
Authority: CN
Inventors: 区凌飞; 谭军民; 王安石; 朱兰凤; 贺辉; 李彬; 李晓丽
Original assignee: GUANGZHOU RESTAURANT GROUP LIKOUFU FOOD CO Ltd; Guangzhou Restaurant Group Likoufu Xiangtan Food Co ltd; South China Robotics Innovation Research Institute; Institute of Intelligent Manufacturing of Guangdong Academy of Sciences
Current assignee: GUANGZHOU RESTAURANT GROUP LIKOUFU FOOD CO Ltd; Guangzhou Restaurant Group Likoufu Xiangtan Food Co ltd; South China Robotics Innovation Research Institute; Institute of Intelligent Manufacturing of Guangdong Academy of Sciences
Priority date: 2022-10-13
Filing date: 2022-10-13
Publication date: 2023-06-20
Anticipated expiration: 2032-10-13

Abstract

The utility model discloses a tray blanking manipulator which comprises a base, a swinging arm and a clamping part, wherein one end of the swinging arm is connected with the base, the other end of the swinging arm is provided with a lifting rod, and the clamping part is arranged on the lifting rod; the clamping part comprises a driving plate, a shell and a clamping block, a guide rod and a sliding block are arranged on a bottom plate in the shell, and the clamping block is fixed on the sliding block; the top of the shell is provided with a matched pipe orifice, and one end of the lifting rod is inserted into the shell through the matched pipe orifice and fixed on the driving plate; be provided with flexible cylinder on the drive plate, be provided with the fixture block on flexible cylinder's the output shaft, be provided with the draw-in groove on the slider, fixture block and draw-in groove joint cooperation, or the fixture block is located the draw-in groove top. The unloading manipulator passes through fixture block draw-in groove and connects flexible cylinder and clamp splice, drives the drive plate through the lifter at transport charging tray in-process and rises, can make flexible cylinder and clamp splice break away from the cooperation in the clamping part, reduces the risk that the charging tray dropped in the handling, improves the transport security.

Description

Charging tray unloading manipulator

Technical Field

The utility model mainly relates to the technical field of production line equipment, in particular to a feeding mechanical arm of a material tray.

Background

In the current moon cake production process, in order to improve production efficiency, generally place a plurality of cake blanks on the charging tray, transport this charging tray to among the different processes through the conveyer belt, need sort the moon cake finished product on the charging tray at last, need carry out the unloading to empty charging tray recovery on the conveyer belt after accomplishing the letter sorting, present unloading operation is generally carried the unloading through carrying the manipulator, but the manipulator is in the handling, and the driving piece is lost when appearing, loosens the clamping state easily, leads to appearing the condition that the charging tray dropped in the handling, influences the handling security.

Disclosure of Invention

The utility model aims to overcome the defects of the prior art, and provides a feeding mechanical arm for a material tray, which is connected with a telescopic cylinder and a clamping block through a clamping block clamping groove, so that the telescopic cylinder and the clamping block are separated from each other in the process of carrying the material tray, the risk of falling of the material tray in the carrying process is reduced, and the carrying safety is improved.

The utility model provides a tray blanking manipulator which comprises a base, a swinging arm and a clamping part, wherein one end of the swinging arm is connected with the base, the other end of the swinging arm is provided with a lifting rod, and the clamping part is arranged on the lifting rod;

the clamping part comprises a driving plate, a shell and a clamping block, a guide rod and a sliding block sleeved on the guide rod are arranged on a bottom plate in the shell, and the clamping block is fixed on the sliding block;

the top of the shell is provided with a matched pipe orifice, and one end of the lifting rod is inserted into the shell through the matched pipe orifice and fixed on the driving plate;

the driving plate is provided with a telescopic cylinder, the output shaft of the telescopic cylinder is provided with a clamping block, the sliding block is provided with a clamping groove, and the clamping block is matched with the clamping groove in a clamping way or is positioned above the clamping groove.

Further, a first rotating shaft is arranged on the base, and one end of the swinging arm is sleeved on the first rotating shaft.

Further, the swing arm comprises a first arm and a second arm, one end of the first arm is connected with the base, the other end of the first arm is connected with one end of the second arm, and the other end of the second arm is connected with the lifting rod.

Further, a plurality of connecting rods are arranged on the driving plate, and the driving plate is connected with the top of the shell through the plurality of connecting rods.

Further, the connecting rod comprises a first sub-rod and a second sub-rod, and the first sub-rod is sleeved in the second sub-rod;

one end of the first sub-rod is fixed on the driving plate, the other end of the first sub-rod is sleeved in one end of the second sub-rod, and the other end of the second sub-rod is fixed on the top of the shell.

Further, a connecting sleeve is fixedly sleeved on the lifting rod, and a magnetic part is arranged at one end of the connecting sleeve, which faces the clamping part;

the metal matching part is arranged on the matching pipe orifice and is in magnetic attraction matching with the magnetic attraction part.

Further, a matching groove is formed in the bottom of the shell, and the guide rod is fixed in the matching groove.

Further, the side wall of the sliding block is connected with the inner wall of the matching groove.

Further, a hook groove structure is arranged on the clamping block.

Further, the inner diameter of the matched pipe orifice is larger than the outer diameter of the lifting rod.

The utility model provides a feeding mechanical arm for a material tray, which is characterized in that the feeding mechanical arm is connected with a telescopic cylinder and a clamping block through a clamping block clamping groove, and a driving plate is driven to ascend through a lifting rod in the process of carrying the material tray, so that the telescopic cylinder and the clamping block in a clamping part are separated from each other, the risk of falling of the material tray in the carrying process is reduced, and the carrying safety is improved.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings which are required in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a tray discharging manipulator in an embodiment of the present utility model;

FIG. 2 is a cross-sectional view showing the internal structure of the holding member in the embodiment of the present utility model;

FIG. 3 is a schematic view showing a clamping state of a clamping member according to an embodiment of the present utility model;

fig. 4 is an enlarged schematic view of the structure a in fig. 3 according to an embodiment of the present utility model.

Description of the embodiments

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Fig. 1 shows a schematic structural diagram of a tray discharging manipulator in an embodiment of the present utility model, where the tray discharging manipulator includes a base 1, a swing arm 2, and a clamping member 4, a first rotation axis 11 is disposed on the base 1, one end of the swing arm 2 is sleeved and fixed on the first rotation axis 11, and the swing arm 2 can perform a swing motion around the first rotation axis 11. The other end of the swing arm 2 is provided with a lifting rod 3, the clamping part 4 is fixed on the lifting rod 3, and the clamping part 4 can do lifting motion along with the lifting rod 3.

Further, the blanking manipulator adopts a SCARA (Selective Compliance Assembly Robot Arm) manipulator, namely a selective compliance assembly manipulator, and is provided with 3 rotary joints and 1 movable joint, wherein the axes of the 3 rotary joints are parallel to each other, the positioning and the orientation are carried out in a plane, and the movable joint is used for completing the movement of the end piece in a direction perpendicular to the plane.

As shown in the drawing, the swing arm 2 includes a first arm 21 and a second arm 22, one end of the first arm 21 is connected to the base 1, the other end is connected to one end of the second arm 22, the other end of the second arm 22 is connected to the lifting rod 3, and the first arm 21 and the second arm 22 are rotatably connected, that is, the second arm 22 can rotate around the connection position of the first arm 21.

Further, the lifting rod 3 is an externally threaded guide rod, and is meshed with a transmission gear mechanism in the second arm 22, so that the lifting and descending function can be realized based on the gear transmission in the second arm 22.

Specifically, the clamping component 4 includes a housing 411 and a driving plate 5, the driving plate 5 is disposed inside the housing 411, and one end of the lifting rod 3 is inserted into the housing 411 and is fixedly connected with the driving plate 5.

Further, one end of the lifting rod 3 is fixed at the middle position of the driving plate 5, a first telescopic cylinder 51 and a second telescopic cylinder 52 are arranged on the driving plate 5, and the first telescopic cylinder 51 and the second telescopic cylinder 52 are symmetrically distributed at the bottom of the driving plate 5.

Specifically, the clamping component 4 further includes a first clamping block 6, a second clamping block 7, a first guide rod 431 and a second guide rod 441, a first matching groove 43 and a second matching groove 44 are provided at the bottom of the housing 411, the first guide rod 431 is disposed in the first matching groove 43, the second guide rod 441 is disposed in the second matching groove 44, a first sliding block 61 is sleeved on the first guide rod 431, a second sliding block 71 is sleeved on the second guide rod 441, the first clamping block 6 is fixed on the first sliding block 61, and the second clamping block 7 is fixed on the second sliding block 71.

Further, the first clamping block 6 can move with the first slider 61 on the first guide rod 431, and the second clamping block 7 can move with the second slider 71 on the second guide rod 441.

Further, the first clamping blocks 6 and the second clamping blocks 7 are symmetrically distributed on two sides of the housing 411, and can move in opposite directions or relatively, so as to achieve the effects of clamping and releasing the clamping component 4.

Further, the side wall of the first slider 61 is connected to the inner wall of the first mating groove 43, and the inner wall of the second slider 71 is connected to the inner wall of the second mating groove 44, so that a certain friction force is provided, and a slipping phenomenon during the transportation process can be avoided.

Specifically, the first slider 61 is provided with a first clamping groove 611, a first clamping block 511 is fixed on an output shaft of the first telescopic cylinder 51, the first clamping block 511 is in clamping fit with the first clamping groove 611, and when the first telescopic cylinder 51 works, the first slider 61 can be driven to move on the first guide rod 431 by the first clamping block 511, so as to drive the first clamping block 6 to move.

Further, the second clamping block 7 and the second telescopic cylinder 52 have the same connection structure as the first clamping block 6 and the first telescopic cylinder 51, and specific reference may be made to the connection relationship and structure of the first clamping block 6 and the first telescopic cylinder 51, which are not described in detail herein.

Specifically, the middle part of the top surface of the housing 411 is provided with a mating nozzle 411, the lifting rod 3 is sleeved with a connecting sleeve 31, the lifting rod 3 extends into the housing 411 through the mating nozzle 411, the connecting sleeve 31 faces to one end of the clamping component 4 and is provided with a magnetic attraction part 311, the mating nozzle 411 is provided with a metal mating part 4111, the mating nozzle 411 is in magnetic attraction fit with the magnetic attraction part 311 on the connecting sleeve 31 based on the metal mating part 4111, and the magnetic attraction part 311 improves the connection stability of the housing 411 and the lifting rod 3.

Further, the lifting rod 3 is sleeved in the matching pipe orifice 411, and the caliber of the matching pipe orifice 411 is larger than the outer diameter of the lifting rod 3, that is, the lifting rod 3 and the matching pipe orifice 411 are not contacted with each other, and after the metal matching part 4111 and the magnetic attraction part 311 are disengaged from each other, the shell 411 and the lifting rod 3 can move relatively.

Specifically, the driving plate 5 is provided with a plurality of connecting rods 42, and the driving plate 5 is connected with the top of the housing 411 through a plurality of connecting rods 42. The connecting rod 42 comprises a first sub-rod 422 and a second sub-rod 421, the first sub-rod 422 is sleeved in the second sub-rod 421, one end of the first sub-rod 422 is fixed on the driving plate 5, the other end of the first sub-rod 422 is sleeved in one end of the second sub-rod 421, and the other end of the second sub-rod 421 is fixed on the top of the shell.

Further, the plurality of connecting rods 42 are uniformly distributed on the driving plate 5, so that the bearing capacity of the plurality of connecting rods 42 can be improved, and the internal structure of the clamping part 4 is stable.

Specifically, the first clamping block 6 and the second clamping block 7 are provided with hook grooves, and the hook grooves are used for being matched with the flanging on the material tray, so that the stability of clamping the material tray by the first clamping block 6 and the second clamping block 7 is improved.

Specifically, during the blanking process, the shell 411 is adsorbed on the lifting rod 3 based on the metal fitting portion 4111 and the magnetic attraction portion 311, the output shafts of the first telescopic cylinder 51 and the second telescopic cylinder 52 are connected with the first clamping block 6 and the second clamping block 7 based on the clamping groove 611 of the clamping block 511, when the tray is transported to the blanking area, the blanking manipulator drives the lifting rod 3 to move downwards to the upper portion of the tray, the clamping member 4 moves to the upper portion of the tray along with the lifting rod 3, the first clamping block 6 and the second clamping block 7 are located on two sides of the tray, and the first clamping block 6 and the second clamping block 7 are driven to move in opposite directions through the first telescopic cylinder 51 and the second telescopic cylinder 52, so that the first clamping block 6 and the second clamping block 7 are matched to clamp the tray, and the blanking manipulator drives the lifting rod 3 to move upwards.

Further, when the lifting rod 3 moves upwards, the magnetic force between the metal fitting portion 4111 and the magnetic attraction portion 311 is smaller than the gravity of the tray, so that the metal fitting portion 4111 and the magnetic attraction portion 311 are separated from each other under the action of the gravity of the tray, the housing 411 moves downwards relative to the lifting rod 3, the connecting rod 42 in the housing 411 contracts, and when the lifting rod 3 moves upwards, the driving plate 5 and the connecting rod 42 drive the clamping member 4 to move, thereby driving the tray to move, and carrying of the tray is realized.

Specifically, the driving plate 5 is fixed at one end of the lifting rod 3, when the housing 411 moves downward relative to the lifting rod 3, the driving plate 5 moves upward relative to the housing 411, so that the telescopic cylinders on the driving plate 5 are separated from connection and cooperation with the sliding blocks, and in the process of carrying the tray, the first telescopic cylinder 51 and the second telescopic cylinder 52 cannot drive the first clamping block 6 and the second clamping block 7 to move.

Further, when the discharging manipulator performs the discharging operation, the lifting rod 3 is driven to move downwards, the clamping component 4 moves downwards along with the lifting rod 3, after the tray is lowered to the discharging position, the lifting rod 3 continues to descend until the metal matching portion 4111 and the magnetic attraction portion 311 are magnetically attracted again, the driving plate 5 descends along with the lifting rod 3 in the shell 411, a clamping block 511 of an output shaft of a telescopic cylinder on the driving plate 5 is correspondingly matched with a clamping groove 611 on the sliding block, and the first telescopic cylinder 51 and the second telescopic cylinder 52 can drive the first clamping block 6 and the second clamping block 7 to move backwards, so that the clamping component 4 can loosen the tray, and the discharging operation of the tray is completed.

Specifically, the utility model provides a feeding mechanical arm for a material tray, which is characterized in that a driving plate 5 in a clamping component 4 is fixed on a lifting rod 3 by the mechanical arm, a telescopic cylinder and a clamping block are connected by arranging a magnetic attraction part 311 and a metal matching part 4111 and arranging a clamping block 511 and a clamping groove 611, so that the driving plate 5 and the clamping component 4 form a movable connection structure, the telescopic cylinder on the driving plate 5 can be disconnected with the clamping block in the process of clamping and carrying the material tray, the clamping block can keep clamping the material tray in the process of carrying, the condition that the material tray is released and falls in the process of carrying is avoided, and the safety of feeding and carrying is improved.

In addition, the foregoing description has been provided in detail for a tray discharging manipulator according to the embodiments of the present utility model, and specific examples should be adopted herein to illustrate the principles and embodiments of the present utility model, where the foregoing description of the embodiments is only for helping to understand the method and core ideas of the present utility model; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present utility model, the present description should not be construed as limiting the present utility model in view of the above.

Claims

1. The material tray blanking manipulator is characterized by comprising a base, a swinging arm and a clamping part, wherein one end of the swinging arm is connected with the base, the other end of the swinging arm is provided with a lifting rod, and the clamping part is arranged on the lifting rod;

2. The tray blanking manipulator of claim 1, wherein a first rotating shaft is arranged on the base, and one end of the swinging arm is sleeved on the first rotating shaft.

3. The tray discharging robot of claim 1, wherein the swing arm comprises a first arm and a second arm, one end of the first arm is connected to the base, the other end is connected to one end of the second arm, and the other end of the second arm is connected to the lifting rod.

4. The tray blanking manipulator of claim 1, wherein the driving plate is provided with a plurality of connecting rods, and the driving plate is connected with the top of the shell through a plurality of connecting rods.

5. The tray blanking manipulator of claim 4, wherein the connecting rod comprises a first sub-rod and a second sub-rod, the first sub-rod being sleeved in the second sub-rod;

6. The tray blanking manipulator of claim 1, wherein a connecting sleeve is fixedly sleeved on the lifting rod, and a magnetic part is arranged at one end of the connecting sleeve, which faces the clamping part;

7. The tray discharging manipulator of claim 1, wherein the bottom of the housing is provided with a mating groove, and the guide rod is fixed in the mating groove.

8. The tray discharging manipulator of claim 7, wherein the side wall of the slider is connected to the inner wall of the mating groove.

9. The tray discharging manipulator of claim 1, wherein the clamping block is provided with a hook groove structure.

10. The tray discharging manipulator of claim 1, wherein the inner diameter of the mating nozzle is greater than the outer diameter of the lifting rod.