CN221066286U

CN221066286U - Loading and unloading device of cooperative robot

Info

Publication number: CN221066286U
Application number: CN202323055410.XU
Authority: CN
Inventors: 姚力; 唐冬冬; 李威; 王蒙鹤
Original assignee: Xi An Xinye Electromechanical Technology Co ltd
Current assignee: Xi An Xinye Electromechanical Technology Co ltd
Priority date: 2023-11-13
Filing date: 2023-11-13
Publication date: 2024-06-04
Anticipated expiration: 2033-11-13

Abstract

The utility model relates to the technical field of feeding and discharging devices, in particular to a feeding and discharging device of a cooperative robot, which comprises a base, wherein an adjusting mechanism is arranged on the base, a movable clamping mechanism is arranged on the adjusting mechanism, the movable clamping mechanism comprises a movable assembly and a clamping assembly, the movable assembly comprises a mounting cylinder, the inner side of the mounting cylinder is rotationally connected with a first threaded rod, two ends of the first threaded rod are respectively in threaded connection with a movable frame, the movable frame is in sliding connection with the inner side of the mounting cylinder, the section of the movable frame is L-shaped, and one side of the mounting cylinder is provided with a first motor; the utility model has simple structure and convenient operation, and can lift and clamp the two ends of the goods, thereby improving the stability after clamping and avoiding the situation that the goods slide and incline or fall off after collision.

Description

Loading and unloading device of cooperative robot

Technical Field

The utility model relates to the technical field of loading and unloading devices, in particular to a loading and unloading device of a cooperative robot.

Background

The cooperative robot is a multi-joint manipulator or a multi-degree-of-freedom robot device facing the industrial field, can automatically execute work, is a machine which realizes various functions by self power and control capability, can accept human command, can operate according to a pre-arranged program, can act according to a principle formulated by an artificial intelligence technology, and is used for loading and unloading.

Disclosure of utility model

The utility model aims to provide a loading and unloading device of a cooperative robot, which aims to solve the problems in the background technology.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

The utility model provides a unloader in cooperation robot, includes the base, install adjustment mechanism on the base, install movable fixture on the adjustment mechanism, movable fixture includes movable assembly and clamping assembly, movable assembly includes the installation section of thick bamboo, the inboard rotation of installation section of thick bamboo is connected with first threaded rod, the equal threaded connection in both ends of first threaded rod has the removal frame, remove the inboard sliding connection of frame and installation section of thick bamboo, the cross-section of removal frame is "L" type, first motor is installed to one side of installation section of thick bamboo, the drive end of first motor extends to the one end fixed connection of installation section of thick bamboo inboard and first threaded rod.

As a preferable scheme of the utility model, the clamping assembly comprises a supporting plate, the supporting plate is clamped with the movable frame through a fixing assembly, the cross section of the supporting plate is L-shaped, inclined planes are respectively arranged at opposite ends of two groups of supporting plates, a placing groove is arranged at the top end of the inner side of the supporting plate, a plurality of groups of rollers are rotatably connected to the inner side of the placing groove, baffles are respectively arranged at two sides of the supporting plate, and rubber pads are respectively embedded and arranged at opposite surfaces of the supporting plate at two ends.

As a preferred embodiment of the present utility model, the left side thread and the right side thread at the center of the first threaded rod are opposite.

As a preferable scheme of the utility model, the adjusting mechanism comprises a second motor, the second motor is arranged at the top end of the base, an adjusting column is arranged at the driving end of the second motor, an adjusting groove is formed in one side of the adjusting column, a second threaded rod is rotatably connected to the inner side of the adjusting groove, an adjusting plate is connected to the outer side of the second threaded rod in a threaded manner, the adjusting plate is in sliding connection with the adjusting groove, a third motor is arranged at the top end of the adjusting column, and the driving end of the third motor extends to the inner side of the adjusting groove and is fixedly connected with the second threaded rod.

As a preferable scheme of the utility model, the fixing component comprises two groups of abutting blocks, a pressing groove is formed in one side of the movable frame, abutting blocks are connected to two ends of the inside of the movable frame in a sliding mode, reset grooves are formed in two sides of the pressing groove in the movable frame, a reset plate is arranged at one end, close to the reset grooves, of each abutting block, a plurality of groups of springs are arranged at one side of each reset plate, the springs are fixedly connected to the side wall of each reset groove, and a pressing block attached to each abutting block is arranged at the position, corresponding to the pressing groove, of one side of each supporting plate.

As a preferable scheme of the utility model, the section of the pressing block is in a T shape.

As a preferable scheme of the utility model, slope surfaces are arranged on both sides of the pressing block and opposite ends of the abutting block.

Compared with the prior art, the utility model has the beneficial effects that:

1. According to the utility model, the first motor is started to drive the first threaded rod to rotate, so that the two-end moving frame drives the supporting plate to approach the goods, the inclined surface of the supporting plate contacts with the bottom end of the goods to scoop up the bottom end of the goods, the rollers roll at the bottom end of the goods after the goods are lifted until the rubber pads of the supporting plate contact and fit with the two ends of the goods, then the second motor is started to drive the adjusting column and the clamped goods to rotate to the other end, then the third motor is started to drive the clamped goods to descend in cooperation with the second threaded rod, the adjusting groove and the adjusting plate, and then the clamping step is reversely operated, so that the goods are put down, the structure is simple, the operation is convenient, the two ends of the goods are scooped up to lift and clamp, the stability of the goods after the goods are improved, and the conditions that the goods slide and incline or the goods slip and fall after collision are avoided.

2. According to the utility model, the support plates are attached to the movable frame, so that the pressing block moves to the inner side of the pressing groove to force the abutting blocks to drive the reset plate to move in the reset groove, the springs are compressed, the abutting blocks are ejected after the pressing block moves to the innermost side of the pressing groove, the pressing block is abutted to complete locking, otherwise, the two side reset plates are moved to the opposite directions by utilizing the steps, the fixing of the pressing block can be released, so that a worker can take down the support plates with the size, and the support plates with the corresponding size can be replaced according to the size of transported goods to carry out clamping and conveying.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is an enlarged schematic view of the portion A of FIG. 1 according to the present utility model;

FIG. 3 is a schematic cross-sectional view of a fastening assembly according to the present utility model.

In the figure: 1. a base; 2. a mounting cylinder; 3. a first threaded rod; 4. a supporting plate; 5. a roller; 6. a baffle; 7. a second motor; 8. an adjusting column; 9. an adjusting plate; 10. a third motor; 11. abutting blocks; 12. a reset groove; 13. a reset plate; 14. and (5) briquetting.

Detailed Description

The technical solutions of the embodiments of the present utility model will be clearly and completely described below in conjunction with the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present utility model are within the scope of protection of the present utility model.

Examples:

referring to fig. 1-3, the present utility model provides a technical solution:

The utility model provides a cooperation robot loading and unloading device, including base 1, install adjustment mechanism on the base 1, install movable fixture on the adjustment mechanism, movable fixture includes movable component and clamping component, movable component includes mounting cylinder 2, the inboard rotation of mounting cylinder 2 is connected with first threaded rod 3, the both ends of first threaded rod 3 all threaded connection has the movable frame, movable frame and the inboard sliding connection of mounting cylinder 2, the cross-section of movable frame is "L" type, first motor is installed to one side of mounting cylinder 2, the drive end of first motor extends to the inboard one end fixed connection of mounting cylinder 2 and first threaded rod 3, clamping component includes layer board 4, layer board 4 passes through fixed component and movable frame joint, the cross-section of layer board 4 is "L" type, the inclined plane has all been seted up to the opposite ends of two sets of layer board 4 inboard top sets of setting grooves, the inboard rotation of setting grooves is connected with multiunit gyro wheel 5, baffle plates 6 are arranged on two sides of the supporting plate 4, rubber pads are embedded and arranged on opposite surfaces of the supporting plate 4 at two ends, left threads and right threads at the center of the first threaded rod 3 are opposite, the adjusting mechanism comprises a second motor 7, the second motor 7 is arranged at the top end of the base 1, an adjusting column 8 is arranged at the driving end of the second motor 7, an adjusting groove is formed in one side of the adjusting column 8, the inner side of the adjusting groove is rotationally connected with the second threaded rod, an adjusting plate 9 is connected with the outer side of the second threaded rod in a threaded manner, the adjusting plate 9 is in sliding connection with the adjusting groove, a third motor 10 is arranged at the top end of the adjusting column 8, the driving end of the third motor 10 extends to the inner side of the adjusting groove and is fixedly connected with the second threaded rod, the device can drive the first threaded rod 3 to rotate through starting the first motor when in use, so that the two-end moving frames drive the supporting plate 4 to approach cargoes, the inclined plane contact goods bottom of layer board 4 is shoveled the goods bottom, the goods is lifted back gyro wheel 5 and is rolled in its bottom, until the rubber pad of layer board 4 is laminated with the both ends contact of goods, start second motor 7 later and drive the goods rotation of adjusting post 8 and centre gripping to the other end, start third motor cooperation second threaded rod, regulating groove and regulating plate 9 later and drive the goods of centre gripping and descend, reverse operation centre gripping step later, put down the goods, moreover, the steam generator is simple in structure, and convenient operation, lift the centre gripping is lifted to the goods both ends, stability after its centre gripping has been improved, avoid appearing goods slip slope or the condition that the goods slippage falls after the collision.

In this embodiment, as shown in fig. 1, fig. 2 and fig. 3, the fixed component includes two groups of supporting blocks 11, a pressing slot is provided on one side of the moving frame, both ends of the inside of the moving frame are slidably connected with the supporting blocks 11, the two sides of the pressing slot are provided with the reset slots 12, one end of the supporting blocks 11 close to the reset slots 12 is provided with the reset plates 13, one side of the reset plates 13 is provided with multiple groups of springs, the springs are fixedly connected to the side walls of the reset slots 12, the pressing blocks 14 attached to the supporting blocks 11 are installed at positions corresponding to the pressing slots on one side of the supporting plates 4, the cross sections of the pressing blocks 14 are in a 'T', the supporting plates 4 are attached to the opposite ends of the supporting blocks 14, the supporting blocks 4 are attached to the moving frame by moving the supporting blocks 14 towards the inner sides of the pressing slots, the supporting blocks 11 are forced to drive the reset plates 13 to move in the reset slots 12, the springs are compressed, the supporting blocks 11 are ejected up after the pressing blocks 14 move to the innermost sides of the pressing slots, the pressing blocks 14 are pushed against the reset plates to complete locking, and the two sides of the reset plates 13 are moved towards opposite directions by utilizing the steps, so that the fixing of the pressing blocks 14 can be released, and the supporting blocks 4 can be conveniently removed by a worker according to the size 4 and the size of the corresponding cargo to the size of the size.

The implementation principle of the loading and unloading device of the cooperative robot provided by the embodiment of the application is as follows: the device can drive the rotation of first threaded rod 3 through starting first motor when using for both ends remove the frame and drive layer board 4 to the goods be close to, the inclined plane contact goods bottom of layer board 4 is shoveled the goods bottom, the goods is raised back gyro wheel 5 and is rolled at its bottom, until the rubber pad of layer board 4 is contacted with the both ends of goods laminating, then start second motor 7 and drive adjusting post 8 and the goods of centre gripping and rotate to the other end, then start third motor cooperation second threaded rod, adjusting slot and adjusting plate 9 drive the goods of centre gripping descend, then reverse operation centre gripping step, put down the goods, moreover, the steam generator is simple in structure, and convenient for operation, carry out the lift centre gripping with goods both ends, the stability after having improved its centre gripping, avoid appearing the goods slip slope or receive the collision back goods slip condition of falling, laminating through removing the frame with layer board 4, make briquetting 14 to the inboard removal of indent force to support piece 11 drive reset plate 13 in reset groove 12, compress the spring, wait for briquetting 14 to remove to support piece 11 to pop out after the indent is innermost, with briquetting 14 accomplish the locking, vice versa with the step with the opposite direction to carry the briquetting 14 to the corresponding size of the big carrier 4 of the transportation personnel that can be removed according to the opposite direction, the size of the big goods is transferred to the size of the layer board is removed.

The control mode of the utility model is controlled by the controller, the control circuit of the controller can be realized by simple programming by a person skilled in the art, the supply of power also belongs to common knowledge in the art, and the utility model is used for protecting the mechanical device, so the utility model does not explain the control mode and circuit connection in detail.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a unloader in cooperation robot, includes base (1), its characterized in that: install adjustment mechanism on base (1), install movable fixture on the adjustment mechanism, movable fixture includes movable assembly and clamping assembly, movable assembly includes mounting cylinder (2), the inboard rotation of mounting cylinder (2) is connected with first threaded rod (3), the equal threaded connection in both ends of first threaded rod (3) has movable frame, movable frame and the inboard sliding connection of mounting cylinder (2), movable frame's cross-section is "L" type, first motor is installed to one side of mounting cylinder (2), the drive end of first motor extends to the one end fixed connection of mounting cylinder (2) inboard and first threaded rod (3).

2. The loading and unloading device of the cooperative robot according to claim 1, wherein: the clamping assembly comprises a supporting plate (4), the supporting plate (4) is connected with the movable frame in a clamping mode through the fixing assembly, the cross section of the supporting plate (4) is L-shaped, inclined planes are formed in opposite ends of the supporting plate (4), a placing groove is formed in the top end of the inner side of the supporting plate (4), a plurality of groups of rollers (5) are connected to the inner side of the placing groove in a rotating mode, baffle plates (6) are arranged on two sides of the supporting plate (4), and rubber pads are embedded into opposite faces of the supporting plate (4).

3. The loading and unloading device of the cooperative robot according to claim 1, wherein: the left side thread and the right side thread of the center of the first threaded rod (3) are opposite.

4. The loading and unloading device of the cooperative robot according to claim 1, wherein: the utility model discloses a motor drive mechanism, including base (1), adjustment mechanism includes second motor (7), second motor (7) are installed on base (1) top, adjusting column (8) are installed to the drive end of second motor (7), adjusting tank has been seted up to one side of adjusting column (8), the inboard rotation of adjusting tank is connected with the second threaded rod, the outside threaded connection of second threaded rod has regulating plate (9), regulating plate (9) are sliding connection with the adjusting tank, third motor (10) are installed on adjusting column (8) top, the drive end of third motor (10) extends to the inboard and second threaded rod fixed connection of adjusting tank.

5. The loading and unloading device of the cooperative robot according to claim 2, wherein: the fixed subassembly includes two sets of blocks (11) that support, move and set up the indent in one side, it has all sliding connection to support block (11) to remove the inside both ends of frame, it all sets up reset groove (12) to remove the inside indent both sides that are located of frame, reset plate (13) are installed to the one end that is close to reset groove (12) to support block (11), multiunit spring is installed in reset plate (13) one side range, spring fixed connection is in reset groove (12) lateral wall, layer board (4) one side corresponds the indent department and installs briquetting (14) laminating with support block (11).

6. The loading and unloading device of the cooperative robot as claimed in claim 5, wherein: the section of the pressing block (14) is T-shaped.

7. The loading and unloading device of the cooperative robot as claimed in claim 5, wherein: slope surfaces are arranged on two sides of the pressing block (14) and opposite ends of the supporting block (11).