CN221314242U - High-speed feeding and discharging manipulator - Google Patents

Abstract

The utility model belongs to the field of manipulators, and in particular relates to a high-speed feeding and discharging manipulator, which comprises: a main frame; a driving member; driving the assembly; a support base; a rotation mechanism; the clamping mechanism is arranged on the rotating mechanism and is provided with two clamping ends. The driving piece drives the driving assembly to move, the movement track of the driving assembly is single, the driving assembly drives the rotating mechanism and the clamping mechanism to move, the driving assembly drives the rotating mechanism and the clamping mechanism to do reciprocating motion through regular positive and negative rotation, the clamping mechanism can clamp the external bottle-shaped materials firstly when the reciprocating motion starts points, the rotating mechanism rotates simultaneously when the reciprocating motion starts points move to the end points, the lying external bottle-shaped materials are enabled to rotate by 90 degrees to be aligned, at the moment, the clamping mechanism loosens the external bottle-shaped materials, and accordingly the external bottle-shaped materials are conveyed to a conveying line, and the two clamping ends of the clamping mechanism can better fix the external bottle-shaped materials.

Description

High-speed feeding and discharging manipulator

Technical Field

The utility model belongs to the field of manipulators, and particularly relates to a high-speed feeding and discharging manipulator.

Background

Generally, when transporting bottled materials, most adopt XYZ servo movement module or arm to transport the material, have a plurality of transportation production lines when mill transportation, if transport with XYZ servo movement module or arm and have following shortcoming:

1. The XYZ servo moving modules and the mechanical arms have more integral parts, if the XYZ servo moving modules and the mechanical arms are used in a plurality of transportation production lines, a plurality of XYZ servo moving modules and mechanical arm equipment are needed, the purchase cost is too high, and the transportation steps are more;

2. The common clamping piece is easy to fall off when clamping bottled materials.

Disclosure of utility model

In order to overcome the defects of the prior art, the utility model provides a high-speed feeding and discharging manipulator which solves the problems that a plurality of XYZ servo moving modules and mechanical arm devices are needed when the manipulator is used in a plurality of transportation production lines, the purchase cost is too high, the transportation steps are too many, and a common clamping piece is easy to fall off when clamping bottled materials.

The utility model provides a high-speed feeding and discharging manipulator, which comprises:

A main frame;

the driving piece is symmetrically arranged on one side of the main frame;

the driving assembly is arranged on one side of the main frame, which is far away from the driving piece;

The supporting seat is arranged on one side of the driving assembly, which is far away from the main frame;

the rotating mechanism is arranged on the driving assembly;

The clamping mechanism is arranged on the rotating mechanism and is provided with two clamping ends;

The driving assembly is used for driving the rotating mechanism and the clamping mechanism to move;

The rotating mechanism is used for driving the clamping mechanism to rotate;

The clamping mechanism is used for clamping the external bottle-shaped materials.

According to the high-speed feeding and discharging manipulator disclosed by the utility model, the driving component is driven to move through the driving component, the movement track of the driving component is single, the driving component is used for driving the rotating mechanism and the clamping mechanism to move, the driving component regularly rotates forwards and backwards, so that the driving component drives the rotating mechanism and the clamping mechanism to reciprocate, the clamping mechanism clamps the external bottle-shaped material at the starting point of reciprocation, the rotating mechanism rotates simultaneously when the starting point of reciprocation moves to the ending point, so that the lying external bottle-shaped material is rotated by 90 degrees to be aligned, the clamping mechanism loosens the external bottle-shaped material at the moment, the external bottle-shaped material is conveyed onto the conveying line, two clamping ends of the clamping mechanism can better fix the external bottle-shaped material, one clamping end clamps the bottle mouth, and the other clamping end clamps the bottle body, so that the clamping stability is ensured, and the external bottle-shaped material is prevented from falling.

In one embodiment, the driving member includes a servo motor and an auxiliary motor;

the servo motor and the auxiliary motor are symmetrically arranged on one side of the main frame.

In one embodiment, the driving assembly includes a driving arm a, a driving arm b, a driven assembly a and a driven assembly b.

In one embodiment, an output shaft of the servo motor penetrates through the main frame and is fixedly connected with the driving arm a, and the driving arm a is installed between the main frame and the supporting seat;

The output shaft of the auxiliary motor penetrates through the main frame and is fixedly connected with the driving arm b, and the driving arm b is installed between the main frame and the supporting seat.

In one embodiment, the driven assembly a is rotatably mounted on the driving arm a;

the driven component b is rotatably arranged on the driving arm b;

And one end of the driven component a, which is far away from the driving arm a, is rotatably connected with one end of the driven component b, which is far away from the driving arm b.

In one embodiment, the driving arm a, the driving arm b, the driven assembly a and the driven assembly b form a quadrilateral;

the length of the driven component a is equal to that of the driven component b.

In one embodiment, the rotating mechanism comprises a driving motor and a rotating arm;

The driven component b is provided with a mounting plate, and the driving motor is arranged on the mounting plate;

The rotating arm comprises two connecting ends and a fixed end;

One of the connecting ends is fixedly connected with the output end of the driving motor, and the other connecting end is rotatably arranged on the driven component a;

The fixed ends are arranged at the bottoms of the two connecting ends.

In one embodiment, the clamping mechanism comprises a connecting plate and a clamping member;

The connecting plate is fixedly arranged at the bottom of the fixed end, and the central axis of the connecting plate is mutually perpendicular to the central axis of the fixed end;

the clamping pieces are symmetrically arranged at the bottom of the connecting plate.

In one embodiment, the clamping piece comprises a fixing piece, an air cylinder, a pushing rod, a clamping arm a, a clamping arm b and a rubber anti-skid block;

the fixing piece is arranged at the bottom of the connecting plate;

the air cylinder is fixedly arranged on the fixing piece;

the pushing rod is fixedly connected with the output end of the air cylinder, and an n-shaped groove is formed in the bottom of the pushing rod;

The clamping arm a and the clamping arm b are hinged and rotatably arranged on the fixing piece;

The pushing rod is rotationally connected with the hinge joint of the clamping arm a and the clamping arm b;

rubber anti-skid blocks are arranged on one sides of the clamping arms a and the clamping arms b, which are opposite to each other;

When the air cylinder pushes the pushing rod downwards, the clamping arm a and the clamping arm b are in an opening and closing state;

When the air cylinder pulls the pushing rod upwards, the clamping arm a and the clamping arm b are in a closed state.

In one embodiment, the clamping member includes a horizontal state and a vertical state;

When the clamping piece is in a horizontal state, the driving motor does not work, and at the moment, the bottom of the clamping piece coincides with a horizontal line;

When the clamping piece is in a vertical state, the driving motor works, and the rotating arm drives the clamping piece to rotate by 90 degrees, and at the moment, the clamping piece is vertical to the horizontal line.

The high-speed feeding and discharging manipulator provided by the technical scheme has the following beneficial effects:

The driving piece drives the driving assembly to move, the movement track of the driving assembly is single, the driving assembly drives the rotating mechanism and the clamping mechanism to move, the driving assembly drives the rotating mechanism and the clamping mechanism to do reciprocating movement in regular positive and negative rotation, the clamping mechanism can clamp the external bottle-shaped material firstly when the reciprocating movement starts point, the rotating mechanism rotates simultaneously when the reciprocating movement starts point moves to the end point, the lying external bottle-shaped material is enabled to rotate by 90 degrees to be aligned, at the moment, the clamping mechanism loosens the external bottle-shaped material, the external bottle-shaped material is sent to the conveying line, two clamping ends of the clamping mechanism can better fix the external bottle-shaped material, one clamping end clamps the bottle mouth, the other clamping end clamps the bottle body, and therefore the clamping stability is guaranteed, and the external bottle-shaped material is prevented from falling off.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings can be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

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

FIG. 2 is a schematic diagram of the connection of the cylinder and the push rod of the present utility model.

The labels in the figures are illustrated below:

1. a main frame;

2. A driving member; 201. a servo motor; 202. an auxiliary motor;

3. driving the assembly; 301. a driving arm a; 302. a driving arm b; 303. a driven assembly a; 304. a driven assembly b; 305. a mounting plate;

4. a support base;

5. a rotation mechanism; 501. a driving motor; 502. a rotating arm; 5021. a connection end; 5022. a fixed end;

6. A clamping mechanism; 601. a connecting plate; 602. a clamping member; 6021. a fixing member; 6022. a cylinder; 6023. a push rod; 6024. a clamping arm a; 6025. a clamping arm b; 6026. rubber anti-skid blocks.

Detailed Description

In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.

In the description of the present utility model, it should 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", etc. indicate orientations or positional relationships as described based on the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Referring to fig. 1 to fig. 2, one embodiment of the present utility model provides a high-speed loading and unloading manipulator, including:

A main frame 1;

the driving piece 2 is symmetrically arranged on one side of the main frame 1;

a driving component 3, wherein the driving component 3 is arranged at one side of the main frame 1 away from the driving piece 2;

the supporting seat 4 is arranged on one side of the driving assembly 3 away from the main frame 1;

The rotating mechanism 5 is arranged on the driving assembly 3;

A clamping mechanism 6, wherein the clamping mechanism 6 is installed on the rotating mechanism 5, and the clamping mechanism 6 has two clamping ends;

Wherein the driving component 3 is used for driving the rotating mechanism 5 and the clamping mechanism 6 to move;

the rotating mechanism 5 is used for driving the clamping mechanism 6 to rotate;

The clamping mechanism 6 is used for clamping the external bottle-shaped materials.

Specifically, the driving component 3 is driven to move through the driving piece 2, the motion track of the driving component 3 is single, the driving component 3 drives the rotating mechanism 5 and the clamping mechanism 6 to move, the driving piece 2 regularly rotates positively and negatively, so that the driving component 3 drives the rotating mechanism 5 and the clamping mechanism 6 to do reciprocating motion, the clamping mechanism 6 can clamp the external bottle-shaped material firstly when the reciprocating motion starts point, the rotating mechanism 5 rotates simultaneously when the reciprocating motion starts point moves to the end point, the lying external bottle-shaped material is rotated by 90 degrees to be aligned, at the moment, the clamping mechanism 6 loosens the external bottle-shaped material, the external bottle-shaped material is conveyed to the conveying line, two clamping ends of the clamping mechanism 6 can better fix the external bottle-shaped material, one clamping end clamps the bottle mouth, and the other clamping end clamps the bottle body, so that the clamping stability is ensured, and the external bottle-shaped material is prevented from falling.

It should be noted that, the main frame 1 and the supporting seat 4 are used for installing a suspended ceiling, or are installed on an external rotating component, so that the moving angle of the driving component 3 can be adjusted if the main frame is installed on the rotating component, and therefore the clamping angle can be adjusted.

Further, the terms "first," "second," and the like, 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 defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In one embodiment, the driving member 2 includes a servo motor 201 and an auxiliary motor 202;

The servo motor 201 and the auxiliary motor 202 are symmetrically installed at one side of the main frame 1.

Specifically, the servo motor 201 is used for driving the driving component 3 to move, and the auxiliary motor 202 is used for assisting the servo motor 201 to simultaneously drive the driving component 3 to move.

It should be noted that, driving the driving component 3 by the servo motor 201 may reduce the service life of the servo motor 201, and the driving component 3 can be driven to move more easily by matching with the auxiliary motor 202, so as to ensure the overall service life.

Further, in the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In one embodiment, the driving component 3 includes a driving arm a 301, a driving arm b 302, a driven component a 303 and a driven component b 304;

An output shaft of the servo motor 201 penetrates through the main frame 1 and is fixedly connected with the driving arm a301, and the driving arm a301 is installed between the main frame 1 and the supporting seat 4;

The output shaft of the auxiliary motor 202 penetrates through the main frame 1 and is fixedly connected with the driving arm b302, and the driving arm b302 is arranged between the main frame 1 and the supporting seat 4;

The driven component a 303 is rotatably arranged on the driving arm a 301;

The driven component b 304 is rotatably arranged on the driving arm b 302;

One end of the driven component a 303, which is far away from the driving arm a 301, is rotatably connected with one end of the driven component b 304, which is far away from the driving arm b 302;

The driving arm a 301, the driving arm b 302, the driven assembly a303 and the driven assembly b 304 form a quadrangle;

Wherein, the length of the driving arm a 301 is equal to that of the driving arm b 302, and the length of the driven component a 303 is equal to that of the driven component b 304.

Specifically, the servo motor 201 drives the driving arm a 301 to move, and the auxiliary motor 202 drives the driving arm b 302 to move, because the driving arm a 301, the driving arm b 302, the driven assembly a 303 and the driven assembly b 304 form a quadrilateral. When the driving arm a 301 and the driving arm b 302 move, the driven component a 303 and the driven component b 304 are driven to move simultaneously, the formed quadrangle is unchanged during clamping, and when the quadrangle moves, the quadrangle is compressed to move transversely, so that the rotating mechanism 5 and the clamping mechanism 6 are driven to move.

It should be noted that, in the present utility model, unless explicitly specified and limited otherwise, a first feature may be "on" or "off" a second feature, either by direct contact of the first and second features or by indirect contact of the first and second features via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In one embodiment, the rotation mechanism 5 includes a driving motor 501 and a rotating arm 502;

The driven component b 304 is provided with a mounting plate 305, and the driving motor 501 is arranged on the mounting plate 305;

The rotating arm 502 includes two connection ends 5021 and a fixed end 5022;

One of the connection ends 5021 is fixedly connected with the output end of the driving motor 501, and the other connection end 5021 is rotatably installed on the driven component a 303;

The fixed ends 5022 are installed at the bottoms of the two connecting ends 5021.

Specifically, the mounting plate 305 is used for bearing the driving motor 501, and the driving motor 501 drives the connection end 5021 to rotate, and the other connection end 5021 simultaneously rotates, so as to drive the fixing end 5022 to rotate.

It should be noted that, the fixing end 5022 rotates to drive the clamping mechanism 6 to rotate, so as to change the shape of the external bottle-shaped material.

Further, when an element is referred to as being "fixed" 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 are used herein for illustrative purposes only and are not meant to be the only embodiment.

In one embodiment, the clamping mechanism 6 includes a connecting plate 601 and a clamping member 602;

The connecting plate 601 is fixedly arranged at the bottom of the fixed end 5022, and the central axis of the connecting plate 601 is perpendicular to the central axis of the fixed end 5022;

the clamping pieces 602 are symmetrically arranged at the bottom of the connecting plate 601;

The clamping piece 602 comprises a fixing piece 6021, a cylinder 6022, a pushing rod 6023, a clamping arm a6024, a clamping arm b6025 and a rubber anti-skid block 6026;

The fixing member 6021 is installed at the bottom of the connection plate 601;

the cylinder 6022 is fixedly mounted on the fixing member 6021;

The pushing rod 6023 is fixedly connected with the output end of the air cylinder 6022, and an n-shaped groove is formed in the bottom of the pushing rod 6023;

The clamping arm a6024 is hinged with the clamping arm b6025 and is rotatably arranged on the fixing piece 6021;

the pushing rod 6023 is rotatably connected with the hinge joint of the clamping arm a6024 and the clamping arm b 6025;

rubber anti-skid blocks 6026 are arranged on the opposite sides of the clamping arms a6024 and the clamping arms b 6025;

When the cylinder 6022 pushes the push rod 6023 downward, the clamping arm a6024 and the clamping arm b6025 are opened and closed;

When the cylinder 6022 pulls the push lever 6023 upward, the clamp arm a6024 and the clamp arm b6025 are in a closed state.

Specifically, the air cylinder 6022 drives the pushing rod 6023 to move up and down, when the air cylinder 6022 pushes the pushing rod 6023 downwards, the hinged ends of the clamping arm a6024 and the clamping arm b6025 are under the action of pressure, so that the clamping arm a6024 and the clamping arm b6025 move to two sides respectively, at this time, the clamping arm a6024 and the clamping arm b6025 are in an open-close state, when the air cylinder 6022 pulls the pushing rod 6023 upwards, the hinged ends of the clamping arm a6024 and the clamping arm b6025 are under the action of pulling force, so that the clamping arm a6024 and the clamping arm b6025 move close to each other, and at this time, the clamping arm a6024 and the clamping arm b6025 are in a closed state.

In one embodiment, the clamping member 602 includes a horizontal state and a vertical state;

When the clamping piece 602 is in a horizontal state, the driving motor 501 does not work, and at this time, the bottom of the clamping piece 602 coincides with a horizontal line;

When the clamping piece 602 is in a vertical state, the driving motor 501 works, and the rotating arm 502 drives the clamping piece 602 to rotate 90 degrees, and at this time, the clamping piece 602 is vertical to a horizontal line.

Specifically, the clamping member 602 rotates 90 degrees to drive the external bottled material to rotate 90 degrees simultaneously, and then places the external bottled material on the external transport line.

The working principle of the utility model is as follows:

The driving piece 2 drives the driving assembly 3 to move, the movement track of the driving assembly 3 is single, the driving assembly 3 drives the rotating mechanism 5 and the clamping mechanism 6 to move, the driving assembly 2 regularly rotates positively and negatively, the driving assembly 3 drives the rotating mechanism 5 and the clamping mechanism 6 to do reciprocating motion, the clamping mechanism 6 can clamp the external bottle-shaped material at the starting point of the reciprocating motion, the rotating mechanism 5 rotates simultaneously when the starting point of the reciprocating motion moves to the ending point, the lying external bottle-shaped material is rotated by 90 degrees to be aligned, and at the moment, the clamping mechanism 6 loosens the external bottle-shaped material, so that the external bottle-shaped material is conveyed onto a conveying line.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the description of the present utility model and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the utility model.

Claims (10)

1. High-speed unloading manipulator that goes up, its characterized in that includes:

A main frame;

the driving piece is symmetrically arranged on one side of the main frame;

the driving assembly is arranged on one side of the main frame, which is far away from the driving piece;

The supporting seat is arranged on one side of the driving assembly, which is far away from the main frame;

the rotating mechanism is arranged on the driving assembly;

The clamping mechanism is arranged on the rotating mechanism and is provided with two clamping ends;

The driving assembly is used for driving the rotating mechanism and the clamping mechanism to move;

The rotating mechanism is used for driving the clamping mechanism to rotate;

The clamping mechanism is used for clamping the external bottle-shaped materials.

2. A high-speed loading and unloading manipulator as defined in claim 1, wherein,

The driving piece comprises a servo motor and an auxiliary motor;

the servo motor and the auxiliary motor are symmetrically arranged on one side of the main frame.

3. A high-speed loading and unloading manipulator as defined in claim 2, wherein,

The driving assembly comprises a driving arm a, a driving arm b, a driven assembly a and a driven assembly b.

4. A high-speed loading and unloading manipulator as defined in claim 3, wherein,

The output shaft of the servo motor penetrates through the main frame and is fixedly connected with the driving arm a, and the driving arm a is arranged between the main frame and the supporting seat;

The output shaft of the auxiliary motor penetrates through the main frame and is fixedly connected with the driving arm b, and the driving arm b is installed between the main frame and the supporting seat.

5. A high-speed loading and unloading manipulator as defined in claim 3, wherein,

The driven component a is rotatably mounted on the driving arm a;

the driven component b is rotatably arranged on the driving arm b;

And one end of the driven component a, which is far away from the driving arm a, is rotatably connected with one end of the driven component b, which is far away from the driving arm b.

6. A high-speed loading and unloading manipulator as defined in claim 3, wherein,

The driving arm a, the driving arm b, the driven assembly a and the driven assembly b form a quadrangle;

the length of the driven component a is equal to that of the driven component b.

7. A high-speed loading and unloading manipulator as defined in claim 6, wherein,

The rotating mechanism comprises a driving motor and a rotating arm;

The driven component b is provided with a mounting plate, and the driving motor is arranged on the mounting plate;

The rotating arm comprises two connecting ends and a fixed end;

One of the connecting ends is fixedly connected with the output end of the driving motor, and the other connecting end is rotatably arranged on the driven component a;

The fixed ends are arranged at the bottoms of the two connecting ends.

8. A high-speed loading and unloading manipulator as defined in claim 7, wherein,

The clamping mechanism comprises a connecting plate and a clamping piece;

The connecting plate is fixedly arranged at the bottom of the fixed end, and the central axis of the connecting plate is mutually perpendicular to the central axis of the fixed end;

the clamping pieces are symmetrically arranged at the bottom of the connecting plate.

9. A high-speed loading and unloading manipulator as defined in claim 8, wherein,

The clamping piece comprises a fixing piece, an air cylinder, a pushing rod, a clamping arm a, a clamping arm b and a rubber anti-skid block;

the fixing piece is arranged at the bottom of the connecting plate;

the air cylinder is fixedly arranged on the fixing piece;

the pushing rod is fixedly connected with the output end of the air cylinder, and an n-shaped groove is formed in the bottom of the pushing rod;

The clamping arm a and the clamping arm b are hinged and rotatably arranged on the fixing piece;

The pushing rod is rotationally connected with the hinge joint of the clamping arm a and the clamping arm b;

rubber anti-skid blocks are arranged on one sides of the clamping arms a and the clamping arms b, which are opposite to each other;

When the air cylinder pushes the pushing rod downwards, the clamping arm a and the clamping arm b are in an opening and closing state;

When the air cylinder pulls the pushing rod upwards, the clamping arm a and the clamping arm b are in a closed state.

10. A high-speed loading and unloading manipulator as defined in claim 8, wherein,

The clamping piece comprises a horizontal state and a vertical state;

When the clamping piece is in a horizontal state, the driving motor does not work, and at the moment, the bottom of the clamping piece coincides with a horizontal line;

When the clamping piece is in a vertical state, the driving motor works, and the rotating arm drives the clamping piece to rotate by 90 degrees, and at the moment, the clamping piece is vertical to the horizontal line.