WO2020248500A1

WO2020248500A1 - Material-fecthing mechanism of discharging manipulator

Info

Publication number: WO2020248500A1
Application number: PCT/CN2019/118478
Authority: WO
Inventors: 赫英强; 刘吉; 郑恒飞
Original assignee: 苏州哈工众志自动化科技有限公司
Priority date: 2019-06-11
Filing date: 2019-11-14
Publication date: 2020-12-17
Also published as: CN210061176U

Abstract

Disclosed is a material-fetching mechanism of a discharging manipulator, the material-fetching mechanism comprising a material-fetching frame (1), a plurality of suction cup assemblies (2) arranged on the material-fetching frame (1), drop prevention hook members (3) arranged on two opposite sides of the material-fetching frame (1) over a lengthwise or widthwise direction of the material-fetching frame (1) in an overturning manner and forming a drop prevention enclosure frame with the material-fetching frame (1), and a driving assembly (4) used for driving the drop prevention hook members (3) to turn. The drop prevention hook members (3) have two motion states of turning towards and away from the material-fetching frame (1), and when the plurality of suction cup assemblies (2) suction a workpiece, the drop prevention hook members (3) are turned outwards to avoid the workpiece; and after the plurality of suction cup assemblies (2) suction the workpiece, the drop prevention hook members (3) are turned inwards and form the drop prevention enclosure frame with the material-fetching frame (1), and the workpiece is located in the drop prevention enclosure frame. By means of the arrangement of the combined drop prevention enclosure frame, the workpiece is prevented from being dropped in a conveying process after being suctioned, potential safety hazards are eliminated to improve the safety of a manipulator conveying the workpiece, and also the structure is simple and the implementation is convenient.

Description

Reclaiming mechanism of lower part manipulator

Technical field

The utility model belongs to the field of manipulators, in particular to a material taking mechanism of a lower part manipulator.

Background technique

Manipulator, which can imitate certain motion functions of human hands and arms, and is used as an automatic operating device for grasping, transporting objects or operating tools according to a fixed program. Manipulators are the earliest industrial robots, as well as the earliest modern robots. They can replace human labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, they are widely used in machinery manufacturing, metallurgy, Departments of electronics, light industry and atomic energy.

However, for the suction cup manipulator, it mainly uses the suction force provided by multiple suction cup components to suck and transport the product to a specified position. However, in the process of suction or transportation, once the suction cup component is damaged, it will not It is discovered in time that it is easy to cause the risk of product falling, especially for manipulators working at heights. It is very dangerous and has a great safety hazard. At the same time, the product will be damaged after falling. Therefore, this problem needs to be solved urgently.

Summary of the invention

The technical problem to be solved by the utility model is to overcome the shortcomings of the prior art and provide an improved material taking mechanism of the lower part manipulator.

To solve the above technical problems, the present utility model adopts the following technical solutions:

A reclaiming mechanism for a lower part manipulator, which includes a reclaiming rack, a plurality of suction cup assemblies arranged on the reclaiming rack, and a plurality of suction cup assemblies arranged on the opposite sides of the reclaiming rack and turned around the length or width of the reclaiming rack. An anti-falling hook member forming an anti-falling enclosure frame with the reclaiming rack, and a driving assembly for driving the anti-falling hook member to flip, wherein the anti-falling hook member has two movement states of turning inside and out of the reclaiming rack. When multiple suction cup components absorb the workpiece, the anti-falling hook piece is turned outward to avoid the workpiece; when multiple suction cup components absorb the workpiece, the anti-falling hook piece flips inward and forms an anti-falling enclosure with the reclaimer. Located in the fall protection enclosure.

Preferably, the anti-falling hook member is rotatably connected to the reclaiming frame through the connecting shaft and the shaft base, and the driving assembly is used to drive the connecting shaft to rotate around its own axis.

According to a specific implementation and preferred aspect of the present invention, the anti-falling hook member includes an L-shaped hook fixed on the connecting shaft from the end of a connecting side, wherein at least two L-shaped hooks are located on each connecting shaft. The two sides of each L-shaped hook are aligned in the axial direction of the connecting shaft. When the L-shaped hook rotates in the reclaiming rack, the multiple L-shaped hooks on the two connecting shafts and The reclaiming frame forms an anti-falling enclosure, and the other connecting edge of the L-shaped hook and the suction cup assembly are correspondingly arranged on opposite sides of the workpiece after suction.

Specifically, there are two L-shaped hooks on each connecting shaft, and they are respectively correspondingly arranged at both ends of the connecting shaft.

Further, the L-shaped hooks are right-angled hooks, and the L-shaped hooks on the two connecting shafts are symmetrically arranged with respect to the center line of the reclaiming frame along the length direction of the connecting shaft.

In this example, when forming the anti-fall enclosure, the connecting edges of the L-shaped hooks on opposite sides away from the connecting shaft are on the same straight line, and the ends of the two connecting edges can be spaced apart. It can also be spliced to form a one-sided arrangement, but considering the distance between the two connecting shafts, the spaced arrangement is more conducive to the miniaturization of the reclaiming mechanism.

Preferably, pad blocks are respectively provided on the two right-angle sides inside the right-angle hook. When the suction cup assembly adsorbs the workpiece, the hook contacts the workpiece from the pad block, and the workpiece is confined in the fall prevention enclosure. The function of the spacer is mainly to prevent damage to the workpiece caused by the hook contacting the workpiece.

According to another specific implementation and preferred aspect of the present invention, the drive assembly includes two pneumatic swing cylinders respectively arranged on the reclaiming rack and arranged in a one-to-one correspondence with the connecting shaft, respectively outputting the pneumatic swing cylinders A transmission chain or a transmission belt whose ends are drivingly connected with the corresponding connecting shafts.

Preferably, the drive assembly further includes a limit piece respectively fixed on the connecting shaft and having a limit hole, and a limit pin provided on the reclaimer and matched with the limit hole of the limit piece. When falling down the enclosure, the limit pin is inserted into the limit socket.

In addition, the reclaiming rack includes four profile pieces, of which every two profile pieces are located on the same plane and arranged in parallel, and the profile pieces located on the two planes are connected together perpendicularly and form a well shape. Easy to assemble.

Further, the reclaiming rack further includes a connecting seat for connecting with the arm of the manipulator, wherein the connecting seat is fixed on the cross-shaped profile member and is correspondingly arranged on the opposite side of the suction cup assembly.

Preferably, the suction cup assembly is adsorbed on the surface of the workpiece by means of negative pressure adsorption, and the plurality of suction cup assemblies are located inside the interval forming the anti-fall enclosure frame. Specifically, four of the plurality of suction cup assemblies are rectangularly distributed on the profile members around the intersection of the Tic Tac Toe, and the remaining suction cup components are located on the profile members on the side inside the Tic Tac Toe.

Due to the implementation of the above technical solutions, the utility model has the following advantages compared with the prior art:

The utility model can prevent the workpiece from falling during the transfer process after adsorption, eliminates safety hazards, and increases the safety of the manipulator taking the workpiece through the combination of the anti-falling enclosure frame. At the same time, the structure is simple and the implementation is convenient.

Description of the drawings

Hereinafter, the present utility model will be further described in detail with reference to the drawings and specific embodiments.

Figure 1 is a schematic diagram of the structure of the reclaiming mechanism of the utility model (front);

Figure 2 is a schematic rear view of the reclaiming mechanism of the present invention;

Among them: 1. Reclaimer; 10. Profile parts; 11. Connecting seat; 2. Suction cup assembly; 3. Fall prevention hook; a. Connecting shaft; b. Shaft seat; 30. L-shaped hook; 30a. One connecting side; 30b, the other connecting side; 31, cushion block; 4. drive assembly; 40, pneumatic swing cylinder; 41, transmission belt (or transmission chain); 42, limit piece; 43, limit pin.

Detailed ways

In order to make the above objectives, features and advantages of the present application more obvious and understandable, the specific implementation of the present application will be described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are explained in order to fully understand this application. However, this application can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without violating the connotation of this application. Therefore, this application is not limited by the specific embodiments disclosed below.

In the description of this application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "Radial", "Circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply the device or The element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application.

In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "a plurality of" means at least two, such as two, three, etc., unless specifically defined otherwise.

In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , Or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, it can be the internal communication of two components or the interaction relationship between two components, unless otherwise specified The limit. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

In this application, unless expressly stipulated and defined otherwise, the “on” or “under” of the first feature on the second feature may be in direct contact with the first and second features, or indirectly through an intermediary. contact. Moreover, the "above", "above" and "above" of the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the level of the first feature is higher than the second feature. The “below”, “below” and “below” of the second feature of the first feature may mean that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature. It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or a central element may also be present. When an element is considered to be "connected" to another element, it can be directly connected to the other element or an intermediate element may be present at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not mean the only implementation.

1 and 2, according to the reclaiming mechanism of the lower part manipulator according to this embodiment, it includes a reclaiming frame 1, a plurality of suction cup assemblies 2 arranged on the reclaiming frame 1, and includes a length around the reclaiming frame 1. Or the width direction is reversed and arranged on opposite sides of the reclaiming rack 1 and forming an anti-falling enclosure with the reclaiming rack 1, the anti-falling hook 3, and the driving assembly 4 for driving the three anti-falling hooks to turn over, wherein The anti-falling hook member 3 has two movement states of turning inside and out of the reclaiming rack 1. When multiple suction cup assemblies 2 suck the workpiece, the anti-falling hook member 3 is turned outward to avoid the workpiece; 2 After the workpiece is adsorbed, the anti-falling hook piece 3 is turned inward and forms an anti-falling enclosure with the reclaimer 1, and the workpiece is located in the anti-falling enclosure.

Specifically, the reclaimer 1 includes four profile pieces 10 and a connecting seat 11 for connecting with the arm of the manipulator, wherein every two profile pieces 10 are located on the same plane and are arranged in parallel, and the profiles are located on two planes. The pieces 10 are vertically connected together to form a well shape, and the connecting seat 11 is fixed on the well-shaped profile piece 10 and correspondingly arranged on the opposite side of the suction cup assembly 2.

As shown in FIG. 1, the anti-falling hook 3 is rotatably connected to the reclaiming frame 1 through the connecting shaft a and the shaft seat b, and the driving assembly 4 is used to drive the connecting shaft a to rotate around its own axis.

In this example, there are two connecting shafts a, which extend in the vertical direction (it is arranged in parallel with the two longitudinally extending profile members 10), and are respectively connected to the two transversely disposed profile members 10 through the shaft seat b. The two ends, specifically, adopt bearings to realize the rotational connection between the connecting shaft a and the shaft seat b.

In this example, the anti-falling hook member 3 includes an L-shaped hook 30 fixed on the connecting shaft a from the end of a connecting side 30a. From the figure, it should be horizontally arranged.

At the same time, there are two L-shaped hooks 30 on each connecting shaft a, and the two connecting edges of the two L-shaped hooks 30 are aligned in the vertical direction. When the L-shaped hook 30 rotates into the reclaimer 1, the L-shaped hook 30 on the two connecting shafts a and the reclaimer 1 form an anti-falling enclosure, and the other connecting side of the L-shaped hook 30 30b and the suction cup assembly 2 are correspondingly arranged on opposite sides of the workpiece after suction.

Specifically, the L-shaped hooks 30 are right-angled hooks, and the L-shaped hooks 30 located on the two connecting shafts a are symmetrically arranged with respect to the center line of the reclaimer 1 along the length direction of the connecting shaft a. At the same time, the L-shaped hooks The hooks 30 are respectively arranged at the upper and lower ends of the connecting shaft a. This is just an implementation. It is also possible when it is asymmetrical. For example, the position of the L-shaped hook 30 on the connecting axis a changes. It is common that the L-shaped hooks 30 on both sides can cross each other or are internally staggered. Both can be implemented. . However, considering stability, a symmetrical embodiment is the most preferred.

After adopting the symmetrical implementation, when forming the fall prevention enclosure, the connecting edges of the L-shaped hooks 30 on opposite sides away from the connecting shaft (that is, the other connecting edge 30b mentioned above) are on the same straight line, and the two The ends of the two connecting sides can be spaced apart, or they can be spliced to form a one-sided arrangement, but considering the distance between the two connecting shafts, the spaced arrangement is more conducive to the reclaiming mechanism. miniaturization.

In this example, the two right-angled sides of the right-angle hook are respectively provided with pads 31. When the suction cup assembly 2 sucks the workpiece, the hooks come into contact with the workpiece from the pads 31, and the workpieces are confined in the fall prevention enclosure. The function of the spacer 31 is mainly to prevent damage to the workpiece caused by the hook contacting the workpiece.

The drive assembly 4 includes two pneumatic swing cylinders 40 respectively arranged on the connecting seat 11 and corresponding to the connecting shaft a, a transmission belt 41 which connects the output end of the pneumatic swing cylinder 40 to the corresponding connecting shaft a, respectively A limit piece 42 fixed on the connecting shaft a and having a limit hole, and a limit pin 43 arranged on the reclaiming frame 1 and matched with the limit hole of the limit piece 42, when forming an anti-falling enclosure When the limit pin 43 is inserted into the limit socket to limit the rotation of the L-shaped hook 30, at the same time, considering the accuracy of the motion control and preventing the slip of the transmission belt 41, the transmission wheel and the transmission belt are respectively provided with phases. Matching grooves and protrusions.

Specifically, the limit pin 43 is inserted into or drawn out of the limit socket under the movement of the cylinder.

The suction cup assembly 2 is adsorbed on the surface of the workpiece by means of negative pressure adsorption. This implementation is very common in the field of reclaiming manipulators, and how to perform adsorption is not described here. It is also very clear.

Incorporating into the present application, there are five suction cup assemblies 2, four of which are distributed in a rectangular shape on the profile 10 around the intersection of the Tic Tac Toe, and the remaining suction cup assembly 2 is located on the profile 10 on the side inside the Tic Tac Toe.

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

In summary, this embodiment adopts the flip setting of the right-angle L-shaped hooks. After the workpiece is adsorbed, the workpiece can be placed in the anti-falling enclosure formed to prevent the workpiece from falling during the transfer process after adsorption, thereby eliminating safety Hidden hazards to increase the safety of the manipulator to pick up the workpiece, and at the same time to relieve the pressure of the suction cup assembly under the contact of the pad of the anti-falling enclosure, so that the manipulator is more stable in the process of picking and moving the workpiece.

The utility model has been described in detail above, and its purpose is to allow those skilled in the field to understand the content of the utility model and implement it, and it cannot limit the scope of protection of the utility model, and the utility model is not limited to the above In the embodiments, all equivalent changes or modifications made according to the spirit of the utility model should be covered by the protection scope of the utility model.

Claims

A reclaiming mechanism of a lower part manipulator, which includes a reclaiming rack and a plurality of suction cup assemblies arranged on the reclaiming rack, and is characterized in that: the reclaiming mechanism further includes a reclaiming rack around the reclaiming rack. An anti-falling hook member that is disposed on opposite sides of the reclaiming rack in a length or width direction and forms an anti-falling enclosure with the reclaiming rack, and a driving assembly for driving the anti-falling hook member to turn over , Wherein the anti-falling hook member has two movement states of turning inward and outward of the reclaiming rack, and when a plurality of the suction cup assemblies adsorb a workpiece, the anti-falling hook member is turned outward to avoid the workpiece When a plurality of the suction cup components adsorb the workpiece, the anti-falling hook piece flips inward and forms the anti-falling enclosure with the reclaiming frame, and the workpiece is located in the anti-falling enclosure.
The reclaiming mechanism of the lower part manipulator according to claim 1, wherein the anti-falling hook member is rotatably connected to the reclaiming frame through a connecting shaft and a shaft seat, and the driving assembly is used to drive The connecting shaft rotates around its own axis.
The reclaiming mechanism of the lower part manipulator according to claim 2, wherein the anti-falling hook member comprises an L-shaped hook fixed on the connecting shaft from the end of a connecting side, wherein There are at least two L-shaped hooks on each connecting shaft, and the two sides of each L-shaped hook are aligned in the axial direction of the connecting shaft. After the reclaiming rack is rotated inside, the plurality of L-shaped hooks located on the two connecting shafts and the reclaiming rack form the anti-falling enclosure, and the other of the L-shaped hooks The connecting edge and the suction cup assembly are correspondingly arranged on opposite sides of the workpiece after suction.
The reclaiming mechanism of the lower part manipulator according to claim 3, characterized in that: each of the connecting shafts has two L-shaped hooks, and they are respectively correspondingly arranged at both ends of the connecting shaft .
The reclaiming mechanism of the lower part manipulator according to claim 4, wherein the L-shaped hooks are right-angled hooks, and the L-shaped hooks located on the two connecting shafts are related to the The reclaimer is symmetrically arranged along the center line of the length direction of the connecting shaft.
The reclaiming mechanism of the lower part manipulator according to claim 5, characterized in that: two right-angle sides on the inner side of the right-angle hook are respectively provided with pads, and when the suction cup assembly sucks the workpiece, the The hook comes into contact with the work piece from the cushion block, and the work piece is confined in the fall prevention enclosure.
The reclaiming mechanism of the lower part manipulator according to claim 2, wherein the driving assembly includes two pneumatic swing cylinders respectively arranged on the reclaiming frame and corresponding to the connecting shaft. , The transmission chain or the transmission belt respectively connecting the output end of the pneumatic swing cylinder and the corresponding connecting shaft.
The reclaiming mechanism of the lower part manipulator according to claim 7, characterized in that: the drive assembly further comprises a limit piece fixed on the connecting shaft and having a limit hole, and a limit piece arranged on the The limit pin on the reclaiming rack and matching with the limit hole of the limit piece is inserted into the limit hole when the anti-fall enclosure frame is formed.
The reclaiming mechanism of the lower part manipulator according to claim 1, characterized in that: the reclaiming rack includes four profile pieces, wherein every two of the profile pieces are located on the same plane and arranged in parallel, and are located in two The profile pieces on the plane are connected together perpendicularly and form a cross shape.
The reclaiming mechanism of the lower part manipulator according to claim 9, characterized in that: the reclaiming rack further includes a connecting seat for connecting with the arm of the manipulator, wherein the connecting seat is fixed on the tic-shaped , And correspondingly arranged on the opposite side of the suction cup assembly.
The reclaiming mechanism of the lower part manipulator according to claim 10, characterized in that: the suction cup assembly is adsorbed on the surface of the workpiece by means of negative pressure adsorption, and a plurality of the suction cup assemblies are located in an area forming the fall prevention enclosure internal.
The reclaiming mechanism of the lower part manipulator according to claim 11, characterized in that: among the plurality of suction cup assemblies, four of the suction cup assemblies are rectangularly distributed on the profile members around the intersection of the tic-tac-toe, and the remaining suction cups The component is located on the profile piece on the side inside the Tic Tac Toe.
The reclaiming mechanism of the lower part manipulator according to claim 1, wherein the anti-falling hook member is rotatably connected to the reclaiming frame through a connecting shaft and a shaft seat, and the driving assembly is used to drive The connecting shaft rotates around its own axis;

The anti-falling hook member includes an L-shaped hook fixed on the connecting shaft from an end of a connecting side, wherein at least two L-shaped hooks are located on each of the connecting shafts, and The two sides of each L-shaped hook are aligned in the axial direction of the connecting shaft. When the L-shaped hook rotates in the reclaiming rack, a plurality of sides are located on the two connecting shafts. The L-shaped hook and the reclaiming rack form the anti-falling enclosure, and the other connecting edge of the L-shaped hook and the suction cup assembly are correspondingly arranged on opposite sides of the workpiece after adsorption;

There are two L-shaped hooks on each connecting shaft, and they are respectively correspondingly arranged at both ends of the connecting shaft;

The L-shaped hooks are right-angled hooks, and the L-shaped hooks located on the two connecting shafts are symmetrically arranged with respect to the center line of the reclaiming frame along the length direction of the connecting shaft;

The two right-angled sides of the right-angle hook are respectively provided with spacer blocks. After the suction cup assembly absorbs the workpiece, the hook is in contact with the workpiece from the spacer block to limit the workpiece to the fall prevention Inside the frame

The drive assembly includes two pneumatic swing cylinders respectively arranged on the reclaiming frame and arranged in a one-to-one correspondence with the connecting shafts, respectively connecting the output ends of the pneumatic swing cylinders with the corresponding connecting shafts The transmission chain or belt of the transmission connection;

The drive assembly also includes a limit piece fixed on the connecting shaft and having a limit hole, and a limit piece set on the reclaiming rack and matched with the limit hole of the limit piece. When forming the anti-falling enclosure, the limiting pin is inserted into the limiting socket;

The reclaiming rack includes four profile pieces, wherein every two of the profile pieces are located on the same plane and are arranged in parallel, and the profile pieces located on the two planes are connected together perpendicularly and form a tic-square shape;

The reclaiming rack further includes a connecting seat for connecting with the arm of the manipulator, wherein the connecting seat is fixed on the cross-shaped profile member and is correspondingly arranged on the opposite side of the suction cup assembly;

The suction cup assembly is adsorbed on the surface of the workpiece by means of negative pressure adsorption, a plurality of the suction cup components are located inside the interval forming the fall prevention enclosure, and four of the plurality of the suction cup components are rectangularly distributed in the well On the profiled member around the intersection of the word, the remaining suction cup assembly is located on the profiled member on the side of the Tic Tac Toe.