WO2020248500A1 - Mécanisme de récupération de matériau de manipulateur de déchargement - Google Patents

Mécanisme de récupération de matériau de manipulateur de déchargement Download PDF

Info

Publication number
WO2020248500A1
WO2020248500A1 PCT/CN2019/118478 CN2019118478W WO2020248500A1 WO 2020248500 A1 WO2020248500 A1 WO 2020248500A1 CN 2019118478 W CN2019118478 W CN 2019118478W WO 2020248500 A1 WO2020248500 A1 WO 2020248500A1
Authority
WO
WIPO (PCT)
Prior art keywords
reclaiming
suction cup
workpiece
connecting shaft
falling
Prior art date
Application number
PCT/CN2019/118478
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州哈工众志自动化科技有限公司 filed Critical 苏州哈工众志自动化科技有限公司
Publication of WO2020248500A1 publication Critical patent/WO2020248500A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means

Definitions

  • the utility model belongs to the field of manipulators, in particular to a material taking mechanism of a lower part manipulator.
  • 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.
  • the suction cup manipulator mainly uses the suction force provided by multiple suction cup components to suck and transport the product to a specified position.
  • 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.
  • 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.
  • 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.
  • the anti-falling hook piece 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.
  • 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.
  • 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.
  • each connecting shaft 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 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 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.
  • pad blocks are respectively provided on the two right-angle sides inside the right-angle hook.
  • 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.
  • 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.
  • 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.
  • the limit pin When falling down the enclosure, the limit pin is inserted into the limit socket.
  • 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.
  • 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, and the plurality of suction cup assemblies are located inside the interval forming the anti-fall enclosure frame.
  • 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.
  • 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.
  • the structure is simple and the implementation is convenient.
  • 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.
  • 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.
  • 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.
  • installed 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.
  • the specific meanings of the above terms in this application can be understood according to specific circumstances.
  • 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.
  • 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.
  • the reclaiming mechanism of the lower part manipulator 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.
  • the anti-falling hook member 3 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the connecting edges of the L-shaped hooks 30 on opposite sides away from the connecting shaft 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.
  • the two right-angled sides of the right-angle hook are respectively provided with pads 31.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un mécanisme de récupération de matériau d'un manipulateur de déchargement, le mécanisme de récupération de matériau comprenant un cadre de récupération de matériau (1), une pluralité d'ensembles ventouses (2) disposés sur le cadre de récupération de matériau (1), des éléments crochets de prévention de chute (3) disposés sur deux côtés opposés du cadre de récupération de matériau (1) dans le sens de la longueur ou de la largeur du cadre de récupération de matériau (1) de manière à se renverser et formant un cadre d'enceinte de prévention de chute avec le cadre de récupération de matériau (1), et un ensemble d'entraînement (4) utilisé pour entraîner les éléments crochets de prévention de chute (3) à tourner. Les éléments crochets de prévention de chute (3) ont deux états de mouvement de rotation vers le cadre de récupération de matériau (1) et à l'opposé de celui-ci et, lorsque la pluralité d'ensembles ventouses (2) aspirent une pièce à travailler, les éléments crochets de prévention de chute (3) sont tournés vers l'extérieur pour éviter la pièce à travailler ; et après l'aspiration par la pluralité d'ensembles ventouses (2) de la pièce à travailler, les éléments crochets de prévention de chute (3) sont tournés vers l'intérieur et forment le cadre d'enceinte de prévention de chute avec le cadre de récupération de matériau (1), et la pièce à travailler est située dans le cadre d'enceinte de prévention de chute. Au moyen de l'agencement du cadre d'enceinte de prévention de chute combiné, il est possible d'empêcher que la pièce à travailler soit lâchée dans un processus de transport après avoir été aspirée, des risques de sécurité potentiels sont éliminés pour améliorer la sécurité d'un manipulateur transportant la pièce à travailler et, en outre, la structure est simple et la mise en œuvre est pratique.
PCT/CN2019/118478 2019-06-11 2019-11-14 Mécanisme de récupération de matériau de manipulateur de déchargement WO2020248500A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201920872819.5U CN210061176U (zh) 2019-06-11 2019-06-11 一种下件机械手的取料机构
CN201920872819.5 2019-06-11

Publications (1)

Publication Number Publication Date
WO2020248500A1 true WO2020248500A1 (fr) 2020-12-17

Family

ID=69457195

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/118478 WO2020248500A1 (fr) 2019-06-11 2019-11-14 Mécanisme de récupération de matériau de manipulateur de déchargement

Country Status (2)

Country Link
CN (1) CN210061176U (fr)
WO (1) WO2020248500A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118123884A (zh) * 2024-05-08 2024-06-04 深圳市城市漫步科技有限公司 一种安防机器人的机械手臂防松脱抓取结构

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103302676A (zh) * 2013-06-18 2013-09-18 辰星（天津）自动化设备有限公司 一种环槽型真空吸盘末端执行器
CN105819224A (zh) * 2016-05-31 2016-08-03 苏州英达瑞机器人科技有限公司 太阳能电池板真空夹具
CN205634180U (zh) * 2016-03-23 2016-10-12 湖州中辰建设有限公司 一种建筑用玻璃装箱装置
CN206032661U (zh) * 2016-08-12 2017-03-22 卓达新材料科技集团威海股份有限公司 一种吸盘平移码垛机卡爪机构
CN206296929U (zh) * 2016-12-26 2017-07-04 武汉瑞松北斗汽车装备有限公司 一种顶棚自动化生产线的防掉落抓手
CN107471241A (zh) * 2017-09-30 2017-12-15 苏州科技大学 平板抓取机器人
CN208279164U (zh) * 2018-03-22 2018-12-25 无锡睿龙新材料科技有限公司 气动式输送装置
CN208603327U (zh) * 2018-05-24 2019-03-15 深圳市创盈时代科技有限公司 分离式抓取装置
CN208744852U (zh) * 2018-08-01 2019-04-16 重庆朗维机电技术有限公司 一种具有保护功能的自动抓取机构

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103302676A (zh) * 2013-06-18 2013-09-18 辰星（天津）自动化设备有限公司 一种环槽型真空吸盘末端执行器
CN205634180U (zh) * 2016-03-23 2016-10-12 湖州中辰建设有限公司 一种建筑用玻璃装箱装置
CN105819224A (zh) * 2016-05-31 2016-08-03 苏州英达瑞机器人科技有限公司 太阳能电池板真空夹具
CN206032661U (zh) * 2016-08-12 2017-03-22 卓达新材料科技集团威海股份有限公司 一种吸盘平移码垛机卡爪机构
CN206296929U (zh) * 2016-12-26 2017-07-04 武汉瑞松北斗汽车装备有限公司 一种顶棚自动化生产线的防掉落抓手
CN107471241A (zh) * 2017-09-30 2017-12-15 苏州科技大学 平板抓取机器人
CN208279164U (zh) * 2018-03-22 2018-12-25 无锡睿龙新材料科技有限公司 气动式输送装置
CN208603327U (zh) * 2018-05-24 2019-03-15 深圳市创盈时代科技有限公司 分离式抓取装置
CN208744852U (zh) * 2018-08-01 2019-04-16 重庆朗维机电技术有限公司 一种具有保护功能的自动抓取机构

Also Published As

Publication number Publication date
CN210061176U (zh) 2020-02-14

Similar Documents

Publication Publication Date Title
JP6626411B2 (ja) 食品の詰め込み装置
WO2020248500A1 (fr) Mécanisme de récupération de matériau de manipulateur de déchargement
JP2006263895A (ja) ロボットハンドリング装置
CN108726212A (zh) 一种工业计算机的防震动稳定运输装置
TW201702031A (zh) 基板搬送機器人及其末端效應器
WO2020248503A1 (fr) Manipulateur d'abaissement de pièce à travailler de type vertical
CN209350266U (zh) 吸盘式轻载机械手
CN117944078A (zh) 一种生产搬运用机械手
CN215198304U (zh) 平面度检测设备
CN219135716U (zh) 一种吸盘式码垛机夹爪
CN208802575U (zh) 一种钢化玻璃生产线上的防脱落吸盘式上料装置
WO2023155411A1 (fr) Dispositif de transport d'élément semi-conducteur
TW202017830A (zh) 雙軌翻板機台
CN208614528U (zh) 一种无尘磨削装置
CN212639650U (zh) 一种循环式真空吸附结构
CN212947867U (zh) 晶圆片吸盘机构及晶圆片吸附机械手
CN211109497U (zh) 一种翻转搬运设备
CN115432411B (zh) 一种变速与匀速结合的货物翻转装置和双生产线
JP4100677B2 (ja) ワーク搬送ツール
KR102164728B1 (ko) 반송 로봇 및 진공 장치
CN108274494B (zh) 一种用于pcb板搬运的机器人的驱动机构
CN215325584U (zh) 一种高效搬运手抓装置
CN217866898U (zh) 一种玻璃生产用运输机械臂
CN216548321U (zh) 一种芯片翻转机构
CN211042135U (zh) 一种具有全方位旋转功能的汽车检具旋转装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19932630

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19932630

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 19932630

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 17/05/2023)