CN112139377A

CN112139377A - Automatic robot is snatched in automation of unloading

Info

Publication number: CN112139377A
Application number: CN202011016627.8A
Authority: CN
Inventors: 张�荣; 徐魁文; 徐晓丹; 曹婷婷; 徐国君
Original assignee: Yangzhou Chuangdong Intelligent Technology Co ltd
Current assignee: Yangzhou Chuangdong Intelligent Technology Co ltd
Priority date: 2020-09-24
Filing date: 2020-09-24
Publication date: 2020-12-29

Abstract

The invention relates to the technical field of automatic production equipment and discloses an automatic grabbing robot capable of automatically feeding and discharging materials. This automatic robot that snatchs of unloading in automation, at first, control first motor and start, make the running gear rotate, it rotates to drive meshing gear through the meshing, make the dwang rotate on transportation platform steadily, make and rotate the awl tooth and rotate, promote the meshing awl tooth and rotate, thereby it rotates to drive the bull stick steady rotation between mount and curb plate, make the meshing latch of its left and right sides rotate, and make the meshing pole steady removal on the baffle through the meshing, thereby promote lifter plate and catch bar lift, the stability that the elevating platform removed can be strengthened greatly to setting up through telescopic link and coupling spring and first slider, make the height of tongs adjust in a flexible way, it is more convenient to make the device use, can be better satisfy its production demand.

Description

Automatic robot is snatched in automation of unloading

Technical Field

The invention relates to the technical field of automatic production equipment, in particular to an automatic grabbing robot capable of automatically feeding and discharging materials.

Background

Automation refers to a process of realizing an expected target by automatic detection, information processing, analysis and judgment and operation control according to the requirements of people without the direct participation of people or less people in a machine device, a system or a process, and an automation technology is widely used in the field of industrial production.

For example, a loading and unloading auxiliary device for a punching machine proposed in chinese patent CN 104607566B, the application accurately and quickly sends the plate to the designated position of the punch press, the plate is punched and formed, the manual feeding mode is replaced, thereby avoiding the personal accident caused by misoperation, ensuring the operation safety of workers, still has the defect of inconvenient use, because the common automatic loading and unloading equipment has no need of changing the loading and unloading position of the material in the conveying process, the height is usually fixed, when the material is low in accumulation, in the process of grabbing and placing, it takes a certain time to lift, and the higher the lift is, the higher the risk factor of transportation is, because the device needs to be transported continuously, not only certain potential safety hazard exists, but also the working efficiency is influenced, the device can not better meet the use requirements of people, and therefore the automatic grabbing robot capable of automatically feeding and discharging materials is provided to solve the problem.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides an automatic grabbing robot capable of automatically feeding and discharging materials, which has the advantages of convenience in use and the like, and solves the problems that the height of a common automatic feeding and discharging device is usually fixed in the conveying process, when the material accumulation is low, a certain time is required for lifting and lowering in the grabbing and placing process, the lifting is higher, the conveying danger coefficient is higher, and due to the fact that the device needs to be conveyed ceaselessly, certain potential safety hazards exist, meanwhile, the working efficiency of the device can not be influenced, and the using requirements of people can not be better met.

(II) technical scheme

In order to realize the purpose of convenient use, the invention provides the following technical scheme: an automatic grabbing robot capable of automatically feeding and discharging materials comprises a transportation platform, wherein support legs are fixedly mounted on the left side and the right side of the bottom of the transportation platform respectively, a first motor is fixedly mounted on the left side of the bottom of the transportation platform, a rotating gear is fixedly mounted on an output shaft of the first motor, a rotating rod is movably mounted on the left side of the top of the transportation platform, a meshing gear with one end meshed with the rotating gear is fixedly mounted at the bottom of the rotating rod, a side plate is fixedly mounted on the left side of the top of the transportation platform, a fixing frame is fixedly mounted on the right side of the side plate, a partition plate is fixedly mounted in an inner cavity of the fixing frame, a rotating rod is movably mounted in the inner cavity of the fixing frame and positioned at the bottom of the partition plate, meshing latches are fixedly mounted on the left side and the right side of the, the top of the outside of the meshing rod is fixedly provided with a connecting spring, the top between two meshing rods is fixedly provided with a lifting plate, the outside of the rotating rod is fixedly provided with a meshing bevel gear between two meshing clamping gears, the top of the meshing gear is fixedly provided with a rotating bevel gear with one end meshed with the meshing bevel gear, the top of the lifting plate is fixedly provided with a push rod with one end movably connected with a fixed frame, the top of the push rod is fixedly provided with a lifting platform, the left side of the lifting platform is fixedly provided with a first sliding block with one end movably connected with a side plate, the left side and the right side of the top of the fixed frame are both fixedly provided with telescopic rods, the bottom of the lifting platform is fixedly provided with a horizontal servo module, the outside of the horizontal servo module is movably provided with a movable plate, the top of the movable plate is fixedly provided with a second sliding block with one end, the utility model discloses a portable electronic device, including fly leaf, fixed plate, connecting plate, output shaft, fixed plate bottom, the equal fixed mounting in the left and right sides at fly leaf top has first electric push rod, two bottom fixed mounting between the first electric push rod has the connecting plate, the top fixed mounting of connecting plate has the second motor, the output shaft fixed mounting of telescopic link has one end and connecting plate swing joint's rolling disc, the equal fixed mounting in the left and right sides of rolling disc bottom has second electric push rod, the bottom fixed mounting of rolling disc has the fixed plate, the equal movable mounting in the left and right sides.

Preferably, a limiting clamping groove is formed in the top of the gripper, a pushing ring is fixedly mounted on an output shaft of the second electric push rod, and the pushing ring is matched with the limiting clamping groove.

Preferably, the left side fixed mounting at transportation platform top has limit sleeve, and transportation platform passes through limit sleeve and dwang swing joint, the meshing pole is ninety degrees vertical installation with the baffle.

Preferably, the quantity of first electric push rod is two, and first electric push rod is the symmetric distribution with the perpendicular bisector of second sliding block, the positive left side fixed mounting of transportation platform has control panel.

Preferably, the bottom of the rotating rod penetrates through and extends to the outer side of the transportation platform and is movably connected with the transportation platform, and the hand grab is L-shaped.

Preferably, the bottom of the connecting plate is fixedly provided with a fixed sleeve ring, the inner wall of the fixed sleeve is provided with a sliding groove, and the sliding groove is matched with the rotating disc.

Preferably, the top fixed mounting of mount has the spacing ring, and spacing ring and catch bar looks adaptation, the quantity of telescopic link is two.

Preferably, the telescopic link and the outer side of the first motor are fixedly provided with connecting frames, the telescopic link and the first motor are fixedly connected with the connecting plate and the transportation platform through the connecting frames respectively, the front of the fixing plate is fixedly provided with a connecting shaft, and the fixing plate is movably connected with the gripper through the connecting shaft.

Preferably, the equal fixed mounting in the left and right sides of bull stick has the bearing, and the bull stick passes through the bearing respectively with curb plate and mount swing joint, the top of catch bar runs through and extends to the outside of mount and with elevating platform fixed connection.

(III) advantageous effects

Compared with the prior art, the invention provides an automatic grabbing robot capable of automatically feeding and discharging materials, which has the following beneficial effects:

1. the automatic grabbing robot capable of automatically feeding and discharging materials firstly controls the first motor to start through the control panel, so that the rotating gear rotates, the meshing gear is driven to rotate through meshing, the rotating rod stably rotates on the transportation platform, the rotating bevel gear rotates, the meshing bevel gear is pushed to rotate, the rotating rod is driven to stably rotate between the fixing frame and the side plate, the meshing latches on the left side and the right side of the rotating rod rotate, the meshing rod stably moves on the partition plate through meshing, the lifting plate and the pushing rod are pushed to lift, the height of the lifting platform is changed, the moving stability of the lifting platform can be greatly enhanced through the arrangement of the telescopic rod, the connecting spring and the first sliding block, the height of the gripper can be flexibly adjusted, the gripper can be flexibly adjusted according to the stacking height of materials, the transportation safety is improved, and meanwhile, the transportation efficiency is effectively improved, the device is more convenient to use, and the production requirements can be better met.

2. This automatic robot is snatched in automation of unloading, through setting up first electric push rod, after elevating platform adjustment to suitable height, start first electric push rod, make the connecting plate push down, make tongs and material contact, start the second motor, make the rolling disc rotate under the restriction of connecting plate, it is rotatory to drive the tongs of its bottom, adjust it to suitable angle, then start the second electric push rod of the left and right sides, promote two tongs and rotate relatively, thereby snatch the material, wait to snatch the back that finishes, carry out horizontal transport by horizontal servo module, whole transporting process is succinct high-efficient very, its security obtains effectual improvement, make equipment more practical.

Drawings

Fig. 1 is a schematic structural view of an automatic grabbing robot capable of automatically feeding and discharging materials according to the present invention;

fig. 2 is an enlarged view of a portion a in fig. 1 of an automatic grabbing robot for automatic loading and unloading according to the present invention;

fig. 3 is an enlarged view of a portion B in fig. 1 of an automatic grabbing robot for automatic loading and unloading according to the present invention.

In the figure: the device comprises a support leg 1, a transportation platform 2, a gripper 3, a rotating gear 4, a first motor 5, a meshing gear 6, a rotating rod 7, a lifting plate 8, a fixed frame 9, a first sliding block 10, a side plate 11, a pushing rod 12, a telescopic rod 13, a connecting spring 14, a movable plate 15, a second sliding block 16, a connecting plate 17, a horizontal servo module 18, a lifting table 19, a first electric push rod 20, a second electric push rod 21, a rotating rod 22, a fixed plate 23, a rotating disc 24, a meshing rod 25, a partition plate 26, a meshing bevel gear 27, a rotating bevel gear 28, a meshing latch 29 and a second motor 30.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-3, an automatic grabbing robot for automatic loading and unloading comprises a transportation platform 2, a limit sleeve is fixedly installed on the left side of the top of the transportation platform 2, the transportation platform 2 is movably connected with a rotating rod 7 through the limit sleeve, a meshing rod 25 is vertically installed at ninety degrees with a partition plate 26, support legs 1 are fixedly installed on the left side and the right side of the bottom of the transportation platform 2, a first motor 5 is fixedly installed on the left side of the bottom of the transportation platform 2, the first motor 5 and a second motor 30 are both of SF980 type, the first motor 5 is first controlled to start through a control panel, a rotating gear 4 is rotated, the meshing gear 6 is driven to rotate through meshing, the rotating rod 7 is stably rotated on the transportation platform 2, a rotating bevel gear 28 is rotated, the meshing bevel gear 27 is pushed to rotate, the rotating rod 22 is driven to stably rotate between a fixed frame 9 and a side plate 11, and meshing latches 29 on the left side and the, the engaging rod 25 can move stably on the partition plate 26 through engagement, so that the lifting plate 8 and the pushing rod 12 are pushed to lift, the height of the lifting platform 19 is changed, the moving stability of the lifting platform 19 can be greatly enhanced through the arrangement of the telescopic rod 13, the connecting spring 14 and the first slider 10, the height of the gripper 3 can be flexibly adjusted, namely, the gripper can be flexibly adjusted according to the stacking height of materials, the transportation safety is improved, the transportation efficiency is effectively improved, the device is more convenient to use, the production requirement of the gripper can be better met, the rotating gear 4 is fixedly arranged on the output shaft of the first motor 5, the rotating rod 7 is movably arranged on the left side of the top of the transportation platform 2, the bottom of the rotating rod 7 penetrates through and extends to the outer side of the transportation platform 2 and is movably connected with the transportation platform 2, the gripper 3 is in an L shape, the engaging gear 6 with one end engaged with the rotating gear 4 is fixedly arranged at the bottom of the, a side plate 11 is fixedly arranged on the left side of the top of the transportation platform 2, a fixed frame 9 is fixedly arranged on the right side of the side plate 11, a limit ring is fixedly arranged on the top of the fixed frame 9 and is matched with a push rod 12, the number of telescopic rods 13 is two, a partition plate 26 is fixedly arranged in an inner cavity of the fixed frame 9, a rotating rod 22 is movably arranged in the inner cavity of the fixed frame 9 and is positioned at the bottom of the partition plate 26, bearings are fixedly arranged on the left side and the right side of the rotating rod 22, the rotating rod 22 is respectively and movably connected with the side plate 11 and the fixed frame 9 through the bearings, the top of the push rod 12 penetrates through and extends to the outer side of the fixed frame 9 and is fixedly connected with a lifting platform 19, meshing latch 29 is fixedly arranged on the left side and the right side of the rotating rod 22, a meshing rod 25 with one end meshed with the meshing latch 29, a lifting plate 8 is fixedly arranged at the top part between the two meshing rods 25, a meshing bevel gear 27 is fixedly arranged at the outer side of the rotating rod 22 and positioned between the two meshing clamping teeth 29, a rotating bevel gear 28 with one end meshed with the meshing bevel gear 27 is fixedly arranged at the top part of the meshing gear 6, a push rod 12 with one end movably connected with the fixed frame 9 is fixedly arranged at the top part of the lifting plate 8, a lifting platform 19 is fixedly arranged at the top part of the push rod 12, a first sliding block 10 with one end movably connected with the side plate 11 is fixedly arranged at the left side of the lifting platform 19, telescopic rods 13 are fixedly arranged at the left side and the right side of the top part of the fixed frame 9, each telescopic rod 13 consists of a sleeve bin and a moving rod, one end of the moving rod penetrates through and extends to the inner part of the sleeve bin, a limiting block positioned in the sleeve bin is fixedly connected at the outer side of the, the moving rod is prevented from being separated from the sleeve bin in the moving process, connecting frames are fixedly arranged on the outer sides of the telescopic rod 13 and the first motor 5, the telescopic rod 13 and the first motor 5 are respectively and fixedly connected with the connecting plate 17 and the transportation platform 2 through the connecting frames, the front of the fixing plate 23 is fixedly provided with a connecting shaft, the fixing plate 23 is movably connected with the gripper 3 through the connecting shaft, the bottom of the lifting platform 19 is fixedly provided with a horizontal servo module 18, the outer side of the horizontal servo module 18 is movably provided with a movable plate 15, the top of the movable plate 15 is fixedly provided with a second sliding block 16, one end of the second sliding block is movably connected with the lifting platform 19, the left side and the right side of the top of the movable plate 15 are respectively and fixedly provided with a first electric push rod 20, the types of the first electric push rod 20 and the second electric push rod 21 can be CP-700, and by arranging the first electric push rod 20, the connecting plate 17 is pushed downwards to make the grippers 3 contact with the materials, the second motor 30 is started to make the rotating disc 24 rotate under the limitation of the connecting plate 17 to drive the grippers 3 at the bottom of the rotating disc to rotate, the grippers 3 are adjusted to a proper angle, then the second electric push rods 21 at the left side and the right side are started to push the two grippers 3 to rotate relatively, so as to grip the materials, after the gripping is finished, the materials are horizontally conveyed by the horizontal servo module 18, the whole conveying process is very simple and efficient, the safety is effectively improved, the equipment is more practical, the number of the first electric push rods 20 is two, the first electric push rods 20 are symmetrically distributed by the perpendicular bisector of the second sliding block 16, the left side of the front side of the conveying platform 2 is fixedly provided with a control panel, the connecting plate 17 is fixedly arranged at the bottom between the two first electric push rods 20, and a fixed lantern ring is fixedly, the spout has been seted up to fixed sleeving's inner wall, and spout and 24 looks adaptations of rolling disc, the top fixed mounting of connecting plate 17 has second motor 30, telescopic link 13's output shaft fixed mounting has one end and connecting plate 17 swing joint's rolling disc 24, the equal fixed mounting in the left and right sides of rolling disc 24 bottom has second electric push rod 21, the bottom fixed mounting of rolling disc 24 has fixed plate 23, the equal movable mounting in the left and right sides of fixed plate 23 bottom has one end and second electric push rod 21 swing joint's tongs 3, two relative one sides of tongs 3 all are equipped with a plurality of rubber fixture blocks, at the in-process of snatching the article, can strengthen its frictional force, make to snatch more stable, its security obtains further enhancement, spacing draw-in groove has been seted up at the top of tongs 3, the output shaft fixed mounting of second electric push rod 21 has the propelling ring, and propelling ring and spacing draw.

To sum up, the automatic grabbing robot for automatic loading and unloading firstly controls the first motor 5 to start through the control panel, so that the rotating gear 4 rotates, the meshing gear 6 is driven to rotate through meshing, the rotating rod 7 stably rotates on the transportation platform 2, the rotating bevel gear 28 rotates, the meshing bevel gear 27 is pushed to rotate, the rotating rod 22 is driven to stably rotate between the fixed frame 9 and the side plate 11, the meshing latch teeth 29 on the left side and the right side of the rotating rod rotate, the meshing rod 25 stably moves on the partition plate 26 through meshing, the lifting plate 8 and the pushing rod 12 are pushed to lift, the height of the lifting platform 19 is changed, the moving stability of the lifting platform 19 can be greatly enhanced through the arrangement of the telescopic rod 13, the connecting spring 14 and the first slide block 10, the height of the hand grip 3 can be flexibly adjusted, namely, the flexible adjustment can be carried out according to the stacking height of materials, and the transportation safety is improved, meanwhile, the conveying efficiency is effectively improved, so that the device is more convenient to use, and the production requirements can be better met.

Moreover, by arranging the first electric push rod 20, after the lifting platform 19 is adjusted to a proper height, the first electric push rod 20 is started to push the connecting plate 17 downwards to enable the hand grips 3 to be in contact with the materials, the second motor 30 is started to enable the rotary disc 24 to rotate under the limitation of the connecting plate 17 to drive the hand grips 3 at the bottom of the rotary disc to rotate and adjust the hand grips to a proper angle, then the second electric push rods 21 at the left side and the right side are started to push the two hand grips 3 to rotate relatively to grip the materials, after the gripping is finished, the horizontal servo module 18 carries out horizontal conveying, the whole conveying process is very simple and efficient, the safety is effectively improved, the equipment is more practical, the problems that the height of common automatic loading and unloading equipment is usually fixed in the conveying process, and when the stacking of the materials is low, a certain time is needed for the lifting and the lifting in the gripping and placing process are solved, and the higher the rise is, the higher the danger coefficient of conveying will be, because the device needs the transport incessant, not only has certain potential safety hazard, and its work efficiency also has influence simultaneously for the problem that the device can not better satisfy people's user demand.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

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

Claims

1. The utility model provides an automatic robot is snatched in automation of unloading, includes transportation platform (2), its characterized in that: the utility model discloses a transportation platform, including transportation platform (2), transport platform (2), the equal fixed mounting in the left and right sides of bottom has stabilizer blade (1), the left side fixed mounting of transportation platform (2) bottom has first motor (5), the output shaft fixed mounting of first motor (5) has drive gear (4), the left side movable mounting at transportation platform (2) top has dwang (7), the bottom fixed mounting of dwang (7) has one end and drive gear (4) engaged with meshing gear (6), the left side fixed mounting at transportation platform (2) top has curb plate (11), the right side fixed mounting of curb plate (11) has mount (9), the inner chamber fixed mounting of mount (9) has baffle (26), the inner chamber of mount (9) just is located the bottom movable mounting of baffle (26) has bull stick (22), the equal fixed mounting in the left and right sides of bull stick (22) has meshing latch (29), the equal movable mounting in the left and right sides at baffle (26) top has meshing pole (25) of one end and meshing latch (29) engaged with, the top fixed mounting in meshing pole (25) outside has connecting spring (14), two top fixed mounting between meshing pole (25) has lifter plate (8), the outside of bull stick (22) just is located fixed mounting between two meshing latches (29) has meshing awl tooth (27), the top fixed mounting of meshing gear (6) has rotation awl tooth (28) of one end and meshing awl tooth (27) engaged with, the top fixed mounting of lifter plate (8) has catch bar (12) of one end and mount (9) swing joint, the top fixed mounting of catch bar (12) has elevating platform (19), the left side fixed mounting of elevating platform (19) has first sliding block (10) of one end and curb plate (11) swing joint, the lifting mechanism is characterized in that telescopic rods (13) are fixedly mounted on the left side and the right side of the top of the fixed frame (9), a horizontal servo module (18) is fixedly mounted on the bottom of the lifting platform (19), a movable plate (15) is movably mounted on the outer side of the horizontal servo module (18), a second sliding block (16) with one end movably connected with the lifting platform (19) is fixedly mounted on the top of the movable plate (15), first electric push rods (20) are fixedly mounted on the left side and the right side of the top of the movable plate (15), a connecting plate (17) is fixedly mounted on the bottom between the two first electric push rods (20), a second motor (30) is fixedly mounted on the top of the connecting plate (17), a rotating disc (24) with one end movably connected with the connecting plate (17) is fixedly mounted on an output shaft of the telescopic rods (13), and second electric push rods (21) are fixedly mounted on the, the bottom of the rotating disc (24) is fixedly provided with a fixed plate (23), and the left side and the right side of the bottom of the fixed plate (23) are respectively and movably provided with a gripper (3) with one end movably connected with the second electric push rod (21).

2. The automatic grabbing robot capable of automatically feeding and discharging as claimed in claim 1, wherein: the top of the gripper (3) is provided with a limiting clamping groove, an output shaft of the second electric push rod (21) is fixedly provided with a push ring, and the push ring is matched with the limiting clamping groove.

3. The automatic grabbing robot capable of automatically feeding and discharging as claimed in claim 1, wherein: the left side fixed mounting at transportation platform (2) top has limit sleeve, and transportation platform (2) are through limit sleeve and dwang (7) swing joint, meshing pole (25) are ninety degrees perpendicular installation with baffle (26).

4. The automatic grabbing robot capable of automatically feeding and discharging as claimed in claim 1, wherein: the quantity of first electric push rod (20) is two, and first electric push rod (20) are the symmetric distribution with the perpendicular bisector of second sliding block (16), transport platform (2) positive left side fixed mounting has control panel.

5. The automatic grabbing robot capable of automatically feeding and discharging as claimed in claim 1, wherein: the bottom of dwang (7) runs through and extends to the outside of transportation platform (2) and with transportation platform (2) swing joint, tongs (3) are the L style of calligraphy.

6. The automatic grabbing robot capable of automatically feeding and discharging as claimed in claim 1, wherein: the bottom of connecting plate (17) fixed mounting has the fixed lantern ring, fixed sleeving's inner wall has seted up the spout, and spout and rolling disc (24) looks adaptation.

7. The automatic grabbing robot capable of automatically feeding and discharging as claimed in claim 1, wherein: the top fixed mounting of mount (9) has the spacing ring, and spacing ring and catch bar (12) looks adaptation, the quantity of telescopic link (13) is two.

8. The automatic grabbing robot capable of automatically feeding and discharging as claimed in claim 1, wherein: the telescopic rod (13) and the outer side of the first motor (5) are fixedly connected with a connecting frame, the telescopic rod (13) and the first motor (5) are fixedly connected with the connecting plate (17) and the transportation platform (2) through the connecting frame respectively, a connecting shaft is fixedly mounted on the front face of the fixing plate (23), and the fixing plate (23) is movably connected with the hand grab (3) through the connecting shaft.

9. The automatic grabbing robot capable of automatically feeding and discharging as claimed in claim 1, wherein: the equal fixed mounting in both sides has the bearing about bull stick (22), and bull stick (22) pass through the bearing respectively with curb plate (11) and mount (9) swing joint, the top of catch bar (12) is run through and is extended to the outside of mount (9) and with elevating platform (19) fixed connection.