CN114074338A

CN114074338A - Cardboard snatchs manipulator and arm

Info

Publication number: CN114074338A
Application number: CN202010838537.0A
Authority: CN
Inventors: 刘辉; 尹传胜; 魏闪
Original assignee: Wuhan Deepsea Ai Technology Co ltd
Current assignee: Wuhan Deepsea Ai Technology Co ltd
Priority date: 2020-08-19
Filing date: 2020-08-19
Publication date: 2022-02-22

Abstract

The invention provides a paperboard grabbing mechanical arm and a mechanical arm, which comprise a claw seat, wherein the claw seat is fixedly connected with the joint mechanical arm, an upper arm and a lower arm which can move relatively are arranged on the claw seat, and a plate pushing and lifting device which reciprocates along the directions of the upper arm and the lower arm is also arranged between the upper arm and the lower arm. The free end of the joint mechanical arm is fixedly connected with the claw seat. The invention can be used for taking out stacked workpieces with a certain thickness from the stacked workpieces without damage by the mechanical arm and transferring the stacked workpieces to the next procedure. The plate pushing and lifting device can lift the workpiece to form a large gap before the clamping plate is inserted, and the paper workpiece is prevented from being damaged in the clamping plate inserting process. And can be used to push workpieces. In the preferred scheme, adopt the upper arm and the underarm of pipe fitting structure, the splint of cooperation carbon fiber plate material can alleviate the dead weight of manipulator by a wide margin to promote the weight of transporting the work piece at every turn.

Description

Cardboard snatchs manipulator and arm

Technical Field

The invention relates to the field of intelligent transportation of plate-shaped materials such as paperboards and the like, in particular to a paperboard grabbing manipulator and a mechanical arm.

Background

In a production workshop, workpieces such as paperboards and the like to be processed are unloaded from a transfer trolley to each printing production device, and manual transfer is adopted at present, so that the efficiency is low, and the labor intensity is high. Chinese patent document CN 109051786 a describes an efficient paper-fetching smart robot arm, which uses a vacuum chuck structure to suck workpieces, but this solution can only suck one workpiece at a time, and the efficiency is still low. Chinese patent document CN 208413216U also describes a gripping device for corrugated cardboard conveying lines, which can grip a plurality of workpieces at a time by using an open-close gripping structure and a push plate structure, but this solution has the following problems, 1 is that the running speed is slow and the efficiency is low. When the clamping jaw is inserted into a workpiece, if the clamping jaw is inserted into workpieces of different layers, the workpiece is still easy to damage, and the damaged workpiece can cause production accidents of the next process, such as continuous paper jamming, equipment damage and the like.

Disclosure of Invention

The invention aims to provide a paperboard grabbing mechanical arm and a mechanical arm, which can conveniently take down paperboards stacked on a transfer trolley in multiple times and transfer the paperboards to the next procedure, such as a printing machine, a die cutting machine and the like. And the problem that the workpiece is damaged when the clamping jaw is inserted into the workpiece can be avoided. The labor cost and labor intensity of transferring can be greatly reduced, the dead weight of the grabbing claw can be greatly reduced, and the weight of a workpiece capable of being grabbed is improved.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: the utility model provides a cardboard snatchs manipulator, it includes the claw seat, the claw seat is used for with joint arm fixed connection, is equipped with relative movement's upper arm and underarm on the claw seat, still is equipped with between upper arm and the underarm along upper arm and underarm direction reciprocating motion's push away and lift the board device.

In a preferable scheme, the upper arm and/or the lower arm are/is in sliding connection with the claw seat, and an arm lifting rod is arranged on the claw seat and is used for driving the upper arm and/or the lower arm to slide along the claw seat;

the arm lifting rod adopts a screw rod and nut mechanism or an air cylinder.

In a preferred scheme, the lower arm is fixedly connected with the claw seat, the claw seat is provided with an upper arm slide rail approximately along the vertical direction and a chute approximately along the vertical direction, the back of the claw seat is provided with an arm lifting rod, one end of the upper arm penetrates through the chute and is fixedly connected with the arm lifting rod, and the upper arm is also slidably connected with the upper arm slide rail and driven by the arm lifting rod to slide along the upper arm slide rail;

the arm lifting rod adopts a screw rod and nut mechanism or an air cylinder.

In the preferred scheme, the upper arm and the lower arm are respectively two independent parts and are positioned at two sides of the claw seat, and the free ends of the upper arm and the lower arm are respectively provided with an upper clamping plate and a lower clamping plate which are approximately parallel;

the upper clamping plate and the lower clamping plate are positioned on the side of the upper arm opposite to the lower arm, so that the upper clamping plate and the lower clamping plate are in contact with the clamped material.

In a preferred scheme, the upper clamping plate and the lower clamping plate are made of carbon fiber plates.

In the preferred scheme, the upper arm and the lower arm adopt a plurality of pipe fittings which are arranged in parallel, and one ends of the pipe fittings are fixedly connected with the claw seat or the sliding seat through the hoop; the pipe fittings are fixedly connected through transverse connecting pieces.

In the preferred scheme, a pushing and lifting guide rod and a pushing and lifting screw rod are arranged along a lower arm, a pushing and lifting motor is fixedly arranged on a claw seat, an output shaft of the pushing and lifting motor is fixedly connected with the pushing and lifting screw rod and drives the pushing and lifting screw rod to rotate, a pushing and lifting plate sliding seat is connected with the pushing and lifting guide rod in a sliding manner, and the pushing and lifting plate sliding seat is connected with the pushing and lifting screw rod in a threaded manner;

the pushing and lifting plate is connected with the pushing and lifting plate sliding seat in a sliding mode, the pushing and lifting rod is fixedly connected with the pushing and lifting plate sliding seat, and the pushing and lifting rod is further connected with the pushing and lifting plate to drive the pushing and lifting plate to lift.

In a preferable scheme, the upper arm and the lower arm adopt a double-arm structure, and a gap is arranged between the two arms;

the ends of the two lower arms are respectively fixedly provided with an end seat plate extending oppositely, the two pushing and lifting guide rods penetrate through the end seat plates to be connected with a connecting plate, and the connecting plate is connected with the ends of the pushing and lifting screw rods through bearings.

In a preferred scheme, the push-and-lift plate is obliquely arranged, the bottom of the push-and-lift plate is close to the free end of the lower arm, and the top of the push-and-lift plate is close to the claw seat;

the included angle between the motion direction of the outer side surface of the push-lift plate and the vertical surface is 5-25 degrees;

the outer side surface of the pushing and lifting plate is provided with horizontal teeth;

and the bottom of the outer side surface of the push-and-lift plate is also provided with a lifting tooth protruding out of the surface.

The free end of the joint mechanical arm is fixedly connected with the claw seat.

The invention provides a paperboard grabbing mechanical arm and a mechanical arm, which can be used for taking out stacked workpieces with a certain thickness from stacked workpieces without damage by the mechanical arm and transferring the stacked workpieces to the next procedure. The plate pushing and lifting device can lift the workpiece to form a large gap before the clamping plate is inserted, and the paper workpiece is prevented from being damaged in the clamping plate inserting process. And can be used to push workpieces. In the preferred scheme, adopt the upper arm and the underarm of pipe fitting structure, the splint of cooperation carbon fiber plate material can alleviate the dead weight of manipulator by a wide margin to promote the weight of transporting the work piece at every turn. The structure and the installation position of the push-and-lift plate in the embodiment can improve the success rate of lifting paper every time.

Drawings

The invention is further illustrated by the following examples in conjunction with the accompanying drawings:

fig. 1 is a perspective view of a grasping claw of the present invention.

Fig. 2 is a front view schematically illustrating the overall structure of the robot arm of the present invention.

Fig. 3 is a front view of the grasping claw of the present invention.

Fig. 4 is a bottom view of the grasping claw of the present invention.

Fig. 5 is a perspective view of another orientation of the grasping claw of the present invention.

Fig. 6 is a schematic view of the gripping claw of the present invention lifting a portion of a stack.

In the figure: the gripper comprises a claw seat 1, an upper arm 2, an upper clamping plate 3, a lower arm 4, a lower clamping plate 5, an upper arm sliding rail 6, a sliding groove 7, a plate pushing and lifting device 8, a plate pushing and lifting plate 81, a plate pushing and lifting descending rod 82, a plate pushing and lifting sliding seat 83, an end seat plate 9, a connecting plate 10, a guide rod pushing and lifting rod 11, a screw rod pushing and lifting 12, a motor pushing and lifting 13, an arm lifting rod 14, a mechanical arm connecting seat 15, a transverse connecting piece 16, a hoop 17, a sliding seat 18, a paper stack 19, a grabbing claw 100, a joint mechanical arm 200 and an included angle a between the vertical plane and the vertical plane.

Detailed Description

Example 1:

as shown in fig. 1 to 5, a cardboard grabbing manipulator comprises a claw seat 1, wherein the claw seat 1 is used for being fixedly connected with a joint mechanical arm 200, an upper arm 2 and a lower arm 4 which can move relatively are arranged on the claw seat 1, and a plate pushing and lifting device 8 which reciprocates along the directions of the upper arm 2 and the lower arm 4 is further arranged between the upper arm 2 and the lower arm 4. With this structure, the lifting operation before the lower jaw 5 of the lower arm 4 is inserted into the stacked workpieces can be achieved, and the workpieces can be formed with a clearance for easy insertion of the lower jaw 5.

The preferable scheme is as shown in fig. 1, the upper arm 2 and/or the lower arm 4 are connected with the claw seat 1 in a sliding manner, and an arm lifting rod 14 is arranged on the claw seat 1 and used for driving the upper arm 2 and/or the lower arm 4 to slide along the claw seat 1; depending on the operating conditions, the upper arm 2 may slide, the lower arm may slide, or both the upper arm and the lower arm may slide.

The arm lifting rod 14 adopts a scheme that a screw rod nut mechanism is driven by a motor or an air cylinder is matched with an electromagnetic valve for driving.

Preferably, as shown in fig. 1 and 3, the lower arm 4 is fixedly connected to the claw base 1, the claw base 1 is provided with an upper arm slide rail 6 substantially along the vertical direction, and is further provided with a chute 7 substantially along the vertical direction, the back of the claw base 1 is provided with an arm lifting rod 14, one end of the upper arm 2 passes through the chute 7 and is fixedly connected to the arm lifting rod 14, and the upper arm 2 is further slidably connected to the upper arm slide rail 6 and is driven by the arm lifting rod 14 to slide along the upper arm slide rail 6;

the arm lifting rod 14 adopts a screw and nut mechanism or an air cylinder. Although the upper arm 2 is exemplified as being defined in the present example, the same sliding structure is also possible for the lower arm 4, i.e., the upper arm 2 and the lower arm in this case are equivalent structures.

Preferably, as shown in fig. 1, the upper arm 2 and the lower arm are respectively two independent parts and are positioned at two sides of the claw seat 1, and the free ends of the upper arm 2 and the lower arm are respectively provided with an upper clamping plate 3 and a lower clamping plate 5 which are approximately parallel;

the upper and

lower jaws

3, 5 are located on the opposite side of the upper arm 2 from the lower arm so that the upper and

lower jaws

3, 5 are in contact with the material being gripped. With the structure, the self weight of the whole manipulator is convenient to reduce.

In a preferred scheme, the upper clamping plate 3 and the lower clamping plate 5 are made of carbon fiber plates. With this configuration, the weight of the entire robot is further reduced, and the motion accuracy of the robot arm can be improved.

Further preferably, a plurality of holes are formed in the upper clamping plate 3 and the lower clamping plate 5, rubber bags are fixedly arranged in the holes and are communicated with the compressed air pipe through electromagnetic valves, and when the upper clamping plate 3 and the lower clamping plate 5 clamp a workpiece, the rubber bags are inflated and expanded to be in contact with the workpiece, so that the friction force to the workpiece in the overturning process is improved. So as to avoid the scattering of the workpiece caused by the excessively low friction force of the carbon fiber plate.

In a preferred scheme, as shown in fig. 1, 4 and 5, the upper arm 2 and the lower arm adopt a plurality of pipes arranged in parallel, and one ends of the pipes are fixedly connected with the claw seat 1 or the sliding seat 18 through a hoop 17; the pipe fittings are fixedly connected with each other through a transverse connecting piece 16. With this structure, the weight of the entire robot is further reduced.

In a preferable scheme, a push-and-lift guide rod 11 and a push-and-lift screw rod 12 are arranged along a lower arm 4, a push-and-lift motor 13 is fixedly arranged on a claw seat 1, an output shaft of the push-and-lift motor 13 is fixedly connected with the push-and-lift screw rod 12 and drives the push-and-lift screw rod 12 to rotate, a push-and-lift plate sliding seat 83 is in sliding connection with the push-and-lift guide rod 11, and the push-and-lift plate sliding seat 83 is in threaded connection with the push-and-lift screw rod 12; with this structure, the push-and-lift plate slider 83 is driven to reciprocate along the push-and-lift guide rod 11.

The push-and-lift plate 81 is slidably connected with the push-and-lift plate slide carriage 83, the push-and-lift lifting rod 82 is fixedly connected with the push-and-lift plate slide carriage 83, and the push-and-lift lifting rod 82 is further connected with the push-and-lift plate 81 to drive the push-and-lift plate 81 to lift. The push-lift drop bar 82 is preferably an air cylinder, alternatively a lead screw and nut mechanism.

The preferable scheme is as shown in figure 1, the upper arm 2 and the lower arm adopt a double-arm structure, and a gap is arranged between the two arms;

the end heads of the two lower arms 4 are respectively fixedly provided with an end head seat plate 9 extending oppositely, the two pushing and lifting guide rods 11 penetrate through the end head seat plates 9 to be connected with a connecting plate 10, and the connecting plate 10 is connected with the end heads of the pushing and lifting screw rods 12 through bearings.

In another alternative, a push-and-lift guide rod 11 and an air cylinder are provided along the lower arm 4, the push-and-lift plate slide carriage 83 is slidably connected to the push-and-lift guide rod 11, and the push-and-lift plate slide carriage 83 is further connected to a piston rod of the air cylinder to drive the push-and-lift plate slide carriage 83 to reciprocate along the push-and-lift guide rod 11.

In a preferred scheme, the push-and-lift plate 81 is obliquely arranged, the bottom of the push-and-lift plate 81 is close to the free end of the lower arm 4, and the top of the push-and-lift plate 81 is close to the claw seat 1;

the included angle a between the motion direction of the outer side surface of the push-lift plate 81 and the vertical surface is 5-25 degrees; preferably, the angle is 15-22 degrees, and the structure is used for facilitating operation in the process of lifting the workpiece. It is also convenient for the lower clamping plate 5 of the mechanical claw to be inserted into the layered gap of the workpiece at a specific angle. At this particular angle, the contacted workpiece is not damaged. The inclination angle also means that when the entire push-and-lift plate device 8 is retracted toward the claw bed 1, the lifted workpiece will fall onto the friction teeth of the push-and-lift plate 81 in the next position, and will not fall together with the other workpieces in the stack. So as to maintain the gap formed by the lifting.

In a preferred embodiment, the outer side surface of the push-and-lift plate 81 is provided with horizontal teeth. The arranged horizontal teeth can better hang the flat-plate-shaped workpiece. The bottom of the outer side surface of the pushing and lifting plate 81 is also provided with a lifting tooth protruding out of the surface, the lifting tooth is separated from the surface, the lifting tooth is not higher than the die cutting width of the paperboard, the lifting tooth can play a role in supporting in the paper lifting process, and the paper falling rate is greatly reduced. If a damaged edge condition occurs, the printer will cut the cardboard edge to the die width and the damaged location can be removed during production.

In a further preferred embodiment, as shown in fig. 5 and 6, the push-and-lift plate slide carriage 83 has a trapezoidal cross section, a front end is higher to form a slide rail long enough, a rear end is lower, and a position where the push-and-lift plate slide carriage 83 is connected with the push-and-lift guide rod 11 is located at the rear end of the push-and-lift plate slide carriage 83, so that the push-and-lift plate slide carriage 83 can extend out of the lower plate 5 to avoid interference when the push-and-lift plate 81 lifts the workpiece.

Example 2:

on the basis of embodiment 1, the free end of the joint mechanical arm 200 is fixedly connected with the claw seat 1 by adopting the mechanical arm of the paperboard grabbing mechanical arm. The back of the claw seat 1 is provided with a mechanical arm connecting seat 15, and the mechanical arm connecting seat 15 is provided with a flange and a clamping seat for fixedly connecting with the free end of the joint mechanical arm 200.

Example 3:

the use of the robot arm of the present invention is described in the preferred embodiment by way of example.

As shown in fig. 1 to 6, the gripper base 1 is fixedly connected to the joint robot 200, the gripper is first extended to the vicinity of a stacked workpiece, such as a paper stack 19, as shown in fig. 6, a detection device for detecting the height of the stacked workpiece, such as a camera with an automatic recognition function, is provided in the vicinity of the stacked workpiece to recognize the thickness of the workpiece, and the main control device aligns the lower clamp 5 to the approximate position of the stacked workpiece, which enables the gripper to grip the stacked workpiece with a certain thickness.

The plate pushing and lifting device 8 slides forwards until the plate pushing and lifting device butts against the front side of the stacked workpieces, the lifting and lifting rod 82 is pushed to act, the plate pushing and lifting 81 is lifted, horizontal teeth on the plate pushing and lifting 81 hook the edges of the workpieces, part of the stacked workpieces are lifted, a wedge-shaped gap which is convenient for the lower clamping plate 5 to insert is formed, the joint mechanical arm 200 extends forwards, the plate pushing and lifting device 8 retreats at the same speed, and the wedge-shaped gap is maintained while the lower clamping plate 5 is inserted. After the lower clamping plate 5 is inserted into the wedge-shaped gap to a certain depth, the arm lifting rod 14 acts to drive the upper arm 2 to descend until the upper clamping plate 3 and the lower clamping plate 5 clamp part of stacked workpieces, the joint mechanical arm 200 acts to convey the clamped stacked workpieces to the next process, and the turnover operation of the stacked workpieces can be completed in the conveying process.

The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and features in the embodiments and examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.

Claims

1. The utility model provides a cardboard snatchs manipulator, characterized by: the mechanical arm comprises a claw seat (1), wherein the claw seat (1) is fixedly connected with a joint mechanical arm (200), an upper arm (2) and a lower arm (4) which can move relatively are arranged on the claw seat (1), and a plate pushing and lifting device (8) which can reciprocate along the directions of the upper arm (2) and the lower arm (4) is further arranged between the upper arm (2) and the lower arm (4).

2. A carton grabbing manipulator according to claim 1, characterized in that: the upper arm (2) and/or the lower arm (4) are/is connected with the claw seat (1) in a sliding manner, and an arm lifting rod (14) is arranged on the claw seat (1) and is used for driving the upper arm (2) and/or the lower arm (4) to slide along the claw seat (1);

the arm lifting rod (14) adopts a screw and nut mechanism or an air cylinder.

3. A carton grabbing manipulator according to claim 1, characterized in that: the lower arm (4) is fixedly connected with the claw seat (1), an upper arm sliding rail (6) approximately along the vertical direction is arranged on the claw seat (1), a sliding chute (7) approximately along the vertical direction is further arranged, an arm lifting rod (14) is arranged on the back face of the claw seat (1), one end of the upper arm (2) penetrates through the sliding chute (7) to be fixedly connected with the arm lifting rod (14), and the upper arm (2) is also connected with the upper arm sliding rail (6) in a sliding mode and driven by the arm lifting rod (14) to slide along the upper arm sliding rail (6);

the arm lifting rod (14) adopts a screw and nut mechanism or an air cylinder.

4. A carton grabbing manipulator according to claim 1, characterized in that: the upper arm (2) and the lower arm are respectively two independent parts and are positioned on two sides of the claw seat (1), and the free ends of the upper arm (2) and the lower arm are respectively provided with an upper clamping plate (3) and a lower clamping plate (5) which are approximately parallel;

the upper clamping plate (3) and the lower clamping plate (5) are positioned on one side of the upper arm (2) opposite to the lower arm, so that the upper clamping plate (3) and the lower clamping plate (5) are in contact with a clamped material.

5. A carton grabbing manipulator according to claim 4, characterized in that: the upper clamping plate (3) and the lower clamping plate (5) are made of carbon fiber plates.

6. A carton grabbing manipulator according to claim 4, characterized in that: the upper arm (2) and the lower arm adopt a plurality of pipe fittings which are arranged in parallel, and one ends of the pipe fittings are fixedly connected with the claw seat (1) or the sliding seat (18) through the hoop (17); the pipe fittings are fixedly connected through a transverse connecting piece (16).

7. A carton grabbing manipulator according to claim 1, characterized in that: a push-and-lift guide rod (11) and a push-and-lift screw rod (12) are arranged along the lower arm (4), a push-and-lift motor (13) is fixedly arranged on the claw seat (1), an output shaft of the push-and-lift motor (13) is fixedly connected with the push-and-lift screw rod (12) and drives the push-and-lift screw rod (12) to rotate, a push-and-lift plate sliding seat (83) is in sliding connection with the push-and-lift guide rod (11), and the push-and-lift plate sliding seat (83) is in threaded connection with the push-and-lift screw rod (12);

the push-and-lift plate (81) is in sliding connection with the push-and-lift plate sliding seat (83), the push-and-lift descending rod (82) is fixedly connected with the push-and-lift plate sliding seat (83), and the push-and-lift descending rod (82) is further connected with the push-and-lift plate (81) to drive the push-and-lift plate (81) to lift.

8. A carton grabbing manipulator according to claim 7, characterized in that: the upper arm (2) and the lower arm adopt double-arm structures, and a gap is formed between the two arms;

the end heads of the two lower arms (4) are respectively and fixedly provided with an end head seat plate (9) extending oppositely, the two pushing and lifting guide rods (11) penetrate through the end head seat plates (9) to be connected with a connecting plate (10), and the connecting plate (10) is connected with the end heads of the pushing and lifting screw rods (12) through bearings.

9. A carton grabbing manipulator according to claim 7, characterized in that: the push-and-lift plate (81) is obliquely arranged, the bottom of the push-and-lift plate (81) is close to the free end of the lower arm (4), and the top of the push-and-lift plate (81) is close to the claw seat (1);

the included angle (a) between the motion direction of the outer side surface of the push-and-lift plate (81) and the vertical surface is 5-25 degrees;

the outer side surface of the push-lift plate (81) is provided with horizontal teeth;

the bottom of the outer side surface of the push-and-lift plate (81) is also provided with a lifting tooth protruding out of the surface.

10. An arm using the cardboard grasping robot of any one of claims 1 to 9, characterized in that: the free end of the joint mechanical arm (200) is fixedly connected with the claw seat (1).