CN211073630U - Automatic grabbing and sucking turnover system - Google Patents
Automatic grabbing and sucking turnover system Download PDFInfo
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- CN211073630U CN211073630U CN201921560564.5U CN201921560564U CN211073630U CN 211073630 U CN211073630 U CN 211073630U CN 201921560564 U CN201921560564 U CN 201921560564U CN 211073630 U CN211073630 U CN 211073630U
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Abstract
The utility model discloses an automatic change and grab and inhale turnover system, including transport mechanism and robot paw. The conveying mechanism comprises a rack, a conveying part and a grabbing part, the grabbing part is provided with a light source plate and a glass plate, and the conveying part is provided with a conveying belt and a secondary stroke pushing frame; the robot paw is arranged above the grabbing part and is provided with a camera, a sucker assembly, a rotating support and a finger clamping jaw. The flat electronic equipment placed in the turnover box is transferred to the center of the glass plate by the transmission part, the surface of the flat electronic equipment is sucked by the sucker component after the position of the flat electronic equipment is determined by the light source plate and the camera, the flat electronic equipment is clamped from the side by the finger clamping jaw, and the flat electronic equipment is inserted into the accommodating groove after being rotated by the rotating bracket. The utility model discloses absorb by the sucking disc plane, finger clamping jaw side clamp is got and is placed and has realized that the multi-angle is automatic places flat-plate electronic equipment, has good operation precision, has improved production efficiency to can adjust flat-plate electronic equipment's the face of placing, have good security and stability.
Description
Technical Field
The utility model relates to a commodity circulation is goods for storage snatchs technical field, concretely relates to automatic change and grab turnover system of inhaling.
Background
Along with the continuous development progress of society, the increase of commodity circulation goods, advance the storehouse fast for effectively solving the goods, the storage, the cost of using manpower sparingly, automatic conveying assembly line is born in the logistics storage, the goods will be related to the goods and snatch in the quick delivery on the conveying assembly line, traditional mode of snatching adopts artifical letter sorting mostly, not only extravagant manpower, also can't guarantee the rate of accuracy of letter sorting, so also some automatic machine snatch the mode has appeared, but mostly adopt to press from both sides tight the formula of snatching, this kind of method has following shortcoming:
(1) the clamping and grabbing adopt a vertical grabbing mode, certain force and angle are needed, the damage to the screen or the shell of fragile goods such as electronic products such as tablet computers, mobile phones and the like is easily caused by overlarge grabbing force,
(2) the placing surface of the goods can not be adjusted, the placing surface of the goods needs to be adjusted through manual work or other modes, and the working efficiency of the assembly line is reduced.
In view of this, an automatic grabbing and sucking manipulator is urgently needed to solve the problem of the existing automatic grabbing manipulator.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that needs to solve is that current automatic manipulator snatchs the problem that the goods is efficient, injure and reach goods itself easily.
In order to solve the technical problem, the utility model discloses the technical scheme who adopts as follows:
an automated pick-and-place turnaround system comprising:
the conveying mechanism comprises a rack, a conveying part and a grabbing part, wherein the conveying part and the grabbing part are sequentially arranged on the rack, the conveying part is provided with a conveying belt for conveying turnover boxes, two sides of the middle part of the conveying belt on the rack are respectively provided with a fixed cylinder, the two fixed cylinders are oppositely arranged, and the end parts of the two fixed cylinders are provided with a blocking plate; a secondary stroke pushing frame driven by a horizontal cylinder is arranged above the conveying belt, and a pushing plate pushed by a vertical cylinder is arranged at the front end of the secondary stroke pushing frame; the grabbing part is respectively provided with a light source plate and a glass plate from bottom to top;
the robot paw hand is arranged above the grabbing part and comprises a support supporting plate and a plurality of freedom degrees mechanical arm, a camera is arranged on the side face of the support supporting plate, a sucker component is arranged at one end of the bottom face of the support supporting plate and used for sucking the flat electronic equipment placed in the turnover box, a rodless cylinder is arranged at the other end of the bottom face of the support supporting plate, and a rotary cylinder is fixed on the rodless cylinder and driven by the rodless cylinder to be close to or far away from the sucker component; the rotary support is fixed revolving cylinder's output, the bottom of rotary support is provided with two sets of finger clamping jaw subassemblies that set up relatively, finger clamping jaw subassembly includes finger cylinder and finger clamping jaw for press from both sides and get the flat electronic equipment on the sucking disc subassembly.
In the scheme, the secondary stroke pushing frame comprises a supporting frame and a cross beam, the cross beam is arranged at the rear end of the rack, the horizontal cylinder is arranged in the middle of the cross beam along the transmission direction of the transmission belt, a vertical plate is arranged at the front end of the horizontal cylinder, and the vertical cylinder is arranged on the vertical plate.
In the scheme, the horizontal cylinder and the vertical cylinder are matched and used for pushing the turnover box output from the conveyor belt to the center of the glass plate or pushing the turnover box down from the front end of the glass plate.
In the scheme, the outer end part of the grabbing part is provided with an upward cylinder, and the upper end of the upward cylinder is provided with a baffle plate for limiting the turnover box on the glass plate.
In the scheme, the robot claw is connected with the multi-degree-of-freedom manipulator through a flange arranged on the top surface of the support supporting plate.
In this scheme, the sucking disc subassembly includes:
the two sucker cylinders are vertically fixed on the bottom surface of the support supporting plate;
the sucker mounting part is arranged on a cylinder shaft of the sucker cylinder, and an air pipe interface is arranged on the sucker mounting part and communicated with an air duct inside the sucker mounting part;
the four suckers are arranged on the sucker interfaces on the bottom surface of the sucker mounting part, and the sucker interfaces are connected with the ventilation pipeline;
and the external air pipe is communicated with the sucking disc through the air pipe interface.
In the scheme, a protective strip is arranged on the inner side of the tail end of the finger clamping jaw.
In this scheme, the rotation angle of the rotary cylinder is 90 degrees.
In the scheme, the two sides of the top surface of the glass plate are provided with the limiting plates, and the limiting plates are fixed on the top surface of the glass plate through screws.
In the above aspect, the rear end of the limiting plate has an inclined portion inclined toward the center for guiding the turnover box into the grasping portion.
Compared with the prior art, the automatic grabbing and sucking turnover system provided by the utility model adopts a sucking disc sucking mode to sort the flat electronic equipment from the plane, and does not damage the screen of the flat electronic equipment; the robot paw is provided with the rodless cylinder and the finger clamping jaws, the sucker component sucks the flat electronic equipment from the plane and clamps the top surface and the bottom surface of the flat electronic equipment from the side surface, meanwhile, the finger clamping jaws are driven by the rotary cylinder to transversely insert the flat electronic equipment into the containing groove beside the rack, the containing space can be saved, the containing surface of the flat electronic equipment can be adjusted, the easily damaged surface of the flat electronic equipment is protected when the flat electronic equipment is contained, and the robot paw has the advantages of safety and stability.
The inboard end of finger clamping jaw sets up the protection strip, can prevent to get the shell of the flat-plate electronic equipment of in-process and screen scratch. The grabbing part is provided with a limiting plate and an ascending cylinder, so that the movement of the tabular electronic equipment and the turnover box on the glass plate is limited, the turnover box of the tabular electronic equipment is prevented from shifting or falling off in the process of moving on the glass plate, the production efficiency is improved, and the operation precision is good. The limiting plates are fixed on the top surfaces of the glass plates through screws, so that the limiting plates of different specifications can be replaced conveniently to adapt to turnover boxes of different specifications.
Drawings
Fig. 1 is a schematic diagram of an automatic grabbing and sucking turnover system of the utility model;
fig. 2 is a perspective view of the transfer mechanism of the present invention;
fig. 3 is a side view of the transfer mechanism of the present invention;
fig. 4 is a perspective view of the robot gripper of the present invention;
fig. 5 is a front view of the robot gripper of the present invention;
fig. 6 is a side view of a robot gripper according to the present invention;
fig. 7 is a top view of the robot gripper of the present invention.
Detailed Description
The utility model provides an automatic change and grab turnover system of inhaling can realize snatching fast, accurate location, effectively protects the complete full automation operation of flat-plate electronic equipment's outward appearance. The invention is described in detail below with reference to the drawings and the detailed description.
As shown in fig. 1, fig. 2 and fig. 3, the automatic gripping and sucking turnover system provided by the present invention mainly comprises a conveying mechanism 10 and a robot gripper 20.
The transfer mechanism 10 includes a frame 110, and a transfer portion 120 and a grip portion 130 sequentially disposed on the frame 110.
The conveying part 120 is provided with a conveyor belt 121 for conveying the turnover box, and the mobile phone, the tablet personal computer and the like are placed in the turnover box; the two sides of the frame 110, which are located in the middle of the conveyor belt 121, are respectively provided with a fixed cylinder 111, the two fixed cylinders 111 are oppositely arranged, the end parts of the two fixed cylinders are provided with a blocking plate 112, and the turnover box on the conveyor belt 121 is positioned on the conveyor belt 121 or is conveyed to the conveying part 120 by the conveyor belt 121 through the expansion and contraction of the fixed cylinders 111.
A secondary stroke pushing frame 122 driven by a horizontal cylinder 125 is arranged above the conveyor belt 121, the secondary stroke pushing frame 122 comprises a supporting frame 123 and a cross beam 124, the cross beam 124 is arranged at the rear end of the rack 110, the horizontal cylinder 125 is arranged in the middle of the cross beam 124 along the transmission direction of the conveyor belt 121, a vertical plate 126 is arranged at the front end of the horizontal cylinder 125, and a vertical cylinder 127 is arranged on the vertical plate 126. The front end of the vertical cylinder 127 is provided with a push plate 128.
The horizontal cylinder 125 and the vertical cylinder 127 cooperate to push the turnover box output from the conveyor belt 121 to the center of the glass plate 132 or to push the turnover box down from the front end of the glass plate 132.
The grasping portion 130 is provided with a light source plate 131 and a glass plate 132, the glass plate 132 is provided with stopper plates 133 on both sides of the top surface thereof, and the rear ends of the stopper plates 133 have inclined portions inclined toward the center for guiding the turnover box into the grasping portion 130. The stopper plate 133 is fixed to the top surface of the glass plate 132 by screws. An upward cylinder 134 is arranged at one end of the grabbing part 130 far away from the conveying part 120, and a baffle 135 is arranged at the upper end of the upward cylinder 134 and used for limiting the turnover box on the glass plate 132.
As shown in fig. 4, 5, 6, and 7, the robot gripper 20 is disposed above the gripping unit 130, and includes a support pallet 21, and a flange 210 is disposed on a top surface of the support pallet 21 and connected to the multi-degree-of-freedom robot arm through the flange 210. The camera 22 is arranged on the side face of the support supporting plate 21, and the sucker assembly 23 is arranged at one end of the bottom face of the support supporting plate 21 and used for sucking the flat electronic equipment in the turnover box. The suction cup assembly 23 includes two suction cup cylinders 231, a suction cup mounting portion 232, four suction cups 233, and an external air pipe. Two suction cup cylinders 231 are vertically fixed on the bottom surface of the support pallet 21 for driving the up or down movement of the suction cup assembly 23. The sucking disc installation part 232 is arranged on a cylinder shaft of the sucking disc cylinder 231, an air pipe interface and a sucking disc interface are arranged on the sucking disc installation part 232, a ventilation pipeline is arranged inside, and the sucking disc 233 is connected to the sucking disc interface on the bottom surface of the sucking disc installation part 232 and communicated with the ventilation pipeline inside the sucking disc installation part 232. The external air pipe is connected to the air duct inside the suction cup mounting portion 232 through an air pipe interface, and is communicated with the suction cup 233, and the suction cup 233 is made to complete the suction or release action of the flat-plate-shaped electronic device through the air suction or inflation operation of the external air pipe (the air pipe interface, the suction cup interface, the air duct, and the external air pipe are not shown in the drawing).
In this scheme, the quantity of sucking disc cylinder is two, can keep sucking disc subassembly 23 to go upward or down the stability of action on the one hand, and on the other hand can alleviate the bearing pressure of single sucking disc cylinder, reduces the operating power of sucking disc cylinder, the energy saving, reduction in production cost.
In this scheme, the quantity of sucking disc 233 can be four, is connected to the inside air duct of sucking disc installation department 232 respectively through the sucking disc interface in, is connected with external trachea by air duct, realizes the control to the sucking disc. Compared with the connection mode that each sucker is connected with the external pipeline independently, the connection mode can realize simultaneous control of a plurality of suckers, has better control effect, and can improve the operation accuracy of the system.
The rodless cylinder 24 and the rotary bracket 25 are arranged at the other end of the bottom surface of the bracket supporting plate 21, and the rotary bracket 25 is arranged on the bottom surface of the slider 241 of the rodless cylinder 24 and is driven by the rodless cylinder 24 to move along the slide rail 242 of the rodless cylinder 24. The rotating bracket 25 is provided with a rotating cylinder 251, the bottom end of the rotating bracket 25 is provided with two oppositely arranged finger clamping jaws 252, and the finger clamping jaws 252 are driven by a finger cylinder 253 and are used for clamping the top surface and the bottom surface of the flat electronic equipment on the sucker assembly 23.
In this embodiment, a quarter-turn plate 243 is provided between the slider 241 and the rotary cylinder 251 of the rodless cylinder 24, and the rotary cylinder 251 is fixed to a side surface of the quarter-turn plate 243. The top surface of the quarter-turn plate 243 is fixed to the bottom surface of the slider 241. The rodless cylinder 24 and the rotary cylinder 251 are connected together through the right-angle bending plate 243, so that the rodless cylinder 24 and the rotary cylinder 251 have good connection strength, and the service life of the robot paw 20 is prolonged. The rotary bracket 25 is fixed to an output shaft of the rotary cylinder 251.
In this scheme, runing rest 25 is the cavity box body that forms through the installation of screw concatenation by five metal sheets, still has good structural stability under the condition of the weight that has alleviateed runing rest 25, has improved the flexibility of robot hand claw operation, has improved work efficiency.
The utility model discloses a method of use (working process) as follows:
when a turnover box provided with flat electronic equipment such as a mobile phone and an iPad is placed on the transmission belt 121, the first turnover box is transmitted to the tail end of the transmission belt 121, the fixed cylinder 111 in the middle of the transmission belt 121 is started to drive the baffle plate 112 to extend towards the center of the transmission belt 121 to block the following turnover box, the upward cylinder 134 is started to drive the baffle plate 135 to extend upwards out of the glass plate 132; at the moment, the vertical cylinder 127 moves downwards, the horizontal cylinder 125 extends towards the grabbing part 130 to drive the push plate 128 to push the turnover box to move forwards, meanwhile, the limiting plate 133 limits the turnover box left and right, the turnover box moves linearly to the center of the glass plate 132 and is limited by the baffle 135 at the front end, after goods in the turnover box are sucked up through the sucker assembly 23, the upward cylinder 134 drives the baffle 135 to return downwards, the horizontal cylinder 125 drives the push plate 128 to move forwards continuously to push the empty turnover box to move to the outer edge of the glass plate 132 and drop from the outer end part of the grabbing part 130, then, the vertical cylinder 127 and the horizontal cylinder 125 return, the fixed cylinder 111 drives the blocking plate 112 to retract, and the next turnover box enters a working position.
When the turnover box enters the center of the glass plate 132, the light source plate 131 illuminates the turnover box, a shadow is formed at the flat electronic equipment in the turnover box, the robot arm moves the camera 22 to the position right above the turnover box to shoot the position of the flat electronic equipment in the turnover box, then the robot arm adjusts the robot paw 20 to the position right above the flat electronic equipment according to the picture shot by the camera 22, the suction cup cylinder 231 is started to descend to enable the suction cup assembly 23 to be attached to the surface of the flat electronic equipment, the external air pipe is connected to exhaust air, the suction cup 233 adsorbs the flat electronic equipment, the suction cup cylinder 231 ascends to enable the flat electronic equipment to leave the turnover box, the robot arm moves to a placing area, the finger cylinder 253 is started to enable the finger clamping jaw 252 to be opened, the rodless cylinder 24 drives the rotating support 25 to slide to one side of the suction cup assembly 23 along the sliding rail 241, the finger clamping jaws 252 clamp the top surface and the bottom surface of the flat electronic equipment from the side surfaces of the flat electronic equipment, the suction cup air cylinder 231 moves upwards to reset, the external air pipe is inflated, the suction cup 233 releases the flat electronic equipment, the rodless air cylinder 24 resets, the rotating air cylinder 251 starts to drive the rotating support 25 to rotate 90 degrees, the flat electronic equipment is transversely inserted into the accommodating groove beside the rack 110, the finger air cylinder 253 drives the finger clamping jaws 252 to open again, then the robot arm resets, and the automatic grabbing and sucking circulation system completes one-time operation. The automatic grabbing and sucking turnover system runs continuously and conveys and turnover flat electronic equipment placed in the turnover box.
The limiting plates 133 are fixed on the top surface of the glass plate 132 through screws, and the movement of the turnover boxes with different specifications on the glass plate 114 can be limited through the limiting plates 115 with different sizes.
The inner side of the tail end of the finger clamping jaw 253 is provided with a protective strip, so that the scratch-proof effect can be achieved, and the damage to a display screen or a shell of the flat-plate-shaped electronic equipment is avoided.
The present invention is not limited to the above-mentioned best mode, and any person should learn the structural change made under the teaching of the present invention, all with the present invention has the same or similar technical solution, all fall into the protection scope of the present invention.
Claims (10)
1. The utility model provides an automatic change and grab and inhale turnover system which characterized in that includes:
the conveying mechanism comprises a rack, a conveying part and a grabbing part, wherein the conveying part and the grabbing part are sequentially arranged on the rack, the conveying part is provided with a conveying belt for conveying turnover boxes, two sides of the middle part of the conveying belt on the rack are respectively provided with a fixed cylinder, the two fixed cylinders are oppositely arranged, and the end parts of the two fixed cylinders are provided with a blocking plate; a secondary stroke pushing frame driven by a horizontal cylinder is arranged above the conveying belt, and a push plate driven by a vertical cylinder is arranged at the front end of the secondary stroke pushing frame; the grabbing part is respectively provided with a light source plate and a glass plate from bottom to top;
the robot paw hand is arranged above the grabbing part and comprises a support supporting plate and a plurality of freedom degrees mechanical arm, a camera is arranged on the side face of the support supporting plate, a sucker component is arranged at one end of the bottom face of the support supporting plate and used for sucking flat electronic equipment horizontally placed in a turnover box, a rodless cylinder is arranged at the other end of the bottom face of the support supporting plate, and a rotary cylinder is fixed on the rodless cylinder and driven by the rodless cylinder to be close to or far away from the sucker component; the rotary support is fixed rotary cylinder's output, rotary support's bottom is provided with two sets of finger clamping jaw subassemblies that relative setting, finger clamping jaw subassembly includes finger cylinder and finger clamping jaw for clip the top surface and the bottom surface of the flat electronic equipment on the sucking disc subassembly.
2. The automatic grabbing and sucking turnover system according to claim 1, wherein the secondary stroke pushing frame comprises a supporting frame and a cross beam, the cross beam is arranged at the rear end of the rack, the horizontal cylinder is arranged in the middle of the cross beam along the conveying direction of the conveyor belt, a vertical plate is arranged at the front end of the horizontal cylinder, and the vertical cylinder is arranged on the vertical plate.
3. The automated pick-and-suction turnover system of claim 1, wherein the horizontal cylinder and the vertical cylinder cooperate to push the turnover box output from the conveyor belt to the center of the glass sheet or push the turnover box down from the front end of the glass sheet.
4. The automatic grabbing and sucking turnover system according to claim 1, wherein an upward air cylinder is arranged at the outer end of the grabbing part, and a baffle plate is arranged at the upper end of the upward air cylinder and used for limiting the turnover box on the glass plate.
5. The automated grasping, sucking and turnaround system of claim 1, wherein the robot gripper is connected with a multi-degree of freedom robot via a flange disposed on a top surface of a support pallet.
6. The automated pick-and-place turnaround system of claim 1, wherein the suction cup assembly comprises:
the two sucker cylinders are vertically fixed on the bottom surface of the support supporting plate;
the sucker mounting part is arranged on a cylinder shaft of the sucker cylinder, and an air pipe interface is arranged on the sucker mounting part and communicated with an air duct inside the sucker mounting part;
the four suckers are arranged on the sucker interfaces on the bottom surface of the sucker mounting part, and the sucker interfaces are connected with the ventilation pipeline;
and the external air pipe is communicated with the sucking disc through the air pipe interface.
7. The automated pick-and-place turnaround system of claim 1, wherein a guard bar is disposed inside the distal ends of the finger grips.
8. The automated pick-and-suck epicyclic system of claim 1, wherein the rotation angle of said rotating cylinder is 90 degrees.
9. The automatic grabbing and sucking turnover system according to claim 1, wherein limiting plates are arranged on two sides of the top surface of the glass plate and fixed on the top surface of the glass plate through screws.
10. The automated pick-and-suction turnaround system of claim 9, wherein the rear end of the limit plate has an inclined portion inclined toward the center for guiding the turnaround into the pick-up portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921560564.5U CN211073630U (en) | 2019-09-19 | 2019-09-19 | Automatic grabbing and sucking turnover system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921560564.5U CN211073630U (en) | 2019-09-19 | 2019-09-19 | Automatic grabbing and sucking turnover system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211073630U true CN211073630U (en) | 2020-07-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921560564.5U Active CN211073630U (en) | 2019-09-19 | 2019-09-19 | Automatic grabbing and sucking turnover system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211073630U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390942A (en) * | 2019-09-19 | 2020-07-10 | 上海合益工业自动化科技有限公司 | Automatic grabbing and sucking turnover system |
| CN113173418A (en) * | 2021-04-29 | 2021-07-27 | 科德汽车零部件(长春)有限公司 | Automatic collaborative carrying system for skylight transportation |
| CN113601490A (en) * | 2021-07-30 | 2021-11-05 | 东风柳州汽车有限公司 | A manipulator of getting for skylight |
-
2019
- 2019-09-19 CN CN201921560564.5U patent/CN211073630U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390942A (en) * | 2019-09-19 | 2020-07-10 | 上海合益工业自动化科技有限公司 | Automatic grabbing and sucking turnover system |
| CN111390942B (en) * | 2019-09-19 | 2024-08-13 | 上海合益工业自动化科技有限公司 | Automatic grabbing and sucking turnover system |
| CN113173418A (en) * | 2021-04-29 | 2021-07-27 | 科德汽车零部件(长春)有限公司 | Automatic collaborative carrying system for skylight transportation |
| CN113601490A (en) * | 2021-07-30 | 2021-11-05 | 东风柳州汽车有限公司 | A manipulator of getting for skylight |
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