CN112140097A

CN112140097A - Workpiece feeding manipulator

Info

Publication number: CN112140097A
Application number: CN202011036128.5A
Authority: CN
Inventors: 肖伟军
Original assignee: Anhui Lancer Intelligent Technology Co ltd
Current assignee: Anhui Lancer Intelligent Technology Co ltd
Priority date: 2020-09-27
Filing date: 2020-09-27
Publication date: 2020-12-29
Anticipated expiration: 2040-09-27
Also published as: CN112140097B

Abstract

The invention discloses a workpiece feeding manipulator, and particularly relates to the technical field of manipulators, which comprise a workpiece platform, a workpiece conveying assembly and a fixing assembly, wherein the workpiece conveying assembly and the fixing assembly are arranged on the workpiece platform, the fixing assembly comprises a supporting rod fixedly arranged on the workpiece platform, a lifting chute plate arranged on the supporting rod and a lifting plate movably connected with the lifting chute plate, a connecting rod is fixedly arranged on the lifting plate, a manipulator positioned above the workpiece conveying assembly is arranged at the end part, far away from the lifting plate, of the connecting rod, a lifting mechanism used for driving the manipulator to lift is arranged on the workpiece platform, and the lifting mechanism works by the power provided by the workpiece conveying assembly. The invention drives the lifting of the manipulator by utilizing the power transmitted by the workpiece, simplifies the control system of the manipulator part, reduces the operation difficulty and the structural cost of the whole manipulator part, and has the advantages of simple and reasonable structure, low manufacturing cost and the like.

Description

Workpiece feeding manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a workpiece feeding manipulator.

Background

In the field of machining, the production and processing of products need a plurality of processes, various transmission devices are needed to convey the products in the process from one process to the next process, and how to quickly and accurately convey work materials to stations is a key for improving work efficiency, processing quality and production safety.

The clamping and the dismantlement of work piece all adopt manual operation on the production line of present traditional manufacturing industry, but face the current situation that the recruitment is difficult at present, this can increase a large amount of cost of labor for the enterprise undoubtedly, because the workman can not keep the concentration of attention often in operation process in addition, the situation that work efficiency is low can inevitably appear, this has led to the fact the not high problem of its clamping precision of work piece in the installation indirectly.

Disclosure of Invention

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a work piece material loading manipulator, includes the work piece platform, installs work piece conveying assembly and fixed subassembly on the work piece platform, fixed subassembly including set firmly bracing piece on the work piece platform, install the lift chute board on the bracing piece and with lift chute board swing joint's lifter plate, fixed mounting has the connecting rod on the lifter plate, keeps away from the tip of lifter plate at the connecting rod and installs the manipulator that is located work piece conveying assembly top, be provided with the elevating system who is used for driving the manipulator lift on the work piece platform, elevating system provides power by work piece conveying assembly and carries out work, the manipulator is including installing the driving piece on the connecting rod and being located the part that snatchs on the driving piece.

In a preferred embodiment, the driving member includes a first electric push rod, a frame plate and a second electric push rod, the first electric push rod is fixedly connected with the rod, the frame plate is located at the bottom end of the output shaft of the first electric push rod, the second electric push rod is located inside the frame plate, and the output shaft of the second electric push rod extends to the lower side of the frame plate.

In a preferred embodiment, snatch the part and get the arm including installing in first support arm, the second support arm of frame plate bottom and clamp, first support arm, second support arm and clamp are got the arm and are activity hinge joint in proper order, rotatable articulated shaft is all installed with the inboard of getting the arm to first support arm, is connected with between two articulated shafts and gets the reset spring that the arm carries out the stretching to the clamp, overlaps at reset spring's outside and is equipped with the flexible rubber hose of both ends connection on the articulated shaft.

In a preferred embodiment, a pulling plate is fixed at the bottom end of the second electric push rod output shaft, rotatable pulling rods are mounted on two sides of the pulling plate, and the other ends of the pulling rods are mounted on the second support arm through rotating shafts.

In a preferred embodiment, the lifting mechanism includes a bearing fixed on the work platform, a screw movably inserted into the bearing, a first crown gear sleeved outside the screw, and a threaded pipe fixed on the connecting rod.

In a preferred embodiment, the rotating shaft of the workpiece conveying assembly extends toward the screw side, and a second crown tooth in meshing engagement with the first crown tooth is fixed to an end portion of the workpiece conveying assembly.

The invention has the technical effects and advantages that:

1. the manipulator is driven to lift by utilizing the power transmitted by the workpiece, so that a control system of the manipulator part is simplified, the operation difficulty and the structural cost of the whole manipulator part are reduced, and the manipulator has the advantages of simple and reasonable structure, low manufacturing cost and the like;

2. the manipulator part utilizes the mode that machinery promoted, makes the clamp arm accomplish the centre gripping of work piece through parts such as pull rod and spring, and the action is reliable and stable, degree of automation is high, has reduced artifical and intensity of labour, has improved the machining efficiency of production line.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view of a part of the robot of the present invention.

The reference signs are: 1 workpiece platform, 2 workpiece conveying components, 3 supporting rods, 4 lifting chute plates, 5 lifting plates, 6 connecting rods, 7 manipulators, 8 lifting mechanisms, 9 driving pieces, 10 grabbing parts, 11 first electric push rods, 12 frame plates, 13 second electric push rods, 14 first support arms, 15 second support arms, 16 clamping arms, 17 second crown teeth, 18 reset springs, 19 rubber hoses, 20 pulling plates, 21 pulling rods, 22 bearings, 23 screw rods, 24 first crown teeth, 25 threaded pipes and 26 articulated shafts.

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.

As shown in fig. 1-2, a workpiece feeding manipulator includes a workpiece platform 1, a workpiece conveying assembly 2 mounted on the workpiece platform 1, and a fixing assembly, where the fixing assembly includes a support rod 3 fixedly mounted on the workpiece platform 1, a lifting chute plate 4 mounted on the support rod 3, and a lifting plate 5 movably connected to the lifting chute plate 4, a connecting rod 6 is fixedly mounted on the lifting plate 5, and a manipulator 7 located above the workpiece conveying assembly 2 is mounted at an end of the connecting rod 6 far from the lifting plate 5, and when the manipulator 7 is in a lifting process, the lifting plate 5 at the end of the connecting rod 6 moves up and down in the lifting chute plate 4 to displace the lifting of the connecting rod 6 and the manipulator 7;

the workpiece platform 1 is provided with a lifting mechanism 8 for driving the manipulator 7 to lift, the lifting mechanism 8 is powered by the workpiece conveying assembly 2 to work, the lifting mechanism 8 is driven by the workpiece conveying assembly 2 to work, so that the manipulator 7 is lifted above the workpiece conveying assembly 2, the manipulator 7 comprises a driving part 9 arranged on the connecting rod 6 and a grabbing part 10 positioned on the driving part 9, and the driving part 9 is used for driving the grabbing part 10 to work to complete the feeding of workpieces;

the driving part 9 comprises a first electric push rod 11, a frame plate 12 and a second electric push rod 13, the first electric push rod 11 is fixedly connected to the connecting rod 6, the frame plate 12 is located at the bottom end of an output shaft of the first electric push rod 11, the second electric push rod 13 is located inside the frame plate 12, the output shaft of the second electric push rod 13 extends to the lower side of the frame plate 12, the first electric push rod 11 is used for driving the second electric push rod 13 and the frame plate 12 to lift and lower, the height of the whole grabbing part 10 is adjusted, and the second electric push rod 13 is used for driving the grabbing part 10 to work;

the grabbing part 10 comprises a first support arm 14, a second support arm 15 and a grabbing arm 16 which are arranged at the bottom of a frame plate 12, wherein the first support arm 14, the second support arm 15 and the grabbing arm 16 are sequentially and movably hinged, and the grabbing arm 16, the first support arm 14 and the second support arm 15 can be adjusted in angle by adopting a hinged connection mode;

rotatable hinged shafts 26 are mounted on the inner sides of the first supporting arm 14 and the clamping arm 16, a return spring 18 for stretching the clamping arm 16 is connected between the two hinged shafts 26, a rubber hose 19 with two ends connected to the hinged shafts 26 is sleeved outside the return spring 18, the rubber hose 19 provides a protection effect and is sleeved outside the return spring 18, and when the return spring 18 stretches and bends, the return spring 18 is wrapped to prevent foreign objects from being clamped into the return spring 18;

a pull plate 20 is fixed at the bottom end of the output shaft of the second electric push rod 13, rotatable pull rods 21 are mounted on two sides of the pull plate 20, the other end of each pull rod 21 is mounted on the second support arm 15 through a rotating shaft, when the output shaft of the second electric push rod 13 extends downwards, the pull plate 20 is driven to move downwards, so that the pull rods 21 on the pull plates 20 push the second support arms 15 to move outwards, and as the clamping arms 16 are connected with the first support arms 14 through the return springs 18, when the second support arms 15 move outwards, the clamping arms 16 are under the tensile force of the return springs 18, and the other ends of the clamping arms move inwards to clamp workpieces;

the lifting mechanism 8 comprises a bearing 22 fixedly arranged on the workpiece platform 1, a screw 23 movably inserted into the bearing 22, a first crown gear 24 sleeved outside the screw 23 and a threaded pipe 25, the threaded pipe 25 is fixed on the connecting rod 6, the rotating shaft of the workpiece conveying assembly 2 extends towards one side of the screw 23, and the end part of the workpiece conveying assembly is fixedly provided with a second crown gear 17 meshed with the first crown gear 24, when a workpiece is conveyed on the workpiece conveying assembly 2, the workpiece conveying assembly 2 can drive the second crown gear 17 to be meshed with the first crown gear 24, so that the screw 23 rotates in the bearing 22, the screw 23 can drive the threaded pipe 25 to lift, so that the connecting rod 6 and the lifting plate 5 move in the lifting chute plate 4, and the grabbing component 10 in the manipulator 7 is driven to clamp and feed the workpiece;

the manipulator 7 is driven to lift by the power of the workpiece conveying assembly 2 in the workpiece clamping process, and the first electric push rod 11 works to fixedly adjust the height of the grabbing part 10 so as to adapt to loading of workpieces with different specifications.

The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;

secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;

and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.

Claims

1. The utility model provides a work piece material loading manipulator, includes the work piece platform, installs work piece conveying subassembly and fixed subassembly on the work piece platform, fixed subassembly including set firmly bracing piece on the work piece platform, install the lift spout board on the bracing piece and with lift spout board swing joint's lifter plate, fixed mounting has the connecting rod on the lifter plate, keeps away from the tip of lifter plate at the connecting rod and installs the manipulator that is located work piece conveying subassembly top, its characterized in that: the manipulator is characterized in that a lifting mechanism used for driving the manipulator to lift is arranged on the workpiece platform, the lifting mechanism is powered by the workpiece conveying assembly to work, and the manipulator comprises a driving part arranged on the connecting rod and a grabbing part located on the driving part.

2. A workpiece loading manipulator as claimed in claim 1, wherein: the driving piece comprises a first electric push rod, a frame plate and a second electric push rod, the first electric push rod is fixedly connected with the rod, the frame plate is located at the bottom end of an output shaft of the first electric push rod, and the second electric push rod is located inside the frame plate and extends to the lower portion of the frame plate through an output shaft of the second electric push rod.

3. A workpiece loading manipulator as claimed in claim 2, wherein: snatch the part and press from both sides the arm including installing in first support arm, the second support arm of frame plate bottom and getting, first support arm, second support arm and the clamp are got the arm and are activity hinge joint in proper order, rotatable articulated shaft is all installed with the inboard of getting the arm to first support arm and clamp, is connected with between two articulated shafts and carries out tensile reset spring to getting the arm, overlaps at reset spring's outside and is equipped with the rubber hose that both ends are connected on the articulated shaft.

4. A workpiece loading manipulator as claimed in claim 2 or 3, wherein: and a pull plate is fixed at the bottom end of the output shaft of the second electric push rod, rotatable pull rods are arranged on two sides of the pull plate, and the other ends of the pull rods are arranged on the second support arm through rotating shafts.

5. A workpiece loading manipulator as claimed in claim 1, wherein: the lifting mechanism comprises a bearing fixedly arranged on the workpiece platform, a screw movably inserted in the bearing, a first crown gear sleeved outside the screw and a threaded pipe, and the threaded pipe is fixed on the connecting rod.

6. A workpiece loading manipulator as claimed in claim 5, wherein: the rotating shaft of the workpiece conveying assembly extends towards one side of the screw, and a second crown tooth meshed with the first crown tooth is fixed at the end part of the workpiece conveying assembly.