Inverted Feeding Manipulator

Abstract

The present invention relates to the technical field of feeding manipulator devices, and particularly to a flipping feeding manipulator, which includes: a horizontal moving mechanism, a vertical moving mechanism, a material clamping mechanism and a rotating mechanism; the material clamping mechanism includes: a first sliding plate structure vertically arranged with a slider connecting plate, a first clamping piece structure and a second clamping piece structure arranged on the first sliding plate structure to move towards / away from each other, a clamping piece connecting plate structure driven by a first driving cylinder and driving the first clamping piece structure and the second clamping piece structure to slide, a material clamping rotating shaft on the second clamping piece structure, and a material clamping rod protruding from the first clamping piece structure and cooperating with the material clamping rotating shaft to clamp materials; the rotating mechanism includes: a cylinder fixing seat, a second cylinder, a rack chute, a rack driven by the second cylinder to slide in the rack chute, and a gear arranged on the rack and inserted with the material clamping rotating shaft to drive the material clamping rotating shaft to rotate. It has the characteristics of compact structure and can effectively improve production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of feeding manipulator equipment, and particularly to a flipping feeding manipulator. Background Art

[0002] A manipulator is an automatic operating device that can imitate some action functions of human hands and arms, and is used to grasp, transport objects or operate tools according to a fixed program. Its characteristics are that it can complete various expected operations through programming, and it combines the respective advantages of humans and mechanical robots in terms of structure and performance.

[0003] At present, the manipulators on the market are relatively single in function and can only achieve a single handling operation, and cannot meet the flipping requirements in the production process. For this reason, some manipulators with flipping feeding have also appeared on the market. The flipping feeding manipulators in the prior art have poor structural compactness, occupy more space during use, and at the same time, reduce production efficiency.

[0004] Therefore, there is an urgent need to provide a flipping feeding manipulator to overcome the above defects. Summary of the Invention

[0005] The main object of the present invention is to provide a flipping feeding manipulator, which has the characteristics of compact structure and can effectively improve production efficiency.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A flipping feeding manipulator, comprising: a horizontal moving mechanism, a vertical moving mechanism driven by the horizontal moving mechanism to move horizontally, a clamping mechanism disposed on the vertical moving mechanism and driven by the vertical moving mechanism to lift and lower, and a rotating mechanism disposed beside the clamping mechanism and rotating the clamping shaft of the rotating clamping mechanism; characterized in that,

[0008] The clamping mechanism includes: a first sliding plate structure vertically disposed with the slider connecting plate of the vertical moving mechanism, a first clamping piece structure and a second clamping piece structure disposed on the first sliding plate structure to move towards / away from each other, a clamping piece connecting plate structure driven by a first driving cylinder and driving the first clamping piece structure and the second clamping piece structure to slide by the clamping piece connecting plate, a clamping shaft penetrating through the second clamping piece structure, and a clamping rod protruding from the first clamping piece structure and cooperating with the clamping shaft to clamp the material;

[0009] The rotating mechanism includes: a cylinder fixing seat connected to the upper end of the second clamping piece structure, a second cylinder penetrating through the cylinder fixing seat, a rack chute disposed on the other side of the cylinder fixing seat and beside the second clamping piece structure, a rack driven by the second cylinder to slide in the rack chute, and a gear disposed on the rack and inserted with the clamping shaft to drive the clamping shaft to rotate.

[0010] Preferably, the clip connecting plate structure includes a cylinder joint connected to the upper end of the first driving cylinder, and two clip connecting plates with one end inserted into both sides of the cylinder joint respectively and the other end inserted into the first clip structure and the second clip structure respectively.

[0011] Preferably, the two clip connecting plates are arranged in a "V" shape, and the cylinder joint is in a convex shape.

[0012] Preferably, a first notch is formed in the opposite facing surfaces of the first clip structure and the second clip structure, and a crossbar is horizontally arranged in the first notch and connected to the two clip connecting plates correspondingly.

[0013] Preferably, the clip connecting plate structure is symmetrically arranged between the first clip structure and the second clip structure.

[0014] Preferably, a clamping groove is formed at one end of the material clamping rotating shaft facing the material clamping rod, and the other end penetrates and is clamped on the second clip structure, and a protruding clamping portion is formed and protrudes. A clamping through hole for inserting the rotating shaft of the gear is formed in the protruding clamping portion.

[0015] Preferably, a sliding groove is formed on one surface of the rack chute, the rack slides in an inverted L shape along the sliding groove, a notch is formed at an opening end of the sliding groove, and the gear is arranged on the notch and abuts against an inner side wall of the rack chute and is clamped with the tooth pattern on the rack.

[0016] Preferably, the horizontal moving mechanism includes: a support structure, a guide rail arranged on the support structure, and a horizontal driving cylinder structure arranged on the support structure and driving the guide rail to move horizontally.

[0017] Preferably, the vertical moving mechanism includes: a second support structure arranged in an L shape on the horizontal moving mechanism, a cylinder seat arranged at the upper end of the second support structure, a lifting cylinder penetrating through the cylinder seat, a second slide rail arranged on the second support structure and at the lower end of the lifting cylinder, and a sliding connecting plate arranged in an inverted L shape on the second slide rail and connected to the lifting cylinder.

[0018] Preferably, the first sliding plate structure is arranged perpendicular to the second slide rail on the sliding connecting plate.

[0019] The flipping feeding mechanism of the present invention, wherein the horizontal moving mechanism drives the vertical moving mechanism to move horizontally, and the clamping mechanism and the rotating mechanism are linked through the vertical moving mechanism and can move the material to the corresponding position. At the same time, the vertical moving mechanism vertically moves the clamping mechanism and the rotating mechanism. The clamping mechanism drives the clamping plate connecting plate through the first driving cylinder to push and pull the first clamping structure and the second clamping structure to loosen or clamp the material correspondingly. The rack of the rotating structure is inserted into the clamping material clamping shaft, and the clamping shaft rotates driven by the lifting and sliding of the rack, thereby driving the material to rotate. This structure has good compactness and high rationality, which helps to improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 FIG. is a schematic structural diagram of a flipping feeding manipulator according to an embodiment of the present invention.

[0021] Figure 2 is Figure 1 an exploded view.

[0022] Figure 3 FIG. is a schematic structural diagram of a clamping mechanism according to an embodiment of the present invention.

[0023] Figure 4 FIG. is a schematic structural diagram of a rotating mechanism according to an embodiment of the present invention.

[0024] Description of the reference numerals in the drawings:

[0025] 1 - Horizontal moving mechanism, 11 - Support structure, 12 - Guide rail, 13 - Horizontal driving cylinder structure, 2 - Vertical moving mechanism, 21 - Second support structure, 211 - Second bottom plate, 212 - Support rod, 22 - Cylinder seat, 23 - Lifting cylinder, 24 - Second slide rail, 25 - Sliding connecting plate, 3 - Clamping mechanism, 31 - First sliding plate structure, 32 - First clamping structure, 321 - Clamping rod, 33 - Second clamping structure, 331 - Clamping shaft, b1 - Engaging groove, b2 - Protruding engaging portion, b21 - Engaging through hole, 34 - First driving cylinder structure, 35 - Clamping plate connecting plate structure, 351 - Cylinder joint, 352 - Clamping plate connecting plate, 4 - Rotating mechanism, 41 - Cylinder fixing seat, 42 - Second cylinder, 43 - Rack chute, d - Sliding groove, c - Notch, 44 - Rack, 45 - Gear, e - Tooth pattern, A - Material. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0027] It should be noted that when an element is referred to as being "connected to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element.

[0028] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front",

[0029] "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0030] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more, unless otherwise specifically defined. "Several" means one or more, unless otherwise specifically defined.

[0031] In the description of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0032] Please refer to Figure 1 and Figure 2 , the flipping and feeding manipulator of this embodiment includes a horizontal moving mechanism 1, a vertical moving mechanism 2 driven by the horizontal moving mechanism 1 to move horizontally, a clamping mechanism 3 disposed on the vertical moving mechanism 2 and driven by the vertical moving mechanism 2 to lift and lower, and a rotating mechanism 4 disposed beside the clamping mechanism 3 and rotating the clamping shaft 331 of the clamping mechanism 3.

[0033] In a preferred embodiment, the horizontal movement mechanism 1 includes: a support structure 11, a guide rail 12 provided on the support structure 11, and a horizontal drive cylinder structure 13 provided on the support structure 11 and driving the horizontal movement of the guide rail 12. Specifically, the support structure 1 is installed on a corresponding device, the guide rail 12 is slidably provided on the bottom plate of the support structure 11, and the horizontal drive cylinder structure 13 is provided on the bottom plate, beside the guide rail 12 and connected to the guide rail 12 to drive the horizontal movement of the guide rail 12.

[0034] In a preferred embodiment, the vertical movement mechanism 2: a second support structure 21 provided in an L shape on the horizontal movement mechanism 1, a cylinder seat 22 provided at the upper end of the second support structure 21, a lifting cylinder 23 penetrating through the cylinder seat 22, a second slide rail 24 provided on the second support structure 21 and at the lower end of the lifting cylinder 23, and a sliding connecting plate 25 provided in an inverted L shape on the second slide rail 24 and connected to the lifting cylinder 23. Specifically, the second support structure 21 includes a second bottom plate 211 provided on the guide rail 12, a support rod 212 vertically provided on the second bottom plate 211, the second slide rail 24 is provided on the support rod 212, the cylinder seat 22 is provided at the upper end of the support rod 212, and the lifting cylinder 23 drives the sliding connecting plate 25 in an inverted L shape to move up and down along the second slide rail 24 after penetrating through the cylinder seat 22.

[0035] In order to clamp the material A for transporting the material A, in some preferred embodiments, the material clamping mechanism 3 is installed on the sliding connecting plate 25. Specifically, please refer to Figure 3, the material clamping mechanism 3 includes: a first sliding plate structure 31 vertically arranged with the slider connecting plate 25 of the vertical moving mechanism, a first clamping piece structure 32 and a second clamping piece structure 33 arranged to move towards / away from each other on the first sliding plate structure 31, a clamping piece connecting plate structure 35 driven by a first driving cylinder 34 and a clamping piece connecting plate 352 to drive the first clamping piece structure 32 and the second clamping piece structure 33 to slide. A material clamping rotating shaft 331 penetrates through the second clamping piece structure 33, and a material clamping rod 321 that cooperates with the material clamping rotating shaft 331 to clamp the material A protrudes from the first clamping piece structure 32. Specifically, the clamping piece connecting plate structure 35 includes a cylinder joint 351 connected to the upper end of the first driving cylinder 34, and two clamping piece connecting plates 352 with one end inserted into both sides of the cylinder joint 351 respectively and the other end inserted into the first clamping piece structure 32 and the second clamping piece structure 33 respectively. The two clamping piece connecting plates 352 are arranged in an "eight" shape, and the cylinder joint 351 is in a convex shape. More specifically, a first notch a is formed inward on the opposite surfaces of the first clamping piece structure 32 and the second clamping piece structure 33. A corresponding one is horizontally arranged in the first notch a and connected to the two clamping piece connecting plates 352 respectively. The clamping piece connecting plate structure 35 is symmetrically arranged between the first clamping piece structure 32 and the second clamping piece structure 33. When the first driving cylinder 34 drives the cylinder joint 351 to press down and pulls the cylinder joint 352 to rise, the two clamping piece connecting plates 252 respectively generate a thrust and a pulling force on the first clamping plate structure 32 and the second clamping piece structure 33, and the first clamping plate structure 32 and the second clamping piece structure 33 slide away from or towards each other along the first sliding plate structure 31 correspondingly, and the material clamping rotating shaft 331 and the material clamping rod 321 loosen or clamp the material A correspondingly. Specifically, a clamping groove b1 is formed at one end of the material clamping rotating shaft 331 facing the material clamping rod 321, and the other end penetrates and is clamped on the second clamping piece structure 33 and protrudes to form a protruding clamping portion b2. A clamping through hole b21 for inserting the rotating shaft of the gear 45 of the rotating mechanism 4 is formed in the protruding clamping portion b2. The structural setting mode of the material clamping rotating shaft 331 has a better clamping effect on the material A.

[0036] Please also combine with Figure 4, the rotation mechanism 4 includes: a cylinder fixed seat 41 connected to the upper end of the second clip structure 33, a second cylinder 42 penetrating through the cylinder fixed seat 41, a rack chute 43 provided on the other side of the cylinder fixed seat 41 and beside the second clip structure 33, a rack 44 driven by the second cylinder 42 to slide in the rack chute 43, and a gear 45 provided on the rack 44 and inserted with the material clamping rotating shaft 331 to drive the material clamping rotating shaft 331 to rotate. Specifically, a sliding groove d is formed on one side of the rack chute 43, the rack 44 slides along the sliding groove d in an inverted L shape, a notch c is formed at an opening end of the sliding groove d, and the gear 45 is arranged on the notch c, abuts against an inner side wall of the rack chute d, and is clamped with the tooth pattern e on the rack 44. Specifically, when the second cylinder 42 drives the rack 44 to lift and slide in the sliding groove d, the tooth pattern e drives the gear 45 to rotate. More specifically, when the second cylinder 42 presses down the rack 44, the rack 44 slides along the sliding groove d to drive the gear 45 to rotate, and the gear 45 drives the material clamping rotating shaft 331 to rotate, thereby driving the material A to rotate.

[0037] In the flipping and feeding manipulator of the present invention, the vertical moving mechanism 2 is arranged on the horizontal moving mechanism 1, the material clamping mechanism 3 is arranged on the vertical moving mechanism 2, the rotation mechanism 4 is arranged on the vertical moving mechanism 2 and beside the material clamping mechanism 3. The horizontal moving mechanism 1 controls the horizontal movement of the vertical moving mechanism 2, thereby driving the material clamping mechanism 3, the rotation mechanism 4 and the vertical moving mechanism 2 to be linked in the horizontal position. The vertical moving mechanism 2 drives the material clamping mechanism 3 and the rotation mechanism 4 to move vertically, so as to transport the material A to the corresponding position. The rotation mechanism 4 drives the material clamping rotating shaft 331 to rotate through the gear 45, thereby driving the material A to rotate, so that the product realizes the flipping function. The structure is very compact, the processing time is shortened, the processing efficiency of product processing is improved, and the needs of users can be better met.

[0038] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. Inverting feeding manipulator, Comprising: A horizontal moving mechanism, a vertical moving mechanism driven by the horizontal moving mechanism to move horizontally, a clamping mechanism disposed on the vertical moving mechanism and driven by the vertical moving mechanism to lift and lower, and a rotating mechanism disposed beside the clamping mechanism and rotating the clamping shaft of the rotating clamping mechanism; characterized in that, The clamping mechanism includes: a first sliding plate structure vertically arranged with the slider connecting plate of the vertical moving mechanism, a first clamping piece structure and a second clamping piece structure arranged to move towards / away from each other on the first sliding plate structure, a clamping piece connecting plate structure driven by a first driving cylinder and driving the first clamping piece structure and the second clamping piece structure to slide by the clamping piece connecting plate, a clamping shaft penetrating through the second clamping piece structure, and a clamping rod protruding from the first clamping piece structure and cooperating with the clamping shaft to clamp the material; The rotating mechanism includes: a cylinder fixing seat connected to the upper end of the second clamping piece structure, a second cylinder penetrating through the cylinder fixing seat, a rack chute disposed on the other side of the cylinder fixing seat and beside the second clamping piece structure, a rack driven by the second cylinder to slide in the rack chute, and a gear disposed on the rack and inserted with the clamping shaft to drive the clamping shaft to rotate; One end of the clamping shaft facing the clamping rod is formed with a clamping groove, the other end is inserted and clamped through the second clamping piece structure and protrudes to form a protruding clamping portion, and a clamping through hole inserted with the rotating shaft of the gear is formed in the protruding clamping portion; One side of the rack chute is formed with a sliding groove, the rack slides in an inverted L shape along the sliding groove, a notch is formed at an opening end of the sliding groove, and the gear is disposed on the notch and abuts against an inner side wall of the rack chute and is clamped with the tooth pattern on the rack.

2. The inverting feeding manipulator according to claim 1, Characterized in that, The clamping piece connecting plate structure includes a cylinder joint connected to the upper end of the first driving cylinder, and two clamping piece connecting plates with one end respectively inserted into both sides of the cylinder joint and the other end respectively inserted into the first clamping piece structure and the second clamping piece structure.

3. The inverting feeding manipulator according to claim 2, Characterized in that, The two clamping piece connecting plates are arranged in an "eight" shape, and the cylinder joint is in a convex shape.

4. The inverting feeding manipulator according to claim 1, Characterized in that, A first notch is formed inwards on the opposite surfaces of the first clamping piece structure and the second clamping piece structure, and a corresponding one is horizontally arranged in the first notch and connected to the two clamping piece connecting plates.

5. The inverting feeding manipulator according to any one of claims 1-4, Characterized in that, The clamping piece connecting plate structure is symmetrically arranged between the first clamping piece structure and the second clamping piece structure.

6. The inverting feeding manipulator according to claim 1, Characterized in that, The horizontal moving mechanism includes: a support structure, a guide rail disposed on the support structure, and a horizontal driving cylinder structure disposed on the support structure and driving the guide rail to move horizontally.

7. The inverting feeding manipulator according to claim 1, Characterized in that, The vertical moving mechanism includes: a second support structure disposed in an L shape on the horizontal moving mechanism, a cylinder seat disposed at the upper end of the second support structure, a lifting cylinder penetrating through the cylinder seat, a second slide rail disposed on the second support structure and at the lower end of the lifting cylinder, and a sliding connecting plate disposed in an inverted L shape on the second slide rail and connected to the lifting cylinder.

8. The tipping and feeding manipulator according to claim 7, wherein, the first sliding plate structure is disposed on the sliding connecting plate perpendicular to the second slide rail.

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