An intelligent manipulator for machining

Abstract

The present invention belongs to the technical field related to manipulators, and specifically discloses an intelligent manipulator for machining, including a base, a manipulator main body, a conveyor, and a disc plow main body. The manipulator main body is located on the upper surface of the base. An installation seat is installed at the execution unit of the manipulator main body. A cross bar is fixedly installed on the outside of the installation seat. A guiding unit is provided at one end of the cross bar. An L-shaped rod is fixedly installed on the lower surface of the cross bar. The lower surface of the L-shaped rod is connected to a rotating shaft through a driving unit provided. A reinforcing cylinder is sleeved outside the rotating shaft. A cylinder seat is fixedly installed on the upper surface of the reinforcing cylinder. A palletizing unit is arranged on the outside of the cylinder seat at equal intervals along the circumferential direction. The conveyor is arranged at the front end of the manipulator main body. The present invention can lift multiple disc plows and then transfer them.

Description

Technical Field

[0001] The present invention belongs to the technical field related to manipulators, and specifically discloses an intelligent manipulator for machining. Background Art

[0002] A disk plow refers to a tillage machine with disk plow bodies as working components. The disk is usually a part of a hollow spherical surface, and its edge is ground into a cutting edge to facilitate grass cutting and soil entry. The disk is separately supported on the bearing of the plow column. The disk surface forms an angle with the forward direction and the vertical direction respectively, called the declination angle α and the inclination angle β. Generally, on a standard disk plow, there are 3 to 6 disk plow bodies. When the machine set advances during operation, the disks roll into the soil, and the soil ridges rise along the concave surface of the disks and are turned and broken by the cooperation of the soil scraping plates. The disk plow is suitable for heavy, dry, stony, and rooty soils, does not need to be sharpened and replaced frequently, has low maintenance costs, and does not form a solid furrow bottom. Although the stubble coverage is not complete enough, it is beneficial to prevent water loss in arid lands and salt return in saline-alkali lands;

[0003] After the existing disk plows are manufactured, they are transported by a conveyor belt and then assembled onto a box body or a handling device. However, the existing workers have low assembly work efficiency, and multiple workers are required to be present during the transportation process, resulting in a large economic cost for labor. Therefore, we need to improve this situation. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems existing in the background art, and to propose an intelligent manipulator for machining.

[0005] To achieve the above purpose, the present invention discloses an intelligent manipulator for machining, including a base, a manipulator main body, a conveyor, and a disk plow main body. The manipulator main body is located on the upper surface of the base. An installation seat is installed at the execution unit of the manipulator main body. A cross bar is fixedly installed outside the installation seat. A guiding unit is provided at one end of the cross bar. An L-shaped rod is fixedly installed on the lower surface of the cross bar. The lower surface of the L-shaped rod is connected to a rotating shaft through a driving unit. A reinforcing cylinder is sleeved outside the rotating shaft. A cylinder seat is fixedly installed on the upper surface of the reinforcing cylinder. A disk stacking unit is arranged at equal intervals along the circumferential direction outside the cylinder seat. The conveyor is arranged at the front end of the manipulator main body.

[0006] Preferably, the guiding unit includes a frame beam fixedly installed outside one end of the cross bar. First cylinders are fixedly installed above both ends of the frame beam. Guide rods are fixedly installed at the telescopic ends of the two first cylinders. Guide frames are fixedly installed outside one end of the two guide rods. Electric push rods are correspondingly connected to sliding rods outside one end of the two groups of guide frames. Guide cylinders are rotatably installed inside the mutually close sides of the two sliding rods.

[0007] Preferably, the driving unit includes a motor fixedly installed on the lower surface of the L-shaped rod, and the output end of the motor is connected to one end of a rotating shaft.

[0008] Preferably, the palletizing unit includes a clamping seat fixedly installed on the outside of the cylinder base. One end of the clamping seat is rotatably installed with a U-shaped seat. A movable support rod is fixedly installed at the end of the U-shaped seat away from the clamping seat. A pressing unit is slidably arranged on the outside of the movable support rod.

[0009] Preferably, the pressing unit includes a slider slidably sleeved on the outside of the movable support rod. One outer wall of the slider is fixedly connected with an inclined rod. The lower end of the inner side of the inclined rod is rotatably connected with a guide rod through a fixedly installed connecting seat. A second cylinder is fixedly installed at the bottom end of the guide rod. A clamping block is fixedly installed below the outside of the second cylinder.

[0010] Preferably, a triangular rod is commonly installed on the outside of multiple guide rods. A turntable is commonly installed at the bottom ends of multiple groups of clamping blocks. The turntable is fixedly sleeved on the outside below the rotating shaft.

[0011] Preferably, inclined frames are rotatably installed on the outside of the cylinder base at equal intervals in the circumferential direction. Multiple multi-joint rotating cylinders are rotatably installed on the inside of each inclined frame. A resisting seat is fixedly installed on the upper surface of the end of the inclined frame close to the cylinder base. A rubber block is fixedly installed on the outside of the resisting seat. One lower surface of the inclined frame is in contact with the upper surface of the movable support rod.

[0012] Preferably, a support rod is fixedly installed on the inner surface of the L-shaped rod and on the side close to the turntable. A positioning disk is rotatably installed on the outside of the support rod. The positioning disk is rotationally matched with the turntable.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The conveyor can automatically convey the disc plow main body to the front end, so that the manipulator main body at the front end can perform palletizing.

[0015] 2. Through the arranged inclined frames and multiple multi-joint rotating cylinders, the disc plow main body conveyed by the conveyor can be conveniently automatically conveyed to the resisting seat. Then, under the insertion of the guiding cylinder, the second disc plow main body conveyed can be lifted at the rear end, so that the second disc plow main body is stacked on the outside of the first disc plow main body. Then, driven by the rotation of the motor, the inclined frame on the other side is rotated to the end of the conveyor, and so on. Multiple disc plow main bodies can be transported by the manipulator main body in the same batch.

[0016] 3. By means of the telescopic manner of the second cylinder, the structures such as the guide rod, inclined rod, and slider are urged to move towards the rear end of the movable support rod, so that the movable support rod is turned downwards. At this time, the inclined frame can discharge multiple disc plow main bodies. Through the multi-joint rotating cylinders, the disc plow main bodies automatically fall, and thus the disc plow main bodies are quickly transferred. Brief Description of the Drawings

[0017] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 is a schematic diagram of the structure of the present invention from another angle;

[0019] Figure 3 is a schematic diagram of the connection structure between the inclined frame and the cylinder base of the present invention;

[0020] Figure 4 is a schematic diagram of the connection structure between the inclined frame and the pressing unit of the present invention;

[0021] Figure 5 is a schematic diagram of the connection structure of the guiding unit of the present invention;

[0022] Figure 6 is a schematic diagram of the connection structure between the turntable and the positioning disk of the present invention;

[0023] Figure 7 is a schematic diagram of the connection structure between the movable support rod and the pressing unit of the present invention.

[0024] In the figure: 1, base; 2, manipulator main body; 3, conveyor; 4, mounting seat; 5, cross bar; 6, beam; 7, first cylinder; 8, L-shaped rod; 9, motor; 10, turntable; 11, guiding rod; 12, rotating shaft; 13, support rod; 14, cylinder base; 15, movable support rod; 16, multi-section rotating cylinder; 17, inclined frame; 18, abutment; 19, slider; 20, inclined rod; 21, second cylinder; 22, rubber block; 23, guide rod; 24, triangular rod; 25, disc plow main body; 26, guide frame; 27, electric push rod; 28, guiding cylinder; 29, sliding rod; 30, positioning disk; 31, U-shaped seat; 32, card seat; 33, connecting seat; 34, reinforcing cylinder; 35, clamping block. Detailed Description of the Invention

[0025] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention may be implemented in other ways different from those described herein. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0027] Such as Figures 1 - 7An intelligent manipulator for machining, as shown, includes a base 1, a manipulator main body 2, a conveyor 3, and a disc plow main body 25. The manipulator main body 2 is located on the upper surface of the base 1. An installation seat 4 is installed at the execution unit of the manipulator main body 2. A cross bar 5 is fixedly installed on the outside of the installation seat 4. A guiding unit is provided at one end of the cross bar 5. An L-shaped rod 8 is fixedly installed on the lower surface of the cross bar 5. The lower surface of the L-shaped rod 8 is connected to a rotating shaft 12 through a driving unit provided. A reinforcing cylinder 34 is sleeved outside the rotating shaft 12. A cylinder seat 14 is fixedly installed on the upper surface of the reinforcing cylinder 34. A palletizing unit is arranged on the outside of the cylinder seat 14 at equal intervals along the circumferential direction. The conveyor 3 is arranged at the front end of the manipulator main body 2.

[0028] The guiding unit includes a beam 6 fixedly installed on the outside of one end of the cross bar 5. First cylinders 7 are fixedly installed above both ends of the beam 6. Guide rods 11 are fixedly installed at the telescopic ends of the two first cylinders 7. Guide frames 26 are fixedly installed on the outside of one end of the two guide rods 11. During use, the first cylinders 7 can drive the guide rods 11 and the guide frames 26 to conduct guiding and conveying at the end of the conveyor 3, enabling the disc plow main body 25 to slide outside the inclined frame 17, thereby facilitating the transfer by the manipulator main body 2. Electric push rods 27 are correspondingly connected to sliding rods 29 through settings on the outside of one end of the two groups of guide frames 26. Guide cylinders 28 are rotatably installed inside the mutually approaching sides of the two sliding rods 29. Under the telescopic use of the electric push rods 27, after the position of the first disc plow main body 25 is determined, the second disc plow main body 25 is conveyed in an ascending manner.

[0029] The driving unit includes a motor 9 fixedly installed on the lower surface of the L-shaped rod 8. The output end of the motor 9 is connected to one end of the rotating shaft 12. Driven by the motor 9, the rotating shaft 12 can drive the upper cylinder seat 14 and the reinforcing cylinder 34 to rotate.

[0030] The palletizing unit includes a clamping seat 32 fixedly installed on the outside of the cylinder seat 14. A U-shaped seat 31 is rotatably installed at one end of the clamping seat 32. The rotational cooperation between the clamping seat 32 and the U-shaped seat 31 facilitates later unloading. A movable support rod 15 is fixedly installed at the end of the U-shaped seat 31 away from the clamping seat 32. A pressing unit is slidably arranged on the outside of the movable support rod 15. With the arrangement of the pressing unit, the movable support rod 15 can rotate flexibly.

[0031] The pressing unit includes a slider 19 slidably sleeved on the outside of the movable support rod 15. An inclined rod 20 is fixedly connected to the outer wall of one side of the slider 19. The lower end inside the inclined rod 20 is rotatably connected to a guide rod 23 through a fixedly installed connecting seat 33. A second cylinder 21 is fixedly installed at the bottom end of the guide rod 23. A clamping block 35 is fixedly installed below the outside of the second cylinder 21;

[0032] A triangular rod 24 is installed outside multiple guide rods 23. The bottoms of multiple groups of clamping blocks 35 are jointly installed with a turntable 10. The turntable 10 is fixedly sleeved on the outer side below the rotating shaft 12. The triangular rod 24 can be used in cooperation with the second cylinder 21, and then the slider 19 at the upper end is driven to move through the telescopic drive of the second cylinder 21, so as to perform the operations of support and unloading during use.

[0033] The clamping block 35 can be strengthened outside the second cylinder 21, so that when the turntable 10 rotates, the second cylinder 21 is more stably installed on the turntable 10.

[0034] Oblique frames 17 are rotatably installed on the outer side of the cylinder base 14 at equal intervals along the circumferential direction. Multiple multi-section rotating cylinders 16 are rotatably installed inside the oblique frames 17. The multi-section rotating cylinders 16 facilitate the rolling of the disc plow main body 25 on the surface. A resisting seat 18 is fixedly installed on the upper surface of one end of the oblique frame 17 close to the cylinder base 14. A rubber block 22 is fixedly installed outside the resisting seat 18. During feeding, one side of the disc plow main body 25 is attached to the rubber block 22 at the resisting seat 18, so as to perform positioning during the conveying process. The lower surface of one end of the oblique frame 17 is in contact with the upper surface of the movable support rod 15. The movable support rod 15 can support below one end of the oblique frame 17 when the oblique frame 17 is feeding.

[0035] A support rod 13 is fixedly installed on the inner surface of the side of the L-shaped rod 8 close to the turntable 10. A positioning disc 30 is rotatably installed outside the support rod 13. The positioning disc 30 is rotationally matched with the turntable 10. The support rod 13 facilitates the installation of the positioning disc 30 on the L-shaped rod 8, so as to be rotationally matched with the turntable 10 and improve the stability of the continuous rotation of the turntable 10.

[0036] It should be specially noted that the conveying speed of the conveyor 3, the driving of the first cylinder 7, the second cylinder 21, and the electric push rod 27 can all be automatically controlled by an external PLC controller. And an external position sensor is added at the execution unit of the manipulator main body 2. The conveyor 3 automatically adjusts when conveying the disc plow main body 25 to the end. And the above-mentioned existing technologies can already achieve the operations, so there is no need to elaborate here.

[0037] Working principle: During use, the conveyor 3 automatically transports the disc plow main body 25 to the end. Then, the manipulator main body 2 at the end of the conveyor 3 stacks the discs. The inclined arrangement of the inclined frame 17 and multiple multi-joint rotating cylinders 16 can automatically transport the disc plow main body 25 conveyed by the conveyor 3 to the end of the inclined frame 17. The disc plow main body 25 will then press against the rubber block 22 of the abutment 18. After the first disc plow main body 25 is stacked, driven by the electric push rod 27, the sliding rod 29 and the guiding cylinder 28 outside the guide frame 26 extend above the inclined frame 17. Immediately afterwards, the second conveyed disc plow main body 25 can be transferred from the surface of the guiding cylinder 28 under the propulsion of the conveyor 3. One side of the second disc plow main body 25 fits against the outer surface of the first disc plow main body 25, and then progressive stacking is carried out. At this time, the staff can assist on one side. Finally, driven by the rotation of the motor 9, the inclined frame 17 on the other side rotates to the end of the conveyor 3, and so on. The manipulator main body 2 can transport multiple disc plow main bodies 25 in the same batch. Finally, for unloading, by means of the telescopic movement of the second cylinder 21, the guide rod 23, the inclined rod 20, the slider 19 and other structures move towards the rear end of the movable support rod 15, thereby causing the movable support rod 15 to fold downwards. At this time, the inclined frame 17 can unload multiple disc plow main bodies 25, and the disc plow main bodies 25 automatically fall from the inclined frame 17 through the multi-joint rotating cylinder 16, thereby achieving the purpose of quickly transferring the disc plow main bodies 25.

[0038] The above shows and describes the basic principle, 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 is only the principle 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.

Claims

1. An intelligent manipulator for machining, comprising a base (1), a manipulator body (2), a conveyor (3), and a disc plow body (25), characterized in that: The manipulator main body (2) is located on the upper surface of the base (1). An installation seat (4) is installed at the execution unit of the manipulator main body (2). A cross bar (5) is fixedly installed on the outer side of the installation seat (4). A guiding unit is arranged at one end of the cross bar (5). An L-shaped rod (8) is fixedly installed on the lower surface of the cross bar (5). The lower surface of the L-shaped rod (8) is connected to a rotating shaft (12) through a driving unit arranged. A reinforcing cylinder (34) is sleeved on the outer side of the rotating shaft (12). A cylinder seat (14) is fixedly installed on the upper surface of the reinforcing cylinder (34). A palletizing unit is arranged on the outer side of the cylinder seat (14) at equal intervals along the circumferential direction. The conveyor (3) is arranged at the front end of the manipulator main body (2); The palletizing unit includes a clamping seat (32) fixedly installed on the outer side of the cylinder seat (14). A U-shaped seat (31) is rotatably installed at one end of the clamping seat (32). A movable support rod (15) is fixedly installed at the end of the U-shaped seat (31) away from the clamping seat (32). A pressing unit is slidably arranged on the outer side of the movable support rod (15); The pressing unit includes a slider (19) slidably sleeved on the outer side of the movable support rod (15). A diagonal rod (20) is fixedly connected to the outer wall of one side of the slider (19). The lower end of the inner side of the diagonal rod (20) is rotatably connected to a guide rod (23) through a fixedly installed connecting seat (33). A second cylinder (21) is fixedly installed at the bottom end of the guide rod (23). A clamping block (35) is fixedly installed below the outer side of the second cylinder (21).

2. The intelligent manipulator for machining according to claim 1, characterized in that: The guiding unit includes a frame beam (6) fixedly installed on the outer side of one end of the cross bar (5). First cylinders (7) are respectively fixedly installed above the two ends of the frame beam (6). Guide rods (11) are fixedly installed at the telescopic ends of the two first cylinders (7). Guide frames (26) are fixedly installed on the outer sides of one ends of the two guide rods (11). Electric push rods (27) arranged are correspondingly connected to sliding rods (29) on the outer sides of one ends of the two groups of guide frames (26). Guide cylinders (28) are rotatably installed inside the mutually approaching sides of the two sliding rods (29).

3. An intelligent manipulator for mechanical processing according to claim 1, characterized in that: The driving unit includes a motor (9) fixedly installed on the lower surface of the L-shaped rod (8). The output end of the motor (9) is connected to one end of the rotating shaft (12).

4. An intelligent manipulator for machining according to claim 1, characterized in that: A triangular rod (24) is jointly installed on the outer sides of multiple guide rods (23). A turntable (10) is jointly installed at the bottom ends of multiple groups of clamping blocks (35). The turntable (10) is fixedly sleeved on the outer side below the rotating shaft (12).

5. An intelligent manipulator for machining according to claim 1, characterized in that: Oblique frames (17) are rotatably installed on the outer side of the cylinder seat (14) at equal intervals along the circumferential direction. Multiple multi-section rotating cylinders (16) are rotatably installed inside the oblique frames (17). A resisting seat (18) is fixedly installed on the upper surface of one end of the oblique frame (17) close to the cylinder seat (14). A rubber block (22) is fixedly installed on the outer side of the resisting seat (18). The lower surface of one end of the oblique frame (17) is in contact with the upper surface of the movable support rod (15).

6. The intelligent manipulator for machining according to claim 4, characterized in that: On the inner surface of the L-shaped rod (8) and on the side close to the turntable (10), a support rod (13) is fixedly installed. A positioning disk (30) is rotatably installed on the outer side of the support rod (13), and the positioning disk (30) is in rotational cooperation with the turntable (10).

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