A robot for assembling a cash register

Abstract

The present invention discloses a manipulator for cash register assembly, comprising a mounting seat, a swing feeding mechanism mounted on the mounting seat, a fixed plate fixed on the swing feeding mechanism, a fixed frame arranged at the lower side of the fixed plate, a flipping mechanism mounted on the fixed frame, a fixing mechanism fixed on the flipping mechanism, and the fixing mechanism comprising a mounting table, a cavity, a cylinder, a movable plate, a piston, a suction cup, a connecting rod, a slider, a guide rod, a clamping plate and a protective pad. The manipulator for cash register assembly adopts a combined fixing mechanism in combination with a flipping mechanism, and the fixing mechanism can be flipped and adjusted according to actual needs, so that the position adjustment of the clamping mechanism and the adsorption mechanism can be realized, so as to meet the transfer requirements of different workpieces and improve the adaptability of the device. The clamping mechanism and the adsorption mechanism both work through the same driving mechanism, so that the device structure is more compact, greatly reducing the installation space and saving costs.

Description

Technical Field

[0001] The invention relates to the technical field of cash register assembly, in particular to a manipulator for cash register assembly. Background Art

[0002] Cash registers are the product of the development of microelectronics technology and the combination of modern commodity circulation management concepts and technical developments, and commercial electronic cash registers are one of the basic electronic devices essential for modern and automated commercial management;

[0003] In the production and assembly process of cash registers, it is necessary to use a robot to clamp and transfer the parts transported on the conveyor belt to the assembly table for assembly. However, in actual use, the existing robots for cash register production and assembly can only perform a single clamping or adsorption fixation on the workpiece. There are many kinds of parts in the production process of cash registers. For the transfer of different parts, multiple robots need to be set up to meet the transfer needs of different parts, which leads to problems such as large production line area and high production line construction cost. Therefore, in view of the above problems, a robot for cash register assembly is designed to better meet the actual use needs. Summary of the invention

[0004] The object of the present invention is to provide a robot for assembling a cash register to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a manipulator for cash register assembly, comprising a mounting seat, a swing feeding mechanism is mounted on the mounting seat, a fixed plate is fixed on the swing feeding mechanism, a fixed frame is arranged on the lower side of the fixed plate, a flipping mechanism is mounted on the fixed frame, a fixing mechanism is fixed on the flipping mechanism, the fixing mechanism comprises a mounting platform, a cavity, a cylinder, a movable plate, a piston, a suction cup, a connecting rod, a slider, a guide rod, a clamping plate and a protective pad, the mounting platform and the flipping mechanism are connected to each other, a cavity is opened in the mounting platform, a cylinder is mounted in the mounting platform, a movable plate is fixed on the output end of the cylinder, a piston is fixed on the upper end surface of the movable plate, the piston and the cavity are slidably connected, and there is a one-to-one correspondence between the piston and the cavity, and a suction cup is fixed on the upper end surface of the mounting platform The movable plate is rotatably connected to the guide rod, and the other end of the connecting rod is rotatably connected to the slider. The slider and the guide rod are slidably connected. The guide rod is fixed on the mounting table. A clamping plate is also fixed on the slider. A protective pad is fixed on the clamping plate. The mounting table is flipped by a flipping mechanism to adjust the upper and lower positions of the suction cup and the clamping plate. When clamping the workpiece, the movable plate is driven to move by the extension of the cylinder. The transmission action of the connecting rod and the sliding action between the slider and the guide rod are coordinated to adjust the distance between the two clamping plates to achieve the clamping and fixing of the workpiece. When the workpiece is adsorbed and fixed, the movable plate is driven to move by the extension of the cylinder, so that the piston slides in the cavity, thereby allowing the suction cup to adsorb and fix the workpiece.

[0006] Preferably, the front end surface of the mounting seat is also provided with a slide groove, and the slide groove is an arc-shaped structure. Through the above structural design, the installation and fixation of the entire device can be facilitated, and the function of the slide groove can provide basic guarantee for the normal operation of the device.

[0007] Preferably, the swing feeding mechanism includes a first motor, a rocker arm, a mounting plate, a convex shaft, a vertical rod, a movable block and a cross rod. The first motor is fixed to the rear end face of the mounting seat, and a rocker arm is fixed to the output end of the first motor. Through the action of the first motor, a basic force can be provided for the swing of the rocker arm.

[0008] Preferably, the mounting plate is arranged on the front side of the mounting seat, and a convex shaft is fixed to the rear end surface of the mounting plate, and the convex shaft and the slide groove are slidably connected, and the convex shaft and the rocker arm are slidably connected. When the rocker arm swings, the sliding action between the rocker arm and the convex shaft can provide a basic force for the movement of the mounting plate, and the sliding guiding action between the convex shaft and the slide groove can ensure the stability of the movement of the mounting plate.

[0009] Preferably, vertical rods are fixed symmetrically on the lower end surface of the mounting plate, and the vertical rods are slidably connected to the movable block. Through the sliding guiding effect between the vertical rods and the movable block, basic guarantee can be provided for the stability of the vertical movement of the mounting plate when the mounting plate moves.

[0010] Preferably, the movable block and the cross bar are slidably connected, and the cross bar is fixed to the front end surface of the mounting seat. Through the sliding guiding effect between the movable block and the cross bar, a basic guarantee can be provided for the stability of the lateral movement of the mounting plate when the mounting plate moves.

[0011] Preferably, the flipping mechanism includes a second motor, an elliptical wheel, a sliding rod and a spring. The second motor is fixed to the right end face of the fixed frame, and the output end of the second motor is fixed with a mounting platform, and the output end of the second motor is also fixed with an elliptical wheel. At the same time, the elliptical wheel rotates 180° each time. By driving the mounting platform and the elliptical wheel to rotate through the second motor, the upper and lower positions of the suction cup and the clamp can be adjusted to meet the fixing requirements of different workpieces.

[0012] Preferably, the elliptical wheel and the slide rod are slidably connected, and the elliptical wheel and the slide rod are distributed one-to-one, and the slide rod is fixed on the fixed plate. At the same time, the slide rod and the fixed frame are slidably connected. Through the sliding action between the elliptical wheel and the slide rod, a basic guarantee can be provided for the distance adjustment between the fixed frame and the fixed plate.

[0013] Preferably, one end of a spring is fixed to the slide bar, and the other end of the spring is fixed to the fixing frame, so that the elastic action of the spring can provide a basic force for the movement of the fixing frame.

[0014] Preferably, the distance between the central axis of the elliptical wheel and the lower end surface of the splint is smaller than the distance between the central axis of the elliptical wheel and the upper end surface of the fixing frame. By limiting the distance between the central axis of the elliptical wheel and the lower end surface of the splint, it is possible to avoid collision between the splint and the fixing frame and affect the normal operation of the device.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: the manipulator for cash register assembly adopts a combined fixing mechanism in combination with a flipping mechanism, and the fixing mechanism can be flipped and adjusted according to actual needs, so that the position adjustment of the clamping mechanism and the adsorption mechanism can be realized to meet the transfer requirements of different workpieces and improve the adaptability of the device. The clamping mechanism and the adsorption mechanism both work through the same driving mechanism, making the device structure more compact, greatly reducing the installation space and saving costs. In combination with the swing feeding mechanism, the transfer and feeding of the workpiece can be realized. The specific contents are as follows:

[0016] 1. The manipulator used for cash register assembly can drive the mounting table to rotate through the second motor. When the workpiece needs to be clamped, it only needs to rotate the clamping plate to the lower side, and the cylinder is extended to drive the movable plate to move. With the action of the connecting rod, the slider and the guide rod, the distance between the clamping plates can be adjusted to clamp and fix the workpiece. When the workpiece needs to be adsorbed and transferred, it only needs to rotate the suction cup to the lower side, and the cylinder is extended to drive the movable plate. With the action of the cavity and the piston, negative pressure is formed between the suction cup and the workpiece, thereby achieving adsorption and fixation of the workpiece;

[0017] 2. When the robot arm used for cash register assembly transfers the workpiece, the first motor drives the swing arm to rotate, and cooperates with the sliding action between the swing arm and the cam shaft, the sliding action between the cam shaft and the slide groove, the sliding action between the vertical rod and the movable block, and the sliding action between the movable block and the cross rod, so as to realize the swing feeding action of the workpiece, so as to facilitate the subsequent assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the device of the present invention;

[0019] Figure 2 It is a schematic diagram of the overall three-dimensional structure of the device of the present invention from top view;

[0020] Figure 3 It is a schematic diagram of a three-dimensional structure composed of a mounting plate and a swing feeding mechanism of the present invention;

[0021] Figure 4 It is a bottom view structural diagram of the turning mechanism and the fixing mechanism of the present invention;

[0022] Figure 5 It is a schematic diagram of the side view structure of the turning mechanism and the fixing mechanism of the present invention;

[0023] Figure 6 It is a schematic diagram of the three-dimensional structure of the side section of the mounting platform of the present invention;

[0024] Figure 7 It is a bottom-up three-dimensional structural schematic diagram of the movable plate of the present invention.

[0025] In the figure: 1. mounting base; 101. slide; 2. swing feeding mechanism; 201. first motor; 202. rocker; 203. mounting plate; 204. cam; 205. vertical rod; 206. movable block; 207. cross rod; 3. fixing plate; 4. fixing frame; 5. turning mechanism; 501. second motor; 502. elliptical wheel; 503. slide rod; 504. spring; 6. fixing mechanism; 601. mounting table; 602. cavity; 603. cylinder; 604. movable plate; 605. piston; 606. suction cup; 607. connecting rod; 608. slider; 609. guide rod; 610. splint; 611. protective pad. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] See also Figure 1-Figure 7The present invention provides a technical solution: a manipulator for cash register assembly, comprising a mounting base 1, a swing feeding mechanism 2 is mounted on the mounting base 1, a fixing plate 3 is fixed on the swing feeding mechanism 2, a fixing frame 4 is arranged on the lower side of the fixing plate 3, a flipping mechanism 5 is mounted on the fixing frame 4, a fixing mechanism 6 is fixed on the flipping mechanism 5, and the fixing mechanism 6 comprises a mounting table 601, a cavity 602, a cylinder 603, a movable plate 604, a piston 605, a suction cup 606, a connecting rod 607, a slider 608, and a guide rod 609, a clamping plate 610 and a protective pad 611, the mounting platform 601 is connected to the turning mechanism 5, a cavity 602 is provided in the mounting platform 601, a cylinder 603 is installed in the mounting platform 601, a movable plate 604 is fixed to the output end of the cylinder 603, a piston 605 is fixed to the upper end surface of the movable plate 604, the piston 605 and the cavity 602 are slidably connected, and the piston 605 and the cavity 602 are one-to-one corresponding, a suction cup 606 is fixed to the upper end surface of the mounting platform 601, and the suction cup 606 is fixed to the cavity 602 is connected, and there is a one-to-one correspondence between the suction cup 606 and the cavity 602. One end of the connecting rod 607 is rotatably connected to the movable plate 604, and the other end of the connecting rod 607 is rotatably connected to the slider 608. The slider 608 is slidably connected to the guide rod 609. The guide rod 609 is fixed to the mounting platform 601. The slider 608 is also fixed with a clamping plate 610. The clamping plate 610 is fixed with a protective pad 611. The mounting platform 601 is flipped by the flipping mechanism 5 to adjust the suction cup 606 and the clamping plate. The upper and lower positions of the plate 610, when clamping the workpiece, are driven by the extension of the cylinder 603 to move the movable plate 604, and the transmission action of the connecting rod 607 and the sliding action between the slider 608 and the guide rod 609 are coordinated to adjust the distance between the two clamping plates 610 to achieve the clamping and fixation of the workpiece. When the workpiece is adsorbed and fixed, the movable plate 604 is driven by the extension of the cylinder 603, so that the piston 605 slides in the cavity 602, thereby allowing the suction cup 606 to adsorb and fix the workpiece.

[0028] The flip mechanism 5 includes a second motor 501, an elliptical wheel 502, a slide bar 503 and a spring 504. The second motor 501 is fixed to the right end face of the fixing frame 4, and the output end of the second motor 501 is fixed with a mounting table 601, and the output end of the second motor 501 is also fixed with an elliptical wheel 502, and the elliptical wheel 502 rotates 180 degrees each time; the elliptical wheel 502 and the slide bar 503 are slidably connected, and the elliptical wheel 502 and the slide bar 503 are distributed one-to-one, and the slide bar 503 is fixed on the fixing plate 3, and the slide bar 503 and the fixing frame 4 are slidably connected; one end of the spring 504 is also fixed on the slide bar 503, and the other end of the spring 504 is fixed on the fixing frame 4; the distance between the central axis of the elliptical wheel 502 and the lower end face of the clamping plate 610 is smaller than the distance between the central axis of the elliptical wheel 502 and the upper end face of the fixing frame 4;

[0029] When using the robot for cash register assembly, Figure 1-Figure 7 As shown in the figure, when the workpiece needs to be clamped and transferred, Figure 1 As shown, at this time, the spring 504 is in a contracted state, and the clamping plate 610 is located at the lower side. At this time, the two clamping plates 610 are just on both sides of the workpiece on the conveyor belt. When clamping the workpiece, it is only necessary to control the cylinder 603 to extend, thereby driving the movable plate 604 to move downward, and cooperate with the transmission effect of the connecting rod 607 to make the slider 608 slide under force, and then cooperate with the sliding guide effect between the slider 608 and the guide rod 609 to ensure the stability of the movement of the slider 608. When the slider 608 moves, the clamping plate 610 is synchronously driven to move, so as to The distance between the two clamping plates 610 is adjusted to achieve the clamping and fixing effect of the workpiece, and when fixing, the protective effect of the protective pad 611 is cooperated to prevent the clamping plate 610 from scratching the surface of the workpiece. When the workpiece needs to be adsorbed and fixed, it is only necessary to control the second motor 501 to start, so that the elliptical wheel 502 and the mounting table 601 can be driven to rotate 180°, so that the suction cup 606 rotates to the lower side, and during the rotation process, when the elliptical wheel 502 rotates from the convex edge to the flat edge, the spring 504 is reset to drive the fixing frame 4 and the fixing mechanism 6 move up a certain distance, and cooperate with the sliding guide effect between the fixing frame 4 and the sliding rod 503, so as to ensure the stability of the movement of the fixing frame 4 and the fixing mechanism 6. By moving the fixing frame 4 and the fixing mechanism 6 up, the automatic avoidance effect of the fixing mechanism 6 can be realized, so as to avoid the fixing mechanism 6 from being blocked by the workpiece or the conveyor belt when rotating and affecting the normal rotation effect. When the elliptical wheel 502 rotates from the flat edge to the convex edge, the spring 504 is forced to shrink, so that the fixing frame 4 and the fixing mechanism 6 are automatically reset until the suction cup 606 rotates to the lower side. At this time, when the workpiece is adsorbed and fixed, it is only necessary to control the cylinder 603 to extend and drive the movable plate 604 to move, thereby driving the piston 605 to slide in the cavity 602, so that a negative pressure is formed between the suction cup 606 and the workpiece, so as to realize the adsorption and fixation of the workpiece. In summary, through the rotation of the fixing mechanism 6, the fixing requirements of different workpieces can be met, and the adaptability of the device can be improved. Moreover, the clamping fixation and the adsorption fixation are both realized by the operation of the cylinder 603, so that the device has a high degree of integration, and the volume and cost of the device are greatly reduced.

[0030] The front end surface of the mounting seat 1 is also provided with a slide groove 101, and the slide groove 101 is an arc structure; the swing feeding mechanism 2 includes a first motor 201, a rocker 202, a mounting plate 203, a convex shaft 204, a vertical rod 205, a movable block 206 and a cross bar 207, the first motor 201 is fixed to the rear end surface of the mounting seat 1, and the output end of the first motor 201 is fixed with a rocker 202; the mounting plate 203 is arranged at the front side of the mounting seat 1, and the rear end surface of the mounting plate 203 is fixed with a convex shaft 204, and the convex shaft 204 and the slide groove 101 are slidably connected, and the convex shaft 204 and the rocker 202 are slidably connected; the lower end surface of the mounting plate 203 is symmetrically fixed with vertical rods 205, and the vertical rods 205 and the movable block 206 are slidably connected; the movable block 206 and the cross bar 207 are slidably connected, and the cross bar 207 is fixed to the front end surface of the mounting seat 1;

[0031] After the workpiece is fixed, Figure 1-Figure 7 As shown, when the workpiece is transferred, it is only necessary to control the first motor 201 to start, so as to drive the swing rod 202 to swing, and the sliding action between the swing rod 202 and the convex shaft 204 and the sliding action between the convex shaft 204 and the slide groove 101 can realize the longitudinal movement and lateral movement of the fixing mechanism 6, so as to realize the automatic transfer of the workpiece, and in the transfer process, the sliding guiding action between the vertical rod 205 and the movable block 206 can ensure the stable longitudinal movement of the fixing mechanism 6, and the sliding action between the movable block 206 and the cross bar 207 can ensure the stable lateral movement of the fixing mechanism 6, so as to realize the transfer of the workpiece, which is the working principle of the manipulator used in the cash register assembly.

[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator for cash register assembly, comprising a mounting seat, characterized in that: The mounting seat is provided with a swing feeding mechanism, a fixed plate is fixed on the swing feeding mechanism, a fixed frame is arranged at the lower side of the fixed plate, a flipping mechanism is installed on the fixed frame, a fixing mechanism is fixed on the flipping mechanism, the fixing mechanism comprises a mounting platform, a cavity, a cylinder, a movable plate, a piston, a suction cup, a connecting rod, a slider, a guide rod, a clamping plate and a protective pad, the mounting platform and the flipping mechanism are connected to each other, a cavity is provided in the mounting platform, a cylinder is mounted in the mounting platform, a movable plate is fixed at the output end of the cylinder, a piston is fixed at the upper end surface of the movable plate, the piston and the cavity are in sliding connection, and the piston and the cavity are in one-to-one correspondence, a suction cup is fixed on the upper end surface of the mounting platform, and the suction cup and the cavity are connected, and the suction cup and the cavity are in one-to-one correspondence, one end of the connecting rod is rotatably connected on the movable plate, the other end of the connecting rod is rotatably connected to the slider, the slider and the guide rod are in sliding connection, the guide rod is fixed on the mounting platform, a clamping plate is also fixed on the slider, and a protective pad is fixed on the clamping plate; The flipping mechanism includes a second motor, an elliptical wheel, a sliding rod and a spring. The second motor is fixed to the right end face of the fixed frame, and the output end of the second motor is fixed with a mounting platform, and the output end of the second motor is also fixed with an elliptical wheel, and the elliptical wheel rotates 180 degrees each time. The elliptical wheel and the sliding rod are slidably connected, and the elliptical wheel and the sliding rod are distributed one-to-one, and the sliding rod is fixed on the fixed plate, and the sliding rod and the fixed frame are slidably connected, and one end of the spring is also fixed on the sliding rod, and the other end of the spring is fixed on the fixed frame, and the distance between the central axis of the elliptical wheel and the lower end face of the clamping plate is smaller than the distance between the central axis of the elliptical wheel and the upper end face of the fixed frame.

2. The robot for cash register assembly according to claim 1, characterized in that: The front end surface of the mounting seat is also provided with a slide groove, and the slide groove is an arc-shaped structure.

3. The robot for cash register assembly according to claim 2, characterized in that: The swing feeding mechanism comprises a first motor, a swing rod, a mounting plate, a convex shaft, a vertical rod, a movable block and a cross rod. The first motor is fixed to the rear end surface of the mounting seat, and the swing rod is fixed to the output end of the first motor.

4. The robot for cash register assembly according to claim 3, characterized in that: The mounting plate is arranged on the front side of the mounting seat, and a convex shaft is fixed on the rear end surface of the mounting plate, and the convex shaft is slidably connected to the slide groove, and the convex shaft is slidably connected to the swing rod.

5. The robot for cash register assembly according to claim 4, characterized in that: A vertical rod is fixed symmetrically on the lower end surface of the mounting plate, and a sliding connection is formed between the vertical rod and the movable block.

6. The robot for cash register assembly according to claim 5, characterized in that: The movable block is slidably connected to the cross bar, and the cross bar is fixed to the front end surface of the mounting seat.

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