Feeding and discharging manipulator for mechanical design and manufacturing

Abstract

The invention relates to the technical field of manipulators, in particular to a feeding and discharging manipulator for mechanical design and manufacture, which comprises a base, a multi-shaft mechanical arm, a hydraulic tank, a guide frame, a sliding plate and the like, the multi-shaft mechanical arm is mounted at the top of the base, the hydraulic tank is connected to the execution end of the multi-shaft mechanical arm, and the guide frame is connected to the hydraulic tank; sliding plates are slidably connected to the front side, the rear side, the upper side and the lower side in the guide frame and slidably penetrate through the guide frame. The telescopic rod of the air cylinder extends to drive the four clamping jaws to move in the direction close to one another, the clamping jaws are closed, the clamping jaws can clamp a workpiece, and the clamping jaws can be independently controlled to be opened and closed, so that flexible adjustment can be conducted according to the shape and size of the workpiece, the workpiece is prevented from being damaged, and the working efficiency is improved. And multiple faces of the workpiece can be clamped at the same time, it is guaranteed that clamping force is evenly distributed, and clamping stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a loading and unloading manipulator for mechanical design and manufacturing. Background Art

[0002] In the field of modern mechanical design and manufacturing, robots are often used for loading and unloading. Robots can accurately grab, move and place workpieces, greatly improving the automation level and production efficiency of the production line.

[0003] Today's robot grippers generally open and close synchronously, so all the grippers move at the same speed and force at the same time. This design performs well when processing workpieces with regular shapes and consistent sizes. However, in actual applications, it is sometimes necessary to process workpieces with complex shapes and different sizes. Today's synchronous grippers can only clamp two sides of the workpiece and cannot clamp multiple sides at the same time. The clamping force is concentrated on a few points, which can easily cause excessive local force on the workpiece and may cause deformation or damage to the workpiece. Secondly, due to the limited clamping area, the workpiece is prone to slip or fall off during transportation, and the clamping stability is poor. Summary of the invention

[0004] In order to overcome the disadvantages that the clamping force is concentrated on a few points, which may easily cause excessive local force on the workpiece and may cause deformation or damage to the workpiece; secondly, due to the limited clamping area, the workpiece is prone to slip or fall off during transportation and the clamping stability is poor, the present invention provides a loading and unloading robot for mechanical design and manufacturing.

[0005] The technical solution of the present invention is: a loading and unloading robot for mechanical design and manufacturing, comprising a machine base, a multi-axis robot arm, a hydraulic box, a guide frame, a slide plate, a first connecting rod, a movable plate, a second connecting rod, a clamp and a control mechanism. The multi-axis robot arm is installed on the top of the machine base, and the execution end of the multi-axis robot arm is connected to the hydraulic box, and the hydraulic box is connected to the guide frame. The front and rear sides and the upper and lower sides of the guide frame are slidably connected with slide plates, and the slide plate slides through the guide frame. Two first connecting rods are hinged on the slide plate, and the two first connecting rods on the same slide plate are hinged with a movable plate. The front and rear sides and the upper and lower sides of the guide frame are hinged with second connecting rods, and the second connecting rod and the first connecting rod are hingedly connected. Clamps are connected to the movable plate, and the control mechanism is used to control the movement of the clamp so that the clamp clamps the workpiece.

[0006] In one embodiment, the control mechanism includes a piston cylinder, a piston block, a guide rod, a vent pipe, a piston plate, a liquid guide pipe and a moving component. The slide plate is connected to the piston cylinder, the piston cylinder is connected to the piston block in a sliding and sealing manner, the piston block is connected to the guide rod, the guide rod slides through the piston cylinder and the slide plate, the guide rod is connected to the guide frame, the piston cylinder is connected to the vent pipe, the hydraulic box is connected to the piston plate in a sliding and sealing manner, the hydraulic box and the piston cylinder are connected through the liquid guide pipe, the hydraulic box, the piston cylinder and the liquid guide pipe are filled with hydraulic oil, and the moving component is used to control the movement of the piston plate.

[0007] In one embodiment, the moving component includes a cylinder, a mounting plate, a pressure sensor and a controller. The cylinder is installed in the guide frame. The telescopic rod sliding seal of the cylinder passes through the hydraulic box. The telescopic rod of the cylinder is connected to the mounting plate. The pressure sensor is installed on the mounting plate. The pressure sensor is connected to the piston plate. The multi-axis robotic arm is connected to the controller. The cylinder and the pressure sensor are electrically connected to the controller.

[0008] In one embodiment, it also includes a hard pipe, a nozzle and a hose. The clamps are connected to the hard pipe, the hard pipes are connected to the nozzles, the nozzles pass through the clamps, and the hydraulic box and the hard pipe are connected through the hose.

[0009] In one embodiment, a first one-way valve and a second one-way valve are further included. The first one-way valve is installed on the hydraulic box, and the second one-way valve is installed on each hose.

[0010] In one of the embodiments, it further includes a contact block and a pulling block. The piston plate is connected to the contact block, and the mounting plate is connected to the pulling block. The pulling block is used to pull the contact block to move the contact block to the right.

[0011] In one of the embodiments, a mounting hole is provided at the bottom of the base.

[0012] In one embodiment, the clamping jaw is U-shaped.

[0013] The beneficial effects of the present invention are as follows: 1. The present invention can drive the four jaws to move towards each other by extending the telescopic rod of the cylinder, and close the jaws so that the workpiece can be clamped. The jaws can be independently controlled to open and close, so that they can be flexibly adjusted according to the shape and size of the workpiece to avoid damage to the workpiece, and can clamp multiple surfaces of the workpiece at the same time to ensure that the clamping force is evenly distributed and improve the clamping stability.

[0014] 2. The piston plate moves to the right to push the air in the hydraulic box. The air in the hydraulic box flows into the hard pipe through the hose. The air is sprayed out from the nozzle and sprayed onto the workpiece to clean the debris on the workpiece and avoid unstable clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1A three-dimensional structural schematic diagram of the present invention is shown.

[0016] Figure 2 The three-dimensional structural schematic diagram of the slide plate, the first connecting rod, the movable plate, the second connecting rod and the clamping claw of the present invention is shown.

[0017] Figure 3 A three-dimensional structural schematic diagram of the control mechanism of the present invention is shown.

[0018] Figure 4 A cross-sectional view of the hydraulic box and the guide frame of the present invention is shown.

[0019] Figure 5 A cross-sectional view of a piston cylinder of the present invention is shown.

[0020] Figure 6 A three-dimensional structural schematic diagram of the hard tube, the hose, the first one-way valve and the second one-way valve of the present invention is shown.

[0021] Figure 7 A cross-sectional view of the clamping jaw of the present invention is shown.

[0022] Figure 8 A schematic diagram of the three-dimensional structure of the contact block and the pulling block of the present invention is shown.

[0023] In the accompanying drawings: 1-base, 2-multi-axis robotic arm, 3-hydraulic box, 4-guide frame, 5-slide plate, 6-first connecting rod, 7-movable plate, 8-second connecting rod, 9-grip, 10-piston cylinder, 11-piston block, 12-guide rod, 13-ventilation pipe, 14-piston plate, 15-liquid guide pipe, 16-cylinder, 17-mounting plate, 18-pressure sensor, 19-controller, 20-hard pipe, 21-nozzle, 22-hose, 23-first one-way valve, 24-second one-way valve, 25-contact block, 26-pull block, 27-mounting hole. DETAILED DESCRIPTION

[0024] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0025] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0026] In the description of the present invention, 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 a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0028] Reference Figure 1-Figure 5 A loading and unloading manipulator for mechanical design and manufacturing includes a base 1, a multi-axis mechanical arm 2, a hydraulic box 3, a guide frame 4, a slide plate 5, a first connecting rod 6, a movable plate 7, a second connecting rod 8, a clamp 9 and a control mechanism. The base 1 has mounting holes 27 at the four corners of the bottom. Bolts can be put into the mounting holes 27, and the base 1 can be installed on the ground by bolts to improve the stability of the base 1. The multi-axis mechanical arm 2 is installed on the top of the base 1 by bolts. The execution end of the multi-axis mechanical arm 2 is connected to the hydraulic box 3. The right side of the hydraulic box 3 is connected to the guide frame 4 by bolts. The front and rear sides of the guide frame 4 and Slide plates 5 are slidably connected to the upper and lower sides, and the slide plates 5 slide through the right side of the guide frame 4. Two first connecting rods 6 are hinged on the sides of the four slide plates 5 that are away from each other. A movable plate 7 is hinged on the two first connecting rods 6 on the same slide plate 5. Second connecting rods 8 are hinged on the front and rear sides and the upper and lower sides of the guide frame 4. The second connecting rods 8 are hingedly connected to the first connecting rods 6 close to the guide frame 4. Clamps 9 are connected to the right side of the movable plate 7. The clamps 9 are U-shaped and have stronger adaptability. They can easily clamp workpieces of various shapes. The control mechanism is used to control the movement of the clamps 9 so that the clamps 9 clamp the workpiece.

[0029] Reference Figure 1 , Figure 3 , Figure 4 and Figure 5The control mechanism includes a piston cylinder 10, a piston block 11, a guide rod 12, a vent pipe 13, a piston plate 14, a liquid guide pipe 15 and a moving component. The left side of the slide plate 5 is connected to the piston cylinder 10, and the four piston cylinders 10 are all located in the guide frame 4. The piston block 11 is slidably and sealedly connected in the piston cylinder 10. The right side of the piston block 11 is connected to the guide rod 12, and the guide rod 12 slides through the right side of the piston cylinder 10 and the slide plate 5. The right ends of the four guide rods 12 are connected to the right side of the guide frame 4. The sides of the four piston cylinders 10 away from each other are connected with the vent pipe 13, and the piston plate 14 is slidably and sealedly connected in the hydraulic box 3. The front and rear sides and the upper and lower sides of the hydraulic box 3 are connected with the liquid guide pipe 15. The four liquid guide pipes 15 are respectively connected to the four piston cylinders 10, and the liquid guide pipe 15 and the piston cylinder 10 are communicated. Hydraulic oil is filled in the hydraulic box 3, the piston cylinder 10 and the liquid guide pipe 15. The moving component is used to control the movement of the piston plate 14.

[0030] Reference Figure 1 , Figure 4 and Figure 5 The moving assembly includes a cylinder 16, a mounting plate 17, a pressure sensor 18 and a controller 19. The cylinder 16 is installed in the middle of the guide frame 4 by bolts. The sliding seal of the telescopic rod of the cylinder 16 passes through the right side of the hydraulic box 3. The left end of the telescopic rod of the cylinder 16 is connected to the mounting plate 17. The pressure sensor 18 is installed on the left side of the mounting plate 17 by bolts. The left side of the pressure sensor 18 is connected to the right side of the piston plate 14. The controller 19 is connected to the lower left side of the multi-axis robot arm 2. The cylinder 16 and the pressure sensor 18 are both electrically connected to the controller 19.

[0031] Initially, the telescopic rod of the cylinder 16 is in an extended state, and the clamping jaws 9 are in a closed state; the staff controls the telescopic rod of the cylinder 16 to shorten, driving the mounting plate 17 to move rightward, the mounting plate 17 drives the pressure sensor 18 to move rightward, the pressure sensor 18 drives the piston plate 14 to move rightward, the hydraulic oil in the piston cylinder 10 enters the hydraulic box 3 through the liquid guide tube 15, and the outside air enters the piston cylinder 10 through the ventilation pipe 13, the piston cylinder 10 will move rightward, the piston cylinder 10 drives the slide plate 5 to move rightward, the slide plate 5 drives the movable plate 7 to move through the first connecting rod 6, and under the action of the second connecting rod 8, the four movable plates 7 will move away from each other, thereby driving the four clamping jaws 9 to move away from each other. The multi-axis robot 2 is controlled to move the clamping jaw 9 to the periphery of the workpiece, and then the telescopic rod of the air cylinder 16 is controlled to extend to drive the mounting plate 17 to move to the left. The mounting plate 17 drives the pressure sensor 18 and the piston plate 14 to move to the left. The piston plate 14 pushes the hydraulic oil in the hydraulic box 3. The pressure sensor 18 senses the pressure value. The hydraulic oil in the hydraulic box 3 enters the piston cylinder 10 through the liquid guide tube 15. The air in the piston cylinder 10 is discharged through the vent pipe 13. The piston cylinder 10 will move to the left. The piston cylinder 10 drives the slide plate 5 to move to the left. The slide plate 5 drives the movable plate 7 to move through the first connecting rod 6. Under the action of the second connecting rod 8, The four movable plates 7 will move toward each other, thereby driving the four clamping jaws 9 to move toward each other, closing the clamping jaws 9, and the clamping jaws 9 can clamp the workpiece. If the shape of the workpiece is complex, the two clamping jaws 9 opposite to each other in the front and back or the two clamping jaws 9 opposite to each other in the upper and lower parts will contact the workpiece first. At this time, the hydraulic oil no longer enters the corresponding two piston cylinders 10, and the corresponding two piston cylinders 10 stop moving, and the other two piston cylinders 10 continue to move, so the other two clamping jaws 9 also continue to move. When the other two clamping jaws 9 also contact the workpiece, the hydraulic oil no longer enters the other two piston cylinders 10, and the other two piston cylinders 10 stop moving, and the other two clamping jaws 9 also stop moving. At this time, the workpiece The workpiece has been completely clamped, the telescopic rod of the cylinder 16 continues to extend, and the pressure value sensed by the pressure sensor 18 becomes larger and larger. When the pressure sensor 18 senses that the pressure value has reached the rated value, the pressure sensor 18 sends a signal to the controller 19. The controller 19 controls the cylinder 16 to close and the clamp 9 to stop moving to prevent the clamp 9 from damaging the workpiece. The clamp 9 can be independently controlled to open and close, so that it can be flexibly adjusted according to the shape and size of the workpiece to avoid damage to the workpiece, and can clamp multiple surfaces of the workpiece at the same time to ensure that the clamping force is evenly distributed and improve the clamping stability. Finally, the multi-axis robot arm 2 is controlled to drive the clamp 9 to move, thereby driving the workpiece to move for loading and unloading.

[0032] Reference Figure 6 and Figure 7, also includes a hard tube 20, a nozzle 21 and a hose 22. The four clamping jaws 9 are connected to the side away from each other with a hard tube 20. The hard tube 20 is U-shaped, which can prevent the hard tube 20 from affecting the clamping jaws 9 to clamp the workpiece. The four hard tubes 20 are connected to the side close to each other with six nozzles 21. The nozzle 21 passes through the clamping jaws 9. The upper and lower sides and the front and rear sides of the hydraulic box 3 are connected with hoses 22. The four hoses 22 are respectively connected to the four hard tubes 20, and the hoses 22 and the hard tubes 20 are connected.

[0033] Reference Figure 6 , also includes a first one-way valve 23 and a second one-way valve 24. The first one-way valve 23 is installed on the upper and lower sides and the front and rear sides of the hydraulic box 3. The air in the hydraulic box 3 will not be discharged through the first one-way valve 23, and the outside air can enter the hydraulic box 3 through the first one-way valve 23. There are four first one-way valves 23 to ensure the intake speed and make the intake smoother, so that the intake and exhaust can be balanced. The second one-way valve 24 is installed on the hose 22. Under the action of the second one-way valve 24, the air in the hose 22 can enter the hard tube 20, and the air in the hard tube 20 will not enter the hose 22.

[0034] After the jaws 9 are opened to a certain extent, the multi-axis robot arm 2 is controlled to drive the jaws 9 to move, and the jaws 9 are moved to the periphery of the workpiece. At this time, the piston plate 14 is moving to the right, and the air in the hydraulic box 3 flows into the hard pipe 20 through the hose 22, and then the air is sprayed out through the nozzle 21 and sprayed onto the workpiece to clean the debris on the workpiece to avoid unstable clamping. When the piston plate 14 moves to the left, the outside air enters the hydraulic box 3 through the first one-way valve 23. Under the action of the second one-way valve 24, the air in the hard pipe 20 will not enter the hose 22, thereby preventing debris from being sucked into the hydraulic box 3.

[0035] Reference Figure 8 , also includes a contact block 25 and a pulling block 26. The upper and lower sides and the front and rear sides of the right side of the piston plate 14 are connected with the contact blocks 25, and the upper and lower sides and the front and rear sides of the left side of the mounting plate 17 are connected with the pulling blocks 26. There is a certain distance between the pulling block 26 and the piston plate 14, and there is also a certain distance between the contact block 25 and the mounting plate 17, which provides space for the pulling block 26 to move to the left, so that the mounting plate 17 can press the pressure sensor 18 to ensure that the pressure sensor 18 can sense the pressure value. The contact block 25 and the pulling block 26 are both L-shaped, so that the pulling block 26 can pull the contact block 25 to move to the right. The contact blocks 25 are distributed on the upper and lower sides and the front and rear sides of the mounting plate 17, which can make the pulling force on the piston plate 14 more uniform and prevent the piston plate 14 from tilting.

[0036] When the piston plate 14 moves to the right, it will drive the pulling block 26 to move to the right, the pulling block 26 will pull the contact block 25 to move to the right, and the contact block 25 will drive the piston plate 14 to move to the right, thereby reducing the pressure caused by the mounting plate 17 on the pressure sensor 18 and avoiding damage to the pressure sensor 18.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. A loading and unloading robot for mechanical design and manufacturing, comprising a base (1) and a multi-axis robot arm (2), wherein the multi-axis robot arm (2) is mounted on the top of the base (1), and wherein: The multi-axis mechanical arm (2) further comprises a hydraulic box (3), a guide frame (4), a slide plate (5), a first connecting rod (6), a movable plate (7), a second connecting rod (8), a clamping claw (9) and a control mechanism. The hydraulic box (3) is connected to the execution end of the multi-axis mechanical arm (2). The hydraulic box (3) is connected to the guide frame (4). The guide frame (4) is slidably connected to the slide plate (5) on both the front and rear sides and the upper and lower sides. The slide plate (5) slides through the guide frame (4). Two first connecting rods (6) are hingedly connected to the slide plate (5). The two first connecting rods (6) on the same slide plate (5) are hingedly connected to the movable plate (7). The guide frame (4) is hingedly connected to the second connecting rod (8) on both the front and rear sides and the upper and lower sides. The second connecting rod (8) and the first connecting rod (6) are hingedly connected. The movable plate (7) is connected to the clamping claw (9). The control mechanism is used to control the movement of the clamping claw (9) so that the clamping claw (9) clamps the workpiece.

2. A loading and unloading manipulator for mechanical design and manufacturing as claimed in claim 1, characterized in that: The control mechanism comprises a piston cylinder (10), a piston block (11), a guide rod (12), a vent pipe (13), a piston plate (14), a liquid guide pipe (15) and a moving assembly. The slide plate (5) is connected to the piston cylinder (10). The piston cylinder (10) is connected to the piston block (11) in a sliding and sealing manner. The piston block (11) is connected to the guide rod (12). The guide rod (12) slides through the piston cylinder (10) and the slide plate (5). The guide rod (12) is connected to the guide frame (4). The piston cylinder (10) is connected to the vent pipe (13). The hydraulic box (3) is connected to the piston plate (14) in a sliding and sealing manner. The hydraulic box (3) and the piston cylinder (10) are connected via the liquid guide pipe (15). Hydraulic oil is contained in the hydraulic box (3), the piston cylinder (10) and the liquid guide pipe (15). The moving assembly is used to control the movement of the piston plate (14).

3. A loading and unloading manipulator for mechanical design and manufacturing as claimed in claim 2, characterized in that: The moving assembly comprises a cylinder (16), a mounting plate (17), a pressure sensor (18) and a controller (19); the cylinder (16) is installed in the guide frame (4); the telescopic rod sliding seal of the cylinder (16) penetrates the hydraulic box (3); the telescopic rod of the cylinder (16) is connected to the mounting plate (17); the pressure sensor (18) is installed on the mounting plate (17); the pressure sensor (18) is connected to the piston plate (14); the multi-axis robot arm (2) is connected to the controller (19); the cylinder (16) and the pressure sensor (18) are both electrically connected to the controller (19).

4. A loading and unloading manipulator for mechanical design and manufacturing as claimed in claim 3, characterized in that: It also includes a hard tube (20), a nozzle (21) and a hose (22). The clamping jaws (9) are connected to the hard tube (20), the hard tube (20) are connected to the nozzle (21), the nozzle (21) passes through the clamping jaws (9), and the hydraulic box (3) and the hard tube (20) are connected via the hose (22).

5. A loading and unloading manipulator for mechanical design and manufacturing as claimed in claim 4, characterized in that: It also includes a first one-way valve (23) and a second one-way valve (24). The first one-way valve (23) is installed on the hydraulic box (3), and the second one-way valve (24) is installed on the hose (22).

6. A loading and unloading manipulator for mechanical design and manufacturing as claimed in claim 5, characterized in that: It also includes a contact block (25) and a pulling block (26). The piston plate (14) is connected to the contact block (25), and the mounting plate (17) is connected to the pulling block (26). The pulling block (26) is used to pull the contact block (25) to move the contact block (25) to the right.

7. A loading and unloading manipulator for mechanical design and manufacturing as claimed in claim 1, characterized in that: The bottom of the machine base (1) is provided with a mounting hole (27).

8. The loading and unloading manipulator for mechanical design and manufacturing as claimed in claim 1 is characterized in that: The clamping jaw (9) is U-shaped.

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