Feeding manipulator

Abstract

The invention provides a feeding manipulator, and relates to the technical field of manipulators. The feeding manipulator comprises a lifting mechanism, a rotating mechanism, a translation mechanism, a turnover mechanism and a grabbing mechanism, the rotating mechanism is connected with the lifting mechanism, the rotating mechanism comprises a rotating driving assembly and a placing platform, and the rotating driving assembly is connected with the placing platform; the translation mechanism comprises a translation driving assembly and a linear sliding table, the translation driving assembly is connected with the linear sliding table, and the linear sliding table is arranged on the placing platform; the turnover mechanism is arranged on the linear sliding table, the turnover mechanism is connected with the grabbing mechanism, and the grabbing mechanism is used for grabbing a glass plate. The mechanical arm has the effect that the situation that the occupied space is large when the mechanical arm conducts feeding is improved.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular to a feeding robot. Background Art

[0002] In glass production and processing, robots are widely used for loading glass plates, among which three-axis robots are widely used due to their simplicity of linear motion and applicability in situations with large spatial motion distances. This structure includes a combination of linear motions in three mutually perpendicular directions: the X-axis, the Y-axis, and the Z-axis. Three moving axes are required to achieve movement, and is also called a three-degree-of-freedom translation robot.

[0003] However, due to the structural characteristics of three-axis robots, they usually occupy a large space, which may cause layout difficulties in a limited production workshop and affect the overall planning and efficiency of the production line. Therefore, a loading robot is proposed to solve the above problems. Summary of the invention

[0004] In order to improve the problem that the robot occupies a large space when loading materials, the present application provides a loading robot.

[0005] The present application provides a feeding robot, which adopts the following technical solution: A feeding manipulator comprises: a lifting mechanism, a rotating mechanism, a translation mechanism, a flipping mechanism and a grasping mechanism; The rotating mechanism is connected to the lifting mechanism, the rotating mechanism comprises a rotating drive component and a placement platform, and the rotating drive component is connected to the placement platform; The translation mechanism comprises a translation drive assembly and a linear slide, the translation drive assembly is connected to the linear slide, and the linear slide is arranged on the placement platform; The flipping mechanism is arranged on the linear slide, and the flipping mechanism is connected with the grabbing mechanism, and the grabbing mechanism is used to grab the glass plate.

[0006] By adopting the above technical solution and through the cooperation of various mechanisms, the loading robot can achieve multi-degree-of-freedom movement, thereby being able to adapt to the needs of grasping glass plates at different positions and angles.

[0007] Optionally, the gripping mechanism includes a fixed plate, a negative pressure tube and a rubber pad, the fixed plate is provided with a working surface, the working surface is provided with an air groove, the negative pressure tube is connected to the air groove, and the rubber pad is also provided on the working surface and surrounds the circumference of the air groove.

[0008] By adopting the above technical solution, the glass plate can be more firmly grasped through unique air suction for fixing, reducing the risk of the glass plate slipping during transportation and improving the safety and stability of transportation.

[0009] Optionally, a separation mechanism is also included, which includes a driver, a connecting rod and a splitter, the driver is fixedly connected to the fixed plate, the connecting rod is connected to the driver, the splitter is connected to the connecting rod, and the splitter is in contact with the side of the rubber pad close to the glass plate.

[0010] By adopting the above technical solution, the glass plate can be separated from the rubber pad more effectively by driving the dividing piece through the driver, thereby further simplifying the operation process and improving work efficiency.

[0011] Optionally, it also includes a tensioning spring, the driver has a driving block, the connecting rod is rotatably connected to the driving block, the two ends of the tensioning spring are respectively connected to the connecting rod and the driving block, and the tensioning spring drives the connecting rod to swing so that the dividing piece fits with the side of the rubber pad close to the glass plate.

[0012] By adopting the above technical solution, with the assistance of the tensioning spring, the partition piece is fitted with the side of the rubber pad close to the glass plate, and the partition piece can always be tightly fitted with the rubber pad, which makes it easier to separate the rubber pad from the glass plate and improves the working efficiency and reliability of the separation mechanism.

[0013] Optionally, a slope is provided on one side edge of the rubber pad, the slope is inclined relative to the bonding surface of the rubber pad and the glass plate, there is an avoidance space between the slope and the glass plate, and the partition can move to the slope and bond with the slope.

[0014] By adopting the above technical solution, through the inclined surface design, the dividing piece can be guided to smoothly enter between the glass plate and the rubber pad, so that the dividing piece can more easily separate the glass plate from the rubber pad, and the impact on the glass plate is reduced. At the same time, it is also convenient for the dividing piece to move to the avoidance space when the robot is working, thereby ensuring the stability of the device.

[0015] Optionally, the grabbing mechanism also includes a connecting frame and a reset spring. A connecting groove is opened on the fixed plate, the connecting frame is arranged in the connecting groove, the reset spring is arranged in the connecting groove, the two ends of the reset spring are respectively fixedly connected to the inner wall of the connecting groove and the connecting frame, and the rubber pad is fixedly connected to the connecting frame.

[0016] By adopting the above technical solution and the design of the connecting frame and the reset spring, the rubber pad can be quickly reset, which makes it easier to separate the rubber pad and the glass plate, effectively reduces the idle time of the robot and improves the overall work efficiency.

[0017] Optionally, the rubber pad extends to both sides of the connecting groove.

[0018] By adopting the above technical solution, the contact area between the rubber pad and the glass plate is increased, the adsorption force of the manipulator on the glass plate is further guaranteed, and the stability of the device during operation is further guaranteed.

[0019] Optionally, a plurality of return springs are provided and are evenly distributed in the connecting groove.

[0020] By adopting the above technical solution, the connection frame and the rubber pad are made more stable during the resetting process, thereby improving the working efficiency and reliability of the grasping mechanism.

[0021] Optionally, the air groove, the connection frame and the rubber pad are each provided in plurality.

[0022] By adopting the above technical solution, the glass plate can be subjected to more uniform force and move more stably during the process of being adsorbed and transported. It is also convenient for the glass plate to be separated from the rubber pad more conveniently when placing the glass plate, thereby improving work efficiency.

[0023] Optionally, a pressure sensor is provided on the fixing plate, and when the gripping mechanism grips the glass plate, the pressure sensor fits against the glass plate.

[0024] By adopting the above technical solution, the gripping force of the gripping mechanism on the glass plate can be monitored in real time through the pressure sensor, ensuring that the glass plate can be firmly gripped, thereby improving the safety and reliability of the transportation process.

[0025] In summary, the present application includes at least one of the following beneficial effects: 1. Through the cooperation of the lifting mechanism, rotating mechanism, translation mechanism, flipping mechanism and grasping mechanism, the loading robot can achieve precise movement with multiple degrees of freedom. This enables the robot to flexibly adapt to the grasping needs of glass plates at different positions and angles, greatly improving its flexibility and applicability in practical applications; 2. The grabbing mechanism uses a unique suction fixing structure to make the glass plate more stable during transfer, achieves a firm grip on the glass plate, and effectively improves the stability of the glass plate during transportation; 3. The addition of the separation mechanism simplifies the separation process of the glass plate and the rubber pad. The driver drives the splitter, combined with the auxiliary effect of the tension spring, so that the splitter can always fit tightly with the rubber pad, thereby effectively separating the glass plate from the rubber pad. This not only improves the working efficiency of the separation mechanism, but also reduces the idle time of the robot, thereby improving the overall working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of Example 1 of the present application; Figure 2This is a schematic diagram of the internal structure of the operation box of Example 1 of the present application; Figure 3 This is a schematic diagram of the connection structure of the lifting mechanism of Example 1 of the present application; Figure 4 is a schematic structural diagram of the guide mechanism of Example 1 of the present application; Figure 5 is a schematic diagram of the connection structure of the rotary drive assembly of Example 1 of the present application; Figure 6 This is a schematic diagram of the connection structure of the flip mechanism of Example 1 of the present application; Figure 7 This is Example 1 of the present application Figure 6 A schematic diagram of the enlarged structure at A in the middle; Figure 8 This is a schematic diagram of the overall structure of the separation mechanism of Example 2 of the present application; Fig. 9 This is a schematic diagram of the connection structure of the separation mechanism of Example 2 of the present application; Fig.10 It is a schematic diagram of the connection structure of the connection frame and the return spring in Example 2 of the present application.

[0027] Explanation of the reference numerals: 1. lifting mechanism; 11. first motor; 12. first synchronous pulley; 13. first synchronous belt; 14. screw rod; 15. first connecting plate; 2. rotating mechanism; 21. rotating drive assembly; 211. second motor; 212. first reducer; 213. rotating shaft; 22. placing platform; 3. translation mechanism; 31. translation drive assembly; 32. linear slide; 4. flip mechanism; 41. third motor; 42. second synchronous pulley; 43. second synchronous belt; 44. second reducer; 5. grabbing mechanism; 51. fixing plate; 52. negative pressure tube; 53. rubber pad; 54. pressure sensor; 55. air groove; 6. separation mechanism; 61. driver; 62. connecting rod; 63. dividing piece; 64. tensioning spring; 65. connecting frame; 66. reset spring; 67. connecting groove; 7. operating box; 8. guiding mechanism; 81. slider; 82. slide rail. DETAILED DESCRIPTION

[0028] The following is combined with Figure 1-10 This application is described in further detail.

[0029] Embodiment 1: Embodiment 1 of the present application provides a loading robot.

[0030] refer to Figure 1 and Figure 2The loading robot includes an operation box 7, a lifting mechanism 1, a rotating mechanism 2, a translation mechanism 3, a flipping mechanism 4, a grabbing mechanism 5 and a guide mechanism 8. The lifting mechanism 1 is arranged in the operation box 7, the rotating mechanism 2 is connected to the lifting mechanism 1, the translation mechanism 3 is arranged on the rotating mechanism 2, and the flipping mechanism 4 is connected to the grabbing mechanism 5. The lifting mechanism 1 lifts the grabbing mechanism 5 to an appropriate height so as to approach the glass plate. The compact design makes the robot occupy less space and is more convenient to be deployed in various environments.

[0031] The angle of the translation mechanism 3 is adjusted by the rotating mechanism 2, so that the grabbing mechanism 5 is aligned with the glass plate, and then the translation mechanism 3 moves the grabbing mechanism 5 to the position of the glass plate, and the grabbing mechanism 5 absorbs the glass plate through negative pressure, and then the flipping mechanism 4 flips the glass plate to a proper angle according to the actual situation. In conjunction with the lifting mechanism 1, the rotating mechanism 2, the guide mechanism 8 and the translation mechanism 3, precise adjustment in multiple directions and angles is achieved, and the glass plate can be moved to the designated position more conveniently and quickly. Finally, the glass plate is released by the grabbing mechanism 5 to complete the loading operation, which greatly enhances the applicability of the device.

[0032] refer to Figure 3 and Figure 4 The lifting mechanism 1 includes a first motor 11, two first synchronous pulleys 12, a first synchronous belt 13, a screw 14 and a first connecting plate 15. The first motor 11 is connected to the operation box 7. The first motor 11 can be a servo motor. The output shaft of the first motor 11 and the outer surface of the screw 14 are respectively connected to the two first synchronous pulleys 12. The first synchronous belt 13 is meshed with the first synchronous pulley 12. One end of the screw 14 is rotatably connected to the inner wall of the operation box 7. The first connecting plate 15 is threadedly connected to the screw 14. The first connecting plate 15 is connected to the rotating mechanism 2.

[0033] When the first motor 11 rotates, the first synchronous pulley 12 and the first synchronous belt 13 drive the screw rod 14 to rotate, and then the first connecting plate 15 can be driven to move up and down on the screw rod 14, so that the rotating mechanism 2 can be driven to move.

[0034] Among them, the guide mechanism 8 includes a slide rail 82 and a slider 81. The slide rail 82 is connected to the inner wall of the operating box 7. The slider 81 and the slide rail 82 are slidably connected. There are two sliders 81 and two slide rails 82. The two sides of the first connecting plate 15 are respectively fixed to one side of the two sliders 81, so that the first connecting plate 15 can further ensure its own stability and accuracy during the lifting process, thereby enabling the rotating mechanism 2 to move more stably.

[0035] refer to Figure 2 and Figure 5The rotating mechanism 2 includes a rotating drive component 21 and a placement platform 22. The rotating drive component 21 is located inside the operating box 7. The rotating drive component 21 is connected to the placement platform 22 and drives the placement platform 22 to rotate. The rotating drive component 21 includes a second motor 211, a first reducer 212 and a rotating shaft 213. The rotating shaft 213 is connected to the placement platform 22. The output shaft of the second motor 211 is connected to the input end of the first reducer 212. The output end of the first reducer 212 is connected to the rotating shaft 213. The second motor 211 and the reducer are both connected to the first connecting plate 15. The rotating shaft 213 is driven to rotate by the cooperation of the second motor 211 and the first reducer 212, so that the rotating shaft 213 can drive the placement platform 22 to rotate.

[0036] At the same time, since the second motor 211 and the first reducer 212 are both firmly mounted on the first connecting plate 15 , they will move synchronously with the lifting and lowering of the first connecting plate 15 .

[0037] refer to Figure 2 The translation mechanism 3 includes a translation drive component 31 and a linear slide 32. The translation drive component 31 is connected to the linear slide 32, and the linear slide 32 is connected to the placement platform 22. The translation drive component 31 can use a motor to drive the linear slide 32 to move in the horizontal direction, thereby realizing the translation operation of the placement platform 22.

[0038] refer to Figure 2 and Figure 6 The flipping mechanism 4 is arranged on the linear slide 32. The flipping mechanism 4 includes a third motor 41, two second synchronous pulleys 42, a second synchronous belt 43 and a second reducer 44. A connecting frame is connected to the linear slide 32. The third motor 41 is fixedly connected to the connecting frame. The two second synchronous pulleys 42 are respectively connected to the output shaft of the third motor 41 and the input end of the second reducer 44. The second synchronous belt 43 is meshed with the second synchronous pulley 42. The third motor 41 drives the second reducer 44 to rotate through the transmission of the second synchronous pulley 42 and the second synchronous belt 43. At the same time, since the output shaft of the second reducer 44 is connected to the grabbing mechanism 5, the flipping operation of the grabbing mechanism 5 can be realized by driving the second reducer 44, so that the angle of the grabbing mechanism 5 can be adjusted according to actual conditions.

[0039] refer to Figure 6 and Figure 7The grabbing mechanism 5 includes a fixed plate 51, a negative pressure tube 52, a rubber pad 53 and a pressure sensor 54. A working surface is provided on the fixed plate 51, and an air groove 55 is opened on the working surface. One end of the negative pressure tube 52 is connected to the air groove 55, and the other end of the negative pressure tube 52 is connected to the air pump. The rubber pad 53 is also arranged on the working surface and surrounds the air groove 55. The pressure sensor 54 is also arranged on the fixed plate 51. A plurality of weight-reducing holes are also opened on the working surface, and the weight-reducing holes are located on the outside of the rubber pad 53.

[0040] When the grasping mechanism 5 grasps the glass plate, the negative pressure tube 52 can generate negative pressure through the air pump, and cooperate with the air groove 55 to enable the glass plate to be firmly adsorbed on the work surface. The rubber pad 53 plays an important role in sealing and buffering. At the same time, the pressure sensor 54 can fit with the glass plate when the grasping mechanism 5 grasps the glass plate, and then detect the pressure between the glass plate and the grasping mechanism 5, so as to further ensure the firmness of the grasping.

[0041] The implementation principle of a feeding robot in Example 1 of the present application is: The loading manipulator of Example 1 of the present application achieves efficient and accurate handling of glass plates by integrating multiple modules. First, the lifting mechanism 1 lifts the grabbing mechanism 5 to an appropriate height so that it can approach the glass plate; then, the rotating mechanism 2 adjusts the angle of the placement platform 22 so that the grabbing mechanism 5 is aligned with the glass plate; then, the translation mechanism 3 moves the grabbing mechanism 5 to the position of the glass plate, achieves a firm grip through negative pressure adsorption, and uses the pressure sensor 54 to detect the gripping stability; then, the flipping mechanism 4 flips the glass plate to an appropriate angle as needed; finally, each mechanism works together to carry the glass plate to a specified position and release it.

[0042] Embodiment 2: Embodiment 2 of the present application provides a loading robot.

[0043] refer to Figure 8 and Fig. 9 , the difference between Example 2 of the present application and Example 1 is that: It also includes a separation mechanism 6, which includes a driver 61, a connecting rod 62, a dividing piece 63 and a tensioning spring 64. The driver 61 is fixedly connected to the fixed plate 51. The driver 61 includes a cylinder and a driving block. The cylinder is connected to the driving block. The connecting rod 62 is rotatably connected to the driving block. Both ends of the tensioning spring 64 are respectively connected to the connecting rod 62 and the driving block. The dividing piece 63 is connected to the connecting rod 62.

[0044] A slope is provided on one side edge of the rubber pad 53, and the slope is relatively inclined to the fitting surface of the rubber pad 53 and the glass plate. When the cylinder drives the driving block to move and then drives the connecting rod 62 to move, the tensioning spring 64 can drive the connecting rod 62 to swing through its own elastic force, so that the dividing piece 63 moves from the slope located on one side edge of the rubber pad 53 to the side where the rubber pad 53 and the glass plate are fitted, and moves with the connecting piece to separate the rubber pad 53 from the glass plate. At the same time, the dividing piece 63 can also be moved to the slope and fit with the slope, further ensuring the stability of the grasping mechanism 5 when in use.

[0045] refer to Fig. 9 and Fig.10 The grabbing mechanism 5 also includes a connecting frame 65 and a reset spring 66. A connecting groove 67 is provided on the fixing plate 51. The connecting frame 65 is arranged in the connecting groove 67. The reset spring 66 is arranged in the connecting groove 67. The two ends of the reset spring 66 are respectively fixedly connected to the inner wall of the connecting groove 67 and the connecting frame 65. The rubber pad 53 is fixedly connected to the connecting frame 65. The rubber pad 53 extends to both sides of the connecting groove 67, further increasing the contact area between the rubber pad 53 and the glass plate, improving the adsorption force and stability, and reducing the displacement of the glass plate during transportation. The air groove 55, the connecting frame 65 and the rubber pad 53 are all correspondingly provided with multiple ones, so as to provide a more uniform reset force and facilitate the separation of the glass plate and the rubber pad 53.

[0046] The implementation principle of a feeding robot in Example 2 of the present application is: Through the coordinated work of various mechanisms, the glass plate is transported to the designated position. When the glass plate is placed, when the glass plate is separated from the grabbing mechanism 5, the cylinder of the driver 61 starts to work, pushing the driving block to move, and then driving the connecting rod 62 to swing. At the same time, since the edge of one side of the rubber pad 53 is provided with an inclined surface, the splitter 63 can be gradually inserted between the glass plate and the rubber pad 53 along the inclined surface, and with the action of the tension spring 64, it swings through the connecting rod 62, so that the splitter 63 can be closely attached to the side of the rubber pad 53 close to the glass plate and move, thereby realizing the separation of the glass plate and the rubber pad 53. During the separation process, the reset spring 66 plays a role of buffering and reset, ensuring that the connecting frame 65 and the rubber pad 53 can quickly return to the initial position and separate from the glass plate.

[0047] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A feeding robot, characterized in that: include: A lifting mechanism (1), a rotating mechanism (2), a translation mechanism (3), a flipping mechanism (4), and a grasping mechanism (5); The rotating mechanism (2) is connected to the lifting mechanism (1), the rotating mechanism (2) comprises a rotating drive component (21) and a placement platform (22), and the rotating drive component (21) is connected to the placement platform (22); The translation mechanism (3) comprises a translation drive component (31) and a linear slide (32), the translation drive component (31) is connected to the linear slide (32), and the linear slide (32) is arranged on the placement platform (22); The turning mechanism (4) is arranged on the linear slide (32), the turning mechanism (4) is connected to the grabbing mechanism (5), and the grabbing mechanism (5) is used to grab the glass plate.

2. A feeding robot according to claim 1, characterized in that: The gripping mechanism (5) comprises a fixing plate (51), a negative pressure tube (52) and a rubber pad (53); the fixing plate (51) is provided with a working surface, an air groove (55) is provided on the working surface, the negative pressure tube (52) is communicated with the air groove (55), and the rubber pad (53) is also provided on the working surface and surrounds the circumference of the air groove (55).

3. A feeding robot according to claim 2, characterized in that: The device also comprises a separation mechanism (6), the separation mechanism (6) comprising a driver (61), a connecting rod (62) and a dividing piece (63), the driver (61) being fixedly connected to the fixing plate (51), the connecting rod (62) being connected to the driver (61), the dividing piece (63) being connected to the connecting rod (62), and the dividing piece (63) being in contact with a side of the rubber pad (53) close to the glass plate.

4. A feeding robot according to claim 3, characterized in that: The device further comprises a tensioning spring (64), wherein the driver (61) comprises a driving block, the connecting rod (62) is rotatably connected to the driving block, and the two ends of the tensioning spring (64) are respectively connected to the connecting rod (62) and the driving block, and the tensioning spring (64) drives the connecting rod (62) to swing so that the partition (63) and the side of the rubber pad (53) close to the glass plate are in contact with each other.

5. A feeding robot according to claim 4, characterized in that: A slope is provided on one side edge of the rubber pad (53); the slope is inclined relative to the bonding surface between the rubber pad (53) and the glass plate; there is an escape space between the slope and the glass plate; the partition (63) can move to the slope and bond with the slope.

6. A feeding robot according to claim 3, characterized in that: The gripping mechanism (5) further comprises a connecting frame (65) and a return spring (66); a connecting groove (67) is provided on the fixing plate (51); the connecting frame (65) is arranged in the connecting groove (67); the return spring (66) is arranged in the connecting groove (67); two ends of the return spring (66) are respectively fixedly connected to the inner wall of the connecting groove (67) and the connecting frame (65); and the rubber pad (53) is fixedly connected to the connecting frame (65).

7. A feeding robot according to claim 6, characterized in that: The rubber pad (53) extends to both sides of the connecting groove (67).

8. A feeding robot according to claim 7, characterized in that: A plurality of return springs (66) are provided and are evenly distributed in the connection groove (67).

9. A feeding robot according to claim 8, characterized in that: The air groove (55), the connection frame (65) and the rubber pad (53) are each provided in plurality.

10. A feeding robot according to any one of claims 2 to 9, characterized in that: The fixing plate (51) is provided with a pressure sensor (54), and when the gripping mechanism (5) grips the glass plate, the pressure sensor (54) is in contact with the glass plate.

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