A feeding mechanical hand

Abstract

The application provides a feeding mechanical hand, and relates to the technical field of the mechanical hand. The feeding mechanical hand 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. The rotating driving assembly is connected with the placing platform. The translation mechanism comprises a translation driving assembly and a linear slide. The translation driving assembly is connected with the linear slide. The linear slide is arranged on the placing platform. The turnover mechanism is arranged on the linear slide. The turnover mechanism is connected with the grabbing mechanism. The grabbing mechanism is used for grabbing a glass plate. The application has the effect of improving the large space occupation of the mechanical hand during feeding.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of mechanical hands, in particular to a feeding mechanical hand. BACKGROUND

[0002] In glass production and processing, mechanical hands are widely used for feeding glass plates, and three-axis structure mechanical hands are widely used due to the simplicity of linear motion and applicability in occasions with large spatial motion distances. The structure comprises three linear motion combinations in X-axis, Y-axis and Z-axis directions perpendicular to each other, and three moving shafts are required to realize movement, which is also called a three-degree-of-freedom translation mechanical hand.

[0003] However, due to the structural characteristics of the three-axis mechanical hand, they usually occupy a large space, which may cause layout difficulties in a limited production workshop, affecting the overall planning and efficiency of the production line, and therefore, a feeding mechanical hand is proposed to solve the above problems. SUMMARY

[0004] In order to improve the problem of large space occupation of the mechanical hand during feeding, the application provides a feeding mechanical hand.

[0005] The application provides a feeding mechanical hand, which adopts the following technical scheme:

[0006] A feeding mechanical hand comprises a lifting mechanism, a rotating mechanism, a translating mechanism, a turnover mechanism and a grabbing mechanism.

[0007] The rotating mechanism is connected with the lifting mechanism, and the rotating mechanism comprises a rotating driving assembly and a placing platform, and the rotating driving assembly is connected with the placing platform.

[0008] The translating mechanism comprises a translating driving assembly and a linear sliding table, the translating driving assembly is connected with the linear sliding table, and the linear sliding table is arranged on the placing platform.

[0009] 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 glass plates.

[0010] By adopting the above technical scheme, the cooperation of each mechanism enables the feeding mechanical hand to realize multi-degree-of-freedom motion, thereby adapting to the glass plate grabbing requirements of different positions and angles.

[0011] Optionally, the grabbing mechanism comprises a fixed plate, a negative pressure pipe and a rubber pad, the fixed plate is provided with a working surface, the working surface is provided with a gas groove, the negative pressure pipe is in communication with the gas groove, and the rubber pad is also arranged on the working surface and surrounds the side of the gas groove.

[0012] By adopting the above technical scheme, the glass plate can be more firmly gripped through the unique air suction fixation, the risk of glass plate sliding during the carrying process is reduced, and the safety and stability of the carrying are improved.

[0013] Optionally, the device further comprises a separation mechanism, the separation mechanism comprising a driver, a connecting rod and a separating piece, the driver being fixedly connected with the fixed plate, the connecting rod being connected with the driver, and the separating piece being connected with the connecting rod, and the separating piece being attached to the side of the rubber pad close to the glass plate.

[0014] By adopting the above technical scheme, the glass plate can be more firmly gripped through the unique air suction fixation, the risk of glass plate sliding during the carrying process is reduced, and the safety and stability of the carrying are improved.

[0015] Optionally, the device further comprises a tension spring, the driver having a driving block, the connecting rod being rotatably connected with the driving block, and the two ends of the tension spring being connected with the connecting rod and the driving block, respectively, and the tension spring driving the connecting rod to swing so that the separating piece is attached to the side of the rubber pad close to the glass plate.

[0016] By adopting the above technical scheme, the glass plate can be more firmly gripped through the unique air suction fixation, the risk of glass plate sliding during the carrying process is reduced, and the safety and stability of the carrying are improved.

[0017] Optionally, the side edge of the rubber pad is provided with an inclined surface, the inclined surface being oppositely inclined to the attached surfaces of the rubber pad and the glass plate, there being a clearance between the inclined surface and the glass plate, and the separating piece being movable to the inclined surface and attached thereto.

[0018] By adopting the above technical scheme, the glass plate can be more firmly gripped through the unique air suction fixation, the risk of glass plate sliding during the carrying process is reduced, and the safety and stability of the carrying are improved.

[0019] Optionally, the gripping mechanism further comprises a connecting frame and a return spring, the fixed plate being provided with a connecting groove, the connecting frame being arranged in the connecting groove, and the return spring being arranged in the connecting groove, the two ends of the return spring being fixedly connected with the inner wall of the connecting groove and the connecting frame, respectively, and the rubber pad being fixedly connected with the connecting frame.

[0020] By adopting the above technical scheme, the glass plate can be more firmly gripped through the unique air suction fixation, the risk of glass plate sliding during the carrying process is reduced, and the safety and stability of the carrying are improved.

[0021] Optionally, the rubber pad extends to both sides of the connecting groove.

[0022] By adopting the above technical scheme, the contact area of the rubber pad and the glass plate is increased, further ensuring the adsorption force of the mechanical hand on the glass plate, and further ensuring the stability of the device during operation.

[0023] Optionally, the reset spring is provided in multiple and is distributed in the connecting groove.

[0024] By adopting the above technical scheme, the connecting frame and the rubber pad are more stable during the reset process, thereby improving the working efficiency and reliability of the grabbing mechanism.

[0025] Optionally, the air groove, the connecting frame and the rubber pad are all provided in multiple.

[0026] By adopting the above technical scheme, the glass plate can be more evenly stressed and more stably moved during the adsorption and carrying process, and the glass plate can be more conveniently separated from the rubber pad when the glass plate is placed, thereby improving the working efficiency.

[0027] Optionally, the fixed plate is provided with a pressure sensor, and the pressure sensor is attached to the glass plate when the grabbing mechanism grabs the glass plate.

[0028] By adopting the above technical scheme, the grabbing force of the grabbing mechanism on the glass plate can be monitored in real time by the pressure sensor, so that the glass plate can be firmly grabbed, and the safety and reliability of the carrying process are improved.

[0029] In summary, the present application has at least one of the following beneficial effects:

[0030] 1. Through the cooperation of the lifting mechanism, the rotating mechanism, the translating mechanism, the overturning mechanism and the grabbing mechanism, the feeding mechanical hand can realize precise movement with multiple degrees of freedom. This makes the mechanical hand flexible to adapt to the glass plate grabbing requirements of different positions and angles, greatly improving its flexibility and applicability in practical application;

[0031] 2. The grabbing mechanism realizes firm grabbing of the glass plate through a unique air suction fixing structure, and effectively improves the stability of the glass plate during the carrying process;

[0032] 3. The addition of the separating mechanism simplifies the separation process of the glass plate and the rubber pad. By driving the dividing piece through the driver and combining the auxiliary action of the tension spring, the dividing piece can always be tightly attached to the rubber pad, thereby effectively separating the glass plate from the rubber pad. Not only does this improve the working efficiency of the separating mechanism, but also reduces the idle time of the mechanical hand, thereby improving the overall working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the overall structure of Example 1 of the present application;

[0034] Figure 2 This is a schematic diagram of the internal structure of the operation box in Example 1 of the present application;

[0035] Figure 3 This is a schematic diagram of the connection structure of the lifting mechanism in Example 1 of the present application;

[0036] Figure 4 This is a schematic structural diagram of the guide mechanism of Example 1 of the present application;

[0037] Figure 5 This is a schematic diagram of the connection structure of the rotary drive assembly in Example 1 of the present application;

[0038] Figure 6 This is a schematic diagram of the connection structure of the flip mechanism of Example 1 of the present application;

[0039] Figure 7 This is Example 1 of the present application Figure 6 Schematic diagram of the enlarged structure at A in the middle;

[0040] Figure 8 This is a schematic diagram of the overall structure of the separation mechanism in Example 2 of the present application;

[0041] Figure 9 This is a schematic diagram of the connection structure of the separation mechanism of Example 2 of the present application;

[0042] Figure 10 This is a schematic diagram of the connection structure of the connection frame and the return spring in Example 2 of the present application.

[0043] Explanation of the accompanying drawings: 1. lifting mechanism; 11. first motor; 12. first synchronous pulley; 13. first synchronous belt; 14. screw; 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. flipping 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. guide mechanism; 81. slider; 82. slide rail. DETAILED DESCRIPTION

[0044] The application will be further described below in conjunction with the accompanying drawings. Figures 1-10 The application will be further described below in conjunction with the accompanying drawings.

[0045] Embodiment 1

[0046] Embodiment 1 of the application provides a feeding manipulator.

[0047] Reference Figure 1 and Figure 2 The feeding manipulator comprises an operation box 7, a lifting mechanism 1, a rotating mechanism 2, a translation mechanism 3, a turnover mechanism 4, a grabbing mechanism 5 and a guiding mechanism 8. The lifting mechanism 1 is arranged in the operation box 7. The rotating mechanism 2 is connected with the lifting mechanism 1. The translation mechanism 3 is arranged on the rotating mechanism 2. The turnover mechanism 4 is connected with the grabbing mechanism 5. The lifting mechanism 1 lifts the grabbing mechanism 5 to a proper height so as to approach the glass plate. The compact design makes the manipulator occupy a small space and is more convenient to deploy in various environments.

[0048] 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. Then the translation mechanism 3 moves the grabbing mechanism 5 to the position of the glass plate. The grabbing mechanism 5 adsorbs the glass plate by negative pressure. Then the turnover mechanism 4 turns the glass plate to a proper angle according to actual needs. In combination with the lifting mechanism 1, the rotating mechanism 2, the guiding mechanism 8 and the translation mechanism 3, the precise adjustment in multiple directions and angles is realized. The glass plate can be conveniently and quickly transported to a designated position. Finally, the glass plate is released by the grabbing mechanism 5, and the feeding operation is completed. The applicability of the device is greatly enhanced.

[0049] Reference Figure 3 and Figure 4 The lifting mechanism 1 comprises a first motor 11, two first synchronous pulleys 12, a first synchronous belt 13, a lead screw 14 and a first connecting plate 15. The first motor 11 is connected with 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 lead screw 14 are respectively connected with the two first synchronous pulleys 12. The first synchronous belt 13 is engaged with the first synchronous pulleys 12. One end of the lead screw 14 is rotationally connected with the inner wall of the operation box 7. The first connecting plate 15 is threadedly connected with the lead screw 14. The first connecting plate 15 is connected with the rotating mechanism 2.

[0050] When the first motor 11 rotates, the lead screw 14 is driven to rotate through the transmission of the first synchronous pulleys 12 and the first synchronous belt 13. In turn, the first connecting plate 15 moves up and down on the lead screw 14. Then the rotating mechanism 2 is driven to move.

[0051] The guide mechanism 8 comprises sliding rails 82 and sliding blocks 81. The sliding rails 82 are connected to the inner wall of the operation box 7, and the sliding blocks 81 are in sliding connection with the sliding rails 82. Both the sliding rails 82 and the sliding blocks 81 are two in number. The two sides of the first connecting plate 15 are respectively fixed to one side of each of the two sliding blocks 81, so as to further ensure the stability and accuracy of the first connecting plate 15 during the lifting process, and thus the rotating mechanism 2 can move more stably.

[0052] With reference to Figure 2 and Figure 5 , the rotating mechanism 2 comprises a rotating driving assembly 21 and a placing platform 22. The rotating driving assembly 21 is located inside the operation box 7 and is connected to and drives the rotating of the placing platform 22. The rotating driving assembly 21 comprises a second motor 211, a first speed reducer 212 and a rotating shaft 213. The rotating shaft 213 is connected to the placing platform 22. The output shaft of the second motor 211 is connected to the input end of the first speed reducer 212, and the output end of the first speed reducer 212 is connected to the rotating shaft 213. Both the second motor 211 and the speed reducer are connected to the first connecting plate 15. The second motor 211 and the first speed reducer 212 drive the rotating shaft 213 to rotate, so that the rotating shaft 213 can drive the placing platform 22 to rotate.

[0053] At the same time, since the second motor 211 and the first speed reducer 212 are stably installed on the first connecting plate 15, they will move synchronously with the lifting of the first connecting plate 15.

[0054] With reference to Figure 2 , the translating mechanism 3 comprises a translating driving assembly 31 and a linear slide 32. The translating driving assembly 31 is connected to the linear slide 32, and the linear slide 32 is connected to the placing platform 22. The translating driving assembly 31 can adopt a motor to drive the linear slide 32 to move in the horizontal direction, so as to realize the translation operation of the placing platform 22.

[0055] With reference to Figure 2 and Figure 6 , the overturning mechanism 4 is arranged on the linear slide 32. The overturning mechanism 4 comprises a third motor 41, two second synchronous pulleys 42, a second synchronous belt 43 and a second speed reducer 44. The linear slide 32 is connected with a connecting frame. 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 speed reducer 44. The second synchronous belt 43 is engaged with the second synchronous pulleys 42. The third motor 41 drives the second speed reducer 44 to rotate through the transmission of the second synchronous pulleys 42 and the second synchronous belt 43. At the same time, since the output shaft of the second speed reducer 44 is connected to the grabbing mechanism 5, the overturning operation of the grabbing mechanism 5 can be realized by driving the second speed reducer 44, so as to facilitate the adjustment of the angle of the grabbing mechanism 5 according to the actual situation.

[0056] Reference Figure 6 and Figure 7 The grabbing mechanism 5 includes a fixed plate 51, a negative pressure pipe 52, a rubber pad 53, and a pressure sensor 54. The fixed plate 51 is provided with a working surface, and the working surface is provided with an air groove 55. One end of the negative pressure pipe 52 is in communication with the air groove 55, and the other end of the negative pressure pipe 52 is connected with an air pump. The rubber pad 53 is also provided on the working surface and surrounds the air groove 55. The pressure sensor 54 is also provided on the fixed plate 51. A plurality of lightening holes are also provided on the working surface, and the lightening holes are located outside the rubber pad 53.

[0057] When the grabbing mechanism 5 grabs the glass plate, the negative pressure pipe 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 working surface. The rubber pad 53 plays an important role in sealing and buffering. At the same time, the pressure sensor 54 can be attached to the glass plate when the grabbing mechanism 5 grabs the glass plate, thereby detecting the pressure between the glass plate and the grabbing mechanism 5, and further ensuring the firmness of the grabbing.

[0058] The implementation principle of the feeding manipulator in Embodiment 1 of the present application is as follows:

[0059] The feeding manipulator in Embodiment 1 of the present application realizes efficient and accurate handling of the glass plate 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, firmly grabs it through negative pressure adsorption, and detects the grabbing stability by using the pressure sensor 54. Subsequently, the overturning mechanism 4 overturns the glass plate to an appropriate angle as needed. Finally, the mechanisms work together to handle the glass plate to the designated position and release it.

[0060] Embodiment 2

[0061] The present application provides a feeding manipulator.

[0062] Reference Figure 8 and Figure 9 The difference between Embodiment 2 and Embodiment 1 of the present application is as follows:

[0063] Further comprising a separation mechanism 6, the separation mechanism 6 includes a driver 61, a connecting rod 62, a dividing piece 63, and a tension spring 64. The driver 61 is fixedly connected with the fixed plate 51. The driver 61 includes an air cylinder and a driving block, and the air cylinder is connected with the driving block. The connecting rod 62 is rotationally connected with the driving block. The two ends of the tension spring 64 are respectively connected with the connecting rod 62 and the driving block. The dividing piece 63 is connected with the connecting rod 62.

[0064] The side edge of the rubber pad 53 is provided with an inclined surface, which is inclined relative to the 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 tension spring 64 can drive the connecting rod 62 to swing through the elastic force of the tension spring 64, so that the dividing piece 63 moves from the inclined surface at one side edge of the rubber pad 53 to the surface of the rubber pad 53 abutting the glass plate, and moves with the connecting piece, so as to realize the separation of the rubber pad 53 and the glass plate, and the dividing piece 63 can also move to the inclined surface and abut the inclined surface, thereby further ensuring the stability of the grabbing mechanism 5 in use.

[0065] Reference Figure 9 and Figure 10 The grabbing mechanism 5 further comprises a connecting frame 65 and a reset spring 66. The fixing plate 51 is provided with a connecting groove 67, the connecting frame 65 is arranged in the connecting groove 67, and the reset spring 66 is arranged in the connecting groove 67. The two ends of the reset spring 66 are fixedly connected with the inner wall of the connecting groove 67 and the connecting frame 65, respectively. The rubber pad 53 is fixedly connected with the connecting frame 65, and the rubber pad 53 extends to both sides of the connecting groove 67, thereby further increasing the contact area of the rubber pad 53 and the glass plate, improving the adsorption force and stability, and reducing the displacement of the glass plate during the carrying process. The air groove 55, the connecting frame 65 and the rubber pad 53 are all provided with a plurality of corresponding structures, which can provide more uniform reset force and facilitate the separation of the glass plate and the rubber pad 53.

[0066] The implementation principle of the feeding mechanical hand in Embodiment 2 of the application is as follows:

[0067] Through the cooperative work of various mechanisms, the glass plate is carried to a specified position. When the glass plate is separated from the grabbing mechanism 5, the cylinder of the driver 61 starts to work, pushes the driving block to move, and then drives the connecting rod 62 to swing. At the same time, since the side edge of the rubber pad 53 is provided with an inclined surface, the dividing piece 63 can gradually insert between the glass plate and the rubber pad 53 along the inclined surface, and cooperate with the action of the tension spring 64, so that the dividing piece 63 can move closely with the rubber pad 53 abutting the side of the glass plate, 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 resetting, so as to ensure that the connecting frame 65 and the rubber pad 53 can quickly return to the initial position and separate from the glass plate.

[0068] The above are preferred embodiments of the application, and do not limit the protection scope of the application. Therefore, equivalent changes made on the basis of the structure, shape and principle of the application should be covered within the protection scope of the 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), wherein 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; The gripping mechanism (5) includes a fixed plate (51), a negative pressure tube (52) and a rubber pad (53); the fixed 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); The device further comprises a separation mechanism (6), the separation mechanism (6) comprising a driver (61), a connecting rod (62), and a splitter (63), the driver (61) being fixedly connected to the fixed plate (51), the connecting rod (62) being connected to the driver (61), the splitter (63) being connected to the connecting rod (62), and the splitter (63) being in contact with a side of the rubber pad (53) close to the glass plate; The grabbing mechanism (5) further includes 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 disposed in the connecting groove (67). The return spring (66) is disposed in the connecting groove (67). Both ends of the return spring (66) are fixedly connected to the inner wall of the connecting groove (67) and the connecting frame (65), respectively. The rubber pad (53) is fixedly connected to the connecting frame (65).

2. A feeding robot according to claim 1, characterized in that: The device further comprises a tensioning spring (64), wherein the driver (61) has 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. The tensioning spring (64) drives the connecting rod (62) to swing, thereby causing the splitting piece (63) to fit with the side of the rubber pad (53) close to the glass plate.

3. A feeding robot according to claim 2, characterized in that: A slope is provided on one side edge of the rubber pad (53), the slope being inclined relative to the bonding surface between the rubber pad (53) and the glass plate, and an escape space being provided between the slope and the glass plate. The dividing piece (63) can move to the slope and bond with the slope.

4. A feeding robot according to claim 1, characterized in that: The rubber pad (53) extends to both sides of the connecting groove (67).

5. A feeding robot according to claim 4, characterized in that: A plurality of return springs (66) are provided and are evenly distributed in the connecting groove (67).

6. A feeding robot according to claim 5, characterized in that: The air groove (55), the connection frame (65) and the rubber pad (53) are each provided in plurality.

7. A feeding robot according to any one of claims 1 to 6, characterized in that: A pressure sensor (54) is provided on the fixing plate (51), 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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