Feeding manipulator
The mechanical hand with adjustable grip angles and heights addresses the inefficiencies of conventional systems by enabling simultaneous handling of multiple turbine discs at varied orientations and heights, enhancing manufacturing efficiency.
Patent Information
- Application Number
- CN202510660555.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-22
- Publication Date
- 2025-07-15
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Existing robots can only move three-dimensionally when clamping the turbine disc, making it difficult to adjust the angle of the clamping piece, only one clamp at a time, and require repeated back and forth operations, resulting in low clamping efficiency.
The combination design of clamping mechanism and anti-collision mechanism is adopted, and components such as supporting legs, slide rails, tripods, electric stretch rods, multiple motors and laser rangefinders are used to achieve flexible adjustment of the height, angle and position of the clamping components and improve clamping efficiency.
Through the cooperation of multi-motor drive and laser rangefinder, the efficient clamping and anti-collision functions of the turbine disc are achieved, reducing the travel time of back and forth, and improving working efficiency and measurement accuracy.
Smart Images
Figure CN120307080A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of turbine disk manufacturing, and specifically to a loading manipulator. Background Art
[0002] The turbine disk is an essential part of the current electric vehicle air conditioning system. It is an involute helical curve and usually meshes with a matching turbine disk to form a series of gradually expanding spaces between the two components. During the machining process on a lathe, a manipulator is needed to hold the blank or the semi-finished component of the structure, and a loading / unloading manipulator is required.
[0003] When using the existing conventional manipulators on the market for clamping, they can only move in three dimensions, and it is not easy to adjust the angle of the clamping part. Moreover, only one can be clamped at a time. It is necessary to first move the manipulator to the processing area to clamp the finished product, then place the finished product in the storage area, then use the manipulator to clamp the semi-finished product in the storage area, and then transport the semi-finished product to the processing area. During the actual operation, single clamping often means that after unloading, it is necessary to repeat a round trip before loading again, and the clamping efficiency is low.
[0004] Therefore, we urgently need a loading manipulator. Summary of the Invention
[0005] The purpose of the present invention is to provide a loading manipulator to solve the problems raised in the above background art.
[0006] To solve the above technical problems, the present invention provides the following technical solution: A loading manipulator includes a clamping mechanism, and an anti-collision mechanism is arranged on the back of the clamping mechanism, and the anti-collision mechanism is fixedly connected to the clamping mechanism; The clamping mechanism includes support legs, a moving component is arranged on the top of the support legs, an electric telescopic rod is fixedly connected to the front of the moving component, the bottom of the electric telescopic rod is fixedly connected to a fixing plate, a second motor is arranged at the bottom of the fixing plate, a connecting sleeve is arranged on the output shaft of the second motor, two connecting grooves are opened inside the connecting sleeve, and two clamping components are arranged outside the connecting sleeve; The anti-collision mechanism includes a support plate, a fourth motor is fixedly connected to the back of the support plate, a support block is arranged on the front of the support plate, a mounting plate is arranged at the bottom of the support block, and three laser rangefinders are fixedly connected to the bottom of the mounting plate.
[0007] Among them, the moving component and the clamping component are both prior arts.
[0008] Preferably, a slide rail is fixedly connected to the top of the support legs, and the slide rail is slidably connected to the moving component.
[0009] Preferably, a tripod is fixedly connected to the outer side of the support leg, the tripod is fixedly connected to the slide rail, and a working indicator light is fixedly connected to the top of the moving component.
[0010] Preferably, a first motor is fixedly connected to the bottom of the fixing plate, an output shaft of the first motor is fixedly connected to a first rotating disk, a fixing block is fixedly connected to the bottom of the first rotating disk, and a second motor is fixedly connected to the inside of the fixing block.
[0011] Preferably, an output shaft of the second motor is fixedly connected to a second rotating disk, and the second rotating disk is fixedly connected to a connecting sleeve.
[0012] Preferably, a third motor is fixedly connected to the inside of the two connecting grooves, an output shaft of the third motor is fixedly connected to a first rotating shaft, and an outer end of the first rotating shaft is fixedly connected to a clamping component.
[0013] Preferably, an output shaft of the fourth motor is fixedly connected to a second rotating shaft, the front surface of the second rotating shaft movably penetrates through the inside of the support plate and extends to the outside thereof, and the front surface of the second rotating shaft is fixedly connected to a support block.
[0014] Preferably, a fifth motor is fixedly connected to the top of the support block, an output shaft of the fifth motor is fixedly connected to a threaded rod, a moving block is threadedly connected to the surface of the threaded rod, and the back surface of the moving block is fixedly connected to a mounting plate.
[0015] Preferably, a fixing rod is fixedly connected to the bottom of the support block, a limiting plate is fixedly connected to the bottom of the fixing rod, the bottom of the fixing rod movably penetrates through the inside of the moving block and extends to the bottom thereof, and the bottom of the threaded rod is in contact with the limiting plate.
[0016] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: First, in the present invention, the support leg and the tripod are used as the main supports for the slide rail and the moving component, the working indicator light is used to prompt the staff about the working state of the machine, the electric telescopic rod is used to adjust the height of the clamping component through the fixing plate, and by starting the second motor to rotate the clamping component connected to the connecting sleeve under the second rotating disk, different turbine disks to be processed can be adjusted to cooperate with the lathe. For example, one clamping component can clamp the processed part, and the other can clamp the turbine disk to be processed. When replacing the turbine disk to be processed each time, the empty clamping component can be used to clamp the processed part, and at the same time, the clamping component clamping the turbine disk to be processed can place the turbine disk to be processed at the processing point, saving the round-trip time for taking and placing, and greatly improving the working efficiency.
[0017] Second, in the present invention, the first rotating shaft is rotated by the third motor to rotatably clamp the component to adjust the angle of the clamping component. By starting the first motor to rotate the first rotating disk, the fixed block can be rotated to face, enabling the adjustment of the four front, rear, left, and right faces of the clamping component, enhancing the flexibility of the clamping component, and enabling the clamping component to pick up or place parts for machining points with different orientations simultaneously.
[0018] Third, in the present invention, the fourth motor serves as the main driving source. Its output shaft is fixedly connected to the support block through the second rotating shaft, thereby driving the entire support block and the structures thereon to rotate, enabling the anti-collision mechanism to adjust the angle on the horizontal plane to adapt to different working environments and obstacle positions. The fifth motor is installed on the top of the support block. Its output shaft is fixedly connected to the threaded rod, and the fixed rod and the limiting plate are used to ensure the stable movement of the moving block in the vertical direction and prevent it from disengaging from the threaded rod. When the fifth motor rotates, the threaded rod drives the moving block to move up and down in the vertical direction. Since the moving block is fixedly connected to the mounting plate, the height of the laser rangefinder can be adjusted accordingly. This height adjustment function enables the anti-collision mechanism to make adaptive adjustments according to obstacles of different heights, improving the measurement accuracy and anti-collision effect. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 is a schematic front three-dimensional view of the overall structure of the present invention; Figure 2 is a schematic top three-dimensional view of the overall structure of the present invention; Figure 3 is a schematic three-dimensional view of the clamping mechanism of the present invention; Figure 4 is a schematic disassembled view of the clamping mechanism of the present invention; Figure 5 is a schematic cross-sectional view of the clamping mechanism of the present invention; Figure 6 is a schematic three-dimensional view of the anti-collision mechanism of the present invention; Figure 7 is a schematic disassembled view of the anti-collision mechanism of the present invention.
[0020] LEGEND DESCRIPTION: 1. Clamping mechanism; 101. Support leg; 102. Tripod; 103. Slide rail; 104. Moving component; 105. Working indicator light; 106. Electric telescopic rod; 107. Fixed plate; 108. First motor; 109. First rotating disk; 110. Fixed block; 111. Second motor; 112. Second rotating disk; 113. Connecting sleeve; 114. Third motor; 115. First rotating shaft; 116. Clamping component.
[0021] 2. Anti-collision mechanism; 201. Support plate; 202. Fourth motor; 203. Second rotating shaft; 204. Support block; 205. Fifth motor; 206. Threaded rod; 207. Fixed rod; 208. Moving block; 209. Limiting plate; 210. Mounting plate; 211. Laser rangefinder. Detailed implementation manners
[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.
[0023] Embodiment 1 As Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 shown, the present invention provides a technical solution: a loading manipulator, including a clamping mechanism 1, an anti-collision mechanism 2 is arranged on the back of the clamping mechanism 1, and the anti-collision mechanism 2 is fixedly connected to the clamping mechanism 1; The clamping mechanism 1 includes support legs 101, a moving component 104 is arranged on the top of the support legs 101, an electric telescopic rod 106 is fixedly connected to the front of the moving component 104, the bottom of the electric telescopic rod 106 is fixedly connected to a fixing plate 107, a second motor 111 is arranged at the bottom of the fixing plate 107, a connecting sleeve 113 is arranged on the output shaft of the second motor 111, two connecting grooves are opened inside the connecting sleeve 113, two clamping components 116 are arranged outside the connecting sleeve 113, and both of the two clamping components 116 are three-jaw cylinders in the prior art, which can clamp and release the turbine disk.
[0024] The top of the support legs 101 is fixedly connected to a slide rail 103, and the slide rail 103 is slidably connected to the moving component 104.
[0025] A triangular frame 102 is fixedly connected to the outside of the support legs 101, the triangular frame 102 is fixedly connected to the slide rail 103, and a working indicator light 105 is fixedly connected to the top of the moving component 104.
[0026] The bottom of the fixing plate 107 is fixedly connected to a first motor 108, the output shaft of the first motor 108 is fixedly connected to a first rotating disk 109, the bottom of the first rotating disk 109 is fixedly connected to a fixing block 110, and the inside of the fixing block 110 is fixedly connected to the second motor 111.
[0027] The output shaft of the second motor 111 is fixedly connected to a second rotating disk 112, and the second rotating disk 112 is fixedly connected to a connecting sleeve 113.
[0028] A third motor 114 is fixedly connected in two connecting grooves. The output shaft of the third motor 114 is fixedly connected to a first rotating shaft 115, and the outer end of the first rotating shaft 115 is fixedly connected to a clamping assembly 116.
[0029] Through the above technical solution, the support legs 101 and the tripod 102 are used as the main supports of the slide rail 103 and the moving assembly 104. The working indicator light 105 is used to prompt the staff about the working state of the machine. The electric telescopic rod 106 is used to adjust the height of the clamping assembly 116 through the fixing plate 107. By starting the second motor 111 to rotate the clamping assembly 116 connected to the connecting sleeve 113 under the second rotating disk 112, different turbine disks to be processed can be adjusted to cooperate with the lathe. For example, one clamping assembly 116 can clamp the processed parts, and one can clamp the turbine disk to be processed. When replacing the turbine disk to be processed each time, the empty clamping assembly 116 can be used to clamp the processed parts, and at the same time, the clamping assembly 116 holding the turbine disk to be processed can place the turbine disk to be processed at the processing point, saving the round-trip time of fetching and placing, and greatly improving the work efficiency. By rotating the first rotating shaft 115 by the third motor 114, the clamping assembly 116 can be rotated to adjust the angle of the clamping assembly 116. By starting the first motor 108 to rotate the first rotating disk 109, the fixed block 110 can be rotated to face, enabling the adjustment of the four front, back, left, and right faces of the clamping assembly 116, improving the flexibility of the clamping assembly 116, and enabling the clamping assembly 116 to pick up or place parts at processing points with different orientations.
[0030] Embodiment 2 As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 As shown in
[0031] The output shaft of the fourth motor 202 is fixedly connected to a second rotating shaft 203. The front of the second rotating shaft 203 movably penetrates the inside of the support plate 201 and extends to the outside thereof. The front of the second rotating shaft 203 is fixedly connected to the support block 204.
[0032] The top of the support block 204 is fixedly connected with a fifth motor 205. The output shaft of the fifth motor 205 is fixedly connected with a threaded rod 206. The surface of the threaded rod 206 is threadedly connected with a moving block 208. The back of the moving block 208 is fixedly connected with a mounting plate 210.
[0033] The bottom of the support block 204 is fixedly connected with a fixed rod 207. The bottom of the fixed rod 207 is fixedly connected with a limiting plate 209. The bottom of the fixed rod 207 movably penetrates through the inside of the moving block 208 and extends to its bottom. The bottom of the threaded rod 206 is in contact with the limiting plate 209.
[0034] Through the above technical solution, the fourth motor 202 serves as the main driving source. Its output shaft is fixedly connected with the support block 204 through the second rotating shaft 203, thereby driving the entire support block 204 and the structures thereon to rotate, enabling the anti-collision mechanism 2 to adjust the angle on the horizontal plane to adapt to different working environments and obstacle positions. The fifth motor 205 is installed on the top of the support block 204. Its output shaft is fixedly connected with the threaded rod 206, and the fixed rod 207 and the limiting plate 209 are used to ensure the stable movement of the moving block 208 in the vertical direction and prevent it from disengaging from the threaded rod 206. When the fifth motor 205 rotates, the threaded rod 206 will drive the moving block 208 to move up and down in the vertical direction. Since the moving block 208 is fixedly connected with the mounting plate 210, the height of the laser rangefinder 211 can be adjusted accordingly. This height adjustment function enables the anti-collision mechanism 2 to make adaptive adjustments according to obstacles of different heights, improving the measurement accuracy and anti-collision effect.
[0035] In use, the support legs 101 and the tripod 102 are used as the main supports for the slide rail 103 and the moving component 104. The working indicator light 105 is used to prompt the staff about the working status of the machine. The electric telescopic rod 106 adjusts the height of the clamping component 116 through the fixed plate 107. By starting the second motor 111 to rotate the clamping component 116 connected by the connecting sleeve 113 under the second rotating disk 112, different turbine disks to be processed can be adjusted to cooperate with the lathe. For example, one clamping component 116 can clamp the processed part, and one can clamp the turbine disk to be processed. When replacing the turbine disk to be processed each time, the empty clamping component 116 can clamp the processed part, and at the same time, the clamping component 116 holding the turbine disk to be processed can place the turbine disk to be processed at the processing point, saving the travel time for taking and placing back and forth and greatly improving the work efficiency. By rotating the first rotating shaft 115 with the third motor 114, the clamping component 116 can be rotated to adjust the angle of the clamping component 116. By starting the first motor 108 to rotate the first rotating disk 109, the fixed block 110 can be rotated to face, enabling the adjustment of the four directions of the front, back, left, and right of the clamping component 116, improving the flexibility of the clamping component 116 and enabling the clamping component 116 to pick up or place parts for processing points in different orientations. The fourth motor 202 serves as the main driving source, and its output shaft is fixedly connected to the support block 204 through the second rotating shaft 203, thereby driving the entire support block 204 and the structures thereon to rotate, enabling the anti-collision mechanism 2 to adjust the angle on the horizontal plane to adapt to different working environments and obstacle positions. The fifth motor 205 is installed on the top of the support block 204, and its output shaft is fixedly connected to the threaded rod 206. The fixed rod 207 and the limiting plate 209 ensure the stable movement of the moving block 208 in the vertical direction and prevent it from disengaging from the threaded rod 206. When the fifth motor 205 rotates, the threaded rod 206 drives the moving block 208 to move up and down in the vertical direction. Since the moving block 208 is fixedly connected to the mounting plate 210, the height of the laser rangefinder 211 can be adjusted accordingly. This height adjustment function enables the anti-collision mechanism 2 to make adaptive adjustments according to obstacles of different heights, improving the measurement accuracy and anti-collision effect.
[0036] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirits. The scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A loading manipulator, comprising a clamping mechanism (1), characterized in that: A collision prevention mechanism (2) is provided on the back surface of the clamping mechanism (1), and the collision prevention mechanism (2) is fixedly connected to the clamping mechanism (1); The clamping mechanism (1) includes support legs (101). A moving component (104) is provided at the top of the support legs (101). A power-driven telescopic rod (106) is fixedly connected to the front surface of the moving component (104). The bottom of the power-driven telescopic rod (106) is fixedly connected to a fixing plate (107). A second motor (111) is provided at the bottom of the fixing plate (107). A connecting sleeve (113) is provided on the output shaft of the second motor (111). Two connecting grooves are formed inside the connecting sleeve (113). Two clamping components (116) are provided outside the connecting sleeve (113); The collision prevention mechanism (2) includes a support plate (201). A fourth motor (202) is fixedly connected to the back surface of the support plate (201). A support block (204) is provided on the front surface of the support plate (201). A mounting plate (210) is provided at the bottom of the support block (204). Three laser rangefinders (211) are fixedly connected to the bottom of the mounting plate (210).
2. The feeding manipulator according to claim 1, characterized in that: A slide rail (103) is fixedly connected to the top of the support legs (101), and the slide rail (103) is slidably connected to the moving component (104).
3. The feeding manipulator according to claim 1, wherein: A tripod (102) is fixedly connected to the outside of the support legs (101). The tripod (102) is fixedly connected to the slide rail (103). A working indicator light (105) is fixedly connected to the top of the moving component (104).
4. The feeding manipulator according to claim 1, wherein: A first motor (108) is fixedly connected to the bottom of the fixing plate (107). A first rotating disk (109) is fixedly connected to the output shaft of the first motor (108). A fixing block (110) is fixedly connected to the bottom of the first rotating disk (109). The inside of the fixing block (110) is fixedly connected to the second motor (111).
5. A loading manipulator according to claim 1, characterized in that: A second rotating disk (112) is fixedly connected to the output shaft of the second motor (111), and the second rotating disk (112) is fixedly connected to the connecting sleeve (113).
6. The feeding manipulator according to claim 1, characterized in that: A third motor (114) is fixedly connected inside the two connecting grooves. A first rotating shaft (115) is fixedly connected to the output shaft of the third motor (114). The outer end of the first rotating shaft (115) is fixedly connected to the clamping component (116).
7. The feeding manipulator according to claim 1, characterized in that: A second rotating shaft (203) is fixedly connected to the output shaft of the fourth motor (202). The front surface of the second rotating shaft (203) movably penetrates through the inside of the support plate (201) and extends to the outside thereof. The front surface of the second rotating shaft (203) is fixedly connected to the support block (204).
8. The feeding manipulator according to claim 7, wherein: A fifth motor (205) is fixedly connected to the top of the support block (204). A threaded rod (206) is fixedly connected to the output shaft of the fifth motor (205). A moving block (208) is threadedly connected to the surface of the threaded rod (206). The back surface of the moving block (208) is fixedly connected to the mounting plate (210).
9. The feeding manipulator according to claim 8, wherein: The bottom of the support block (204) is fixedly connected with a fixed rod (207). The bottom of the fixed rod (207) is fixedly connected with a limiting plate (209). The bottom of the fixed rod (207) movably penetrates through the inside of the moving block (208) and extends to its bottom. The bottom of the threaded rod (206) is in contact with the limiting plate (209).