Intelligent manufacturing manipulator and using method thereof

Abstract

The invention discloses an intelligent manufacturing manipulator and a using method thereof. The intelligent manufacturing manipulator comprises a base, a driving motor is installed in the upper end of the base, a rotating disc is connected to an output shaft of the driving motor, a first motor is fixed to one side of the upper end of the rotating disc, and a first rotating arm is connected to an output shaft of the first motor. The device has the beneficial effects that by arranging a self-cleaning mechanism composed of a connecting rod, a rotating shaft, a tension spring and a soft silica gel pad, in the process that an electric lower disc moves downwards to adsorb a plate, the soft silica gel pad makes contact with the surface of the plate in advance and moves outwards along the surface of the plate under the action of the connecting rod and the rotating shaft, and in the moving process, the plate is cleaned; and dust on the surfaces of the plates can be automatically cleaned, then the adsorption effect of the electric suction cups on the plates is guaranteed, the stability during plate transferring is guaranteed, the safety coefficient is high, and high use performance is achieved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of mechanical hands, in particular to an intelligent manufacturing mechanical hand and a use method thereof. BACKGROUND

[0002] A mechanical hand can imitate some action functions of a human hand and arm, is used for automatically operating a device to grab, carry and operate a tool according to a fixed program, is the earliest industrial robot and the earliest modern robot, can replace heavy labor of a human to realize production mechanization and automation, and can operate in a harmful environment to protect the safety of a human body, and is widely applied to the fields of machinery manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] In the use process of the existing intelligent manufacturing mechanical hand, a suction mechanism at the end of a mechanical arm is driven to suck and transfer articles from a plate to a specified station, in the above-mentioned mode, dust is easily attached to the surface of the plate in the placing process, the dust can reduce the suction performance of the suction mechanism on the plate, and then the stability of the plate is low in the transferring process, certain safety hazards exist, and the use performance is low, in addition, in the use process of the existing intelligent manufacturing mechanical hand, a rotating arm that is adjusted is fixed in position through the self-locking performance of a motor, when the weight of the sucked plate is large, the load force received by the motor is too large, the motor is easily damaged, and the use effect is poor, therefore, an intelligent manufacturing mechanical hand is urgently needed to solve the above-mentioned problems. SUMMARY

[0004] The application aims to provide an intelligent manufacturing mechanical hand and a use method thereof to solve the above-mentioned problems.

[0005] The application achieves the above-mentioned purpose through the following technical scheme.

[0006] An intelligent manufacturing mechanical hand comprises a base, a driving motor is internally installed at the upper end of the base, a rotating disc is connected to the output shaft of the driving motor, a motor one is fixed at one side of the upper end of the rotating disc, a rotating arm one is connected to the output shaft of the motor one, a motor two is arranged at one end of the rotating arm one, a rotating arm two is fixed to the output shaft of the motor two, an adjusting cavity is arranged at one end of the rotating arm two, a bearing block is arranged in the adjusting cavity, a motor three is installed on one side wall of the adjusting cavity, a rotating motor is arranged in the bearing block, an electric push rod is fixed to the output shaft of the rotating motor, an installation plate is fixed to the movable part of the electric push rod, an electric suction disc is fixed to one side wall of the installation plate, two groups of connecting rods are symmetrically installed on the outer side wall of the installation plate, a rotating shaft is arranged between the connecting rods, a soft silica gel pad is arranged on the outer side wall of the rotating shaft, connecting blocks are fixed to one side wall of the connecting rods, and a tension spring is arranged between the connecting blocks.

[0007] Further, a plurality of fixing holes are circumferentially distributed on the base, and an output shaft of the driving motor is fixedly connected with the rotating disc.

[0008] By adopting the above technical scheme, the fixing holes facilitate fixing of the device, and the driving motor drives the rotating disc to adjust the orientation of the electric suction disc.

[0009] Further, an output shaft of the first motor is fixedly connected with the first rotating arm, and an output shaft of the second motor is fixedly connected with the second rotating arm.

[0010] By adopting the above technical scheme, the first motor drives the first rotating arm to rotate, the second motor drives the second rotating arm to rotate, and thus the position of the electric suction disc is adjusted.

[0011] Further, the adjusting cavity is formed at one end of the second rotating arm, the bearing block is rotatably installed in the adjusting cavity, and an output shaft of the third motor is fixedly connected with the bearing block.

[0012] By adopting the above technical scheme, the third motor drives the bearing block to rotate, so that the inclination angle of the electric suction disc is adjusted.

[0013] Further, the rotating motor is fixedly connected with the bearing block through bolts, and an output shaft of the rotating motor is fixedly connected with the fixed part of the electric push rod.

[0014] By adopting the above technical scheme, the rotating motor can drive the plate to rotate and change the orientation of the plate through the electric suction disc.

[0015] Further, the movable part of the electric push rod is connected with the mounting plate through screws, and the electric suction disc is fixedly connected with the mounting plate through screws.

[0016] By adopting the above technical scheme, the electric push rod can drive the electric suction disc to move downward to contact the plate, the electric suction disc can adsorb and fix the plate, and the workpiece can be transferred under the action of the mechanical hand.

[0017] Further, the connecting rods are rotatably installed on the outer sidewall of the mounting plate, the rotating shafts are rotatably installed between the connecting rods, the soft silica gel pads are bonded on the outer sidewall of the rotating shafts, the connecting blocks are welded on the outer sidewall of the connecting rods, and the tension springs are connected between the connecting blocks through hooks.

[0018] By adopting the technical scheme, in the moving-down process, the soft silica gel pad is in advance in contact with the surface of the plate, and is moved outward along the surface of the plate under the action of the connecting rod and the rotating shaft, and in the moving process, the dust on the surface of the plate can be automatically cleaned, thereby ensuring the adsorption effect of the electric suction cup on the plate and the stability of the plate during transfer.

[0019] Further, the main support rod is rotatably installed at one end of the rotating arm one, and the auxiliary support rod is rotatably installed at one side wall of the rotating arm two.

[0020] By adopting the technical scheme, in the rotating process of the rotating arm one and the rotating arm two, the main support rod and the auxiliary support rod also rotate relative to each other.

[0021] Further, one end of the main support rod is fixedly connected with a connecting shaft, one end of the auxiliary support rod is provided with a connecting cavity, the connecting shaft is rotatably connected with the connecting cavity, an electromagnet with a semicircular structure is fixedly connected to the inner wall of the connecting cavity, and the connecting shaft is made of iron material.

[0022] By adopting the technical scheme, after the electric suction cup is adjusted, the electromagnet is energized to lock the main support rod and the auxiliary support rod through adsorption of the connecting shaft, thereby assisting the support of the rotating arm one and the rotating arm two, reducing the load borne by the motor, and ensuring the service life and use effect of the device.

[0023] The beneficial effects of the present application are as follows:

[0024] 1. In order to solve the problem that the existing intelligent manufacturing manipulator is driven by a mechanical arm to drive the end suction mechanism to suck the plate and transfer it to a specified station, the dust on the surface of the plate is easy to adhere during placement, and the dust will reduce the adsorption performance of the suction mechanism on the plate, thereby reducing the stability of the plate during transfer, and there is a certain safety hazard and low use performance, the self-cleaning mechanism composed of the connecting rod, the rotating shaft, the tension spring and the soft silica gel pad is arranged, in the moving-down process of the electric suction cup, the soft silica gel pad is in advance in contact with the surface of the plate, and is moved outward along the surface of the plate under the action of the connecting rod and the rotating shaft, and in the moving process, the dust on the surface of the plate can be automatically cleaned, thereby ensuring the adsorption effect of the electric suction cup on the plate, ensuring the stability and safety coefficient of the plate during transfer, and having high use performance.

[0025] 2. In order to solve the problem that the existing intelligent manufacturing manipulator is limited and fixed by the self-locking performance of the motor during use, and when the weight of the plate to be sucked is large, the load received by the motor is too large, which easily causes damage to the motor and leads to poor use effect, the present application sets up the main supporting rod, the auxiliary supporting rod, the connecting shaft and the electromagnet, during the rotation of the rotating arm one and the rotating arm two, the main supporting rod and the auxiliary supporting rod also rotate relative to each other, and when adjusted in place, the electromagnet is energized, the main supporting rod and the auxiliary supporting rod are locked through the adsorption of the connecting shaft, thereby achieving the auxiliary support of the rotating arm one and the rotating arm two, reducing the load borne by the motor, and ensuring the service life and use effect of the device. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is the front view of the intelligent manufacturing manipulator of the present application;

[0027] Figure 2 is the internal structure diagram of the bearing block in the intelligent manufacturing manipulator of the present application;

[0028] Figure 3 is the internal structure diagram of the base in the intelligent manufacturing manipulator of the present application;

[0029] Figure 4 is the explosion schematic diagram of the connection relationship between the soft silica gel pad and the rotating shaft in the intelligent manufacturing manipulator of the present application;

[0030] Figure 5 is the explosion schematic diagram of the connection relationship between the main supporting rod and the auxiliary supporting rod in the intelligent manufacturing manipulator of the present application;

[0031] Figure 6 is the internal structure diagram of the intelligent manufacturing manipulator of the present application; Figure 5 is an enlarged view of A in the above figure.

[0032] The reference signs are explained as follows:

[0033] 1, base; 2, fixing hole; 3, rotating disc; 4, motor one; 5, rotating arm one; 6, motor two; 7, rotating arm two; 8, motor three; 9, bearing block; 10, electric push rod; 11, mounting plate; 12, electric suction cup; 13, auxiliary supporting rod; 14, main supporting rod; 15, rotating motor; 16, driving motor; 17, connecting rod; 18, soft silica gel pad; 19, rotating shaft; 20, tension spring; 21, connecting block; 22, connecting cavity; 23, connecting shaft; 24, electromagnet; 25, adjusting cavity. DETAILED DESCRIPTION

[0034] The present application will be further described below in combination with the drawings:

[0035] As Figures 1-6 shown, an intelligent manufacturing manipulator, including the base 1, the upper end of the base 1 is internally mounted with a drive motor 16, the output shaft of the drive motor 16 is connected with a turntable 3, one side of the upper end of the turntable 3 is fixed with a motor 4, which can adjust the orientation of the electric suction cup 12, the output shaft of the motor 4 is connected with a rotating arm 5, one end of the rotating arm 5 is provided with a motor 6, the output shaft of the motor 6 is fixed with a rotating arm 7, one end of the rotating arm 7 is provided with an adjusting cavity 25, the adjusting cavity 25 is provided with a bearing block 9, the rotating arm 5, the rotating arm 7 and the connecting block 21 can form a manipulator, and the rotation of the three can adjust the electric suction cup 12 at will, a motor 8 is installed on one side wall of the adjusting cavity 25, a rotating motor 15 is arranged in the bearing block 9, the output shaft of the rotating motor 15 is fixed with an electric push rod 10, which can drive the electric suction cup 12 to move, an installation plate 11 is fixed on the movable part of the electric push rod 10, the electric suction cup 12 is fixed on one side wall of the installation plate 11, which can adsorb and fix the plate, two groups of connecting rods 17 are symmetrically installed on the outer side wall of the installation plate 11, a rotating shaft 19 is arranged between the connecting rods 17, a soft silica gel pad 18 is arranged on the outer side wall of the rotating shaft 19, which can clean the surface of the plate, a connecting block 21 is fixed on one side wall of the connecting rod 17, a tension spring 20 is arranged between the connecting blocks 21, which can automatically reset the connecting rod 17.

[0036] In this embodiment, a plurality of fixed holes 2 are circumferentially distributed on the base 1, the output shaft of the drive motor 16 is fixedly connected with the turntable 3, and the fixed holes 2 facilitate the fixation of the device, and the drive motor 16 drives the turntable 3 to adjust the orientation of the electric suction cup 12.

[0037] In this embodiment, the output shaft of the motor 4 is fixedly connected with the rotating arm 5, the output shaft of the motor 6 is fixedly connected with the rotating arm 7, the motor 4 drives the rotating arm 5 to rotate, the motor 6 drives the rotating arm 7 to rotate, thereby adjusting the position of the electric suction cup 12.

[0038] In this embodiment, the adjusting cavity 25 is formed at one end of the rotating arm 7, the bearing block 9 is rotatably installed in the adjusting cavity 25, the output shaft of the motor 8 is fixedly connected with the bearing block 9, and the motor 8 drives the bearing block 9 to rotate to adjust the inclination angle of the electric suction cup 12.

[0039] In this embodiment, the rotating motor 15 is fixedly connected in the bearing block 9 by bolts, the output shaft of the rotating motor 15 is fixedly connected with the fixed part of the electric push rod 10, and the rotating motor 15 can drive the plate to rotate to change its orientation through the electric suction cup 12.

[0040] In this embodiment, the movable part of the electric push rod 10 is connected with the mounting plate 11 through screws, the electric suction cup 12 is fixed on the mounting plate 11 through screws, the electric push rod 10 can drive the electric suction cup 12 to move downward to contact the plate, the electric suction cup 12 can adsorb and fix the plate and transfer the workpiece under the action of the mechanical hand.

[0041] In this embodiment, the connecting rods 17 are rotatably installed on the outer side walls of the mounting plate 11, the rotating shafts 19 are rotatably installed between the connecting rods 17, the soft silica gel pads 18 are bonded on the outer side walls of the rotating shafts 19, the connecting blocks 21 are welded on the outer side walls of the connecting rods 17, the tension springs 20 are connected between the connecting blocks 21 through hooks, in the downward movement process, the soft silica gel pads 18 are in advance in contact with the surface of the plate, and at the same time, under the action of the connecting rods 17 and the rotating shafts 19, the soft silica gel pads 18 move outward along the surface of the plate, in the movement process, the dust on the surface of the plate can be automatically cleaned, thereby ensuring the adsorption effect of the electric suction cup 12 on the plate and ensuring the stability of the plate during the transfer.

[0042] In this embodiment, the upper end of the rotating arm one 5 is rotatably installed with the main support rod 14, one side wall of the rotating arm two 7 is rotatably installed with the auxiliary support rod 13, the main support rod 14 is hinged with the auxiliary support rod 13, and in the rotating process of the rotating arm one 5 and the rotating arm two 7, the main support rod 14 and the auxiliary support rod 13 also relatively rotate.

[0043] In this embodiment, one end of the main support rod 14 is fixed with a connecting shaft 23, one end of the auxiliary support rod 13 is provided with a connecting cavity 22, the connecting shaft 23 is rotatably connected with the connecting cavity 22, the electromagnet 24 with a semicircular arc structure is fixed on the inner wall of the connecting cavity 22, the connecting shaft 23 is made of iron material, after the adjustment of the electric suction cup 12, the electromagnet 24 is energized, the main support rod 14 and the auxiliary support rod 13 are locked through the adsorption of the connecting shaft 23, thereby the auxiliary support of the rotating arm one 5 and the rotating arm two 7 can be realized, the load borne by the motor can be reduced, and the service life and use effect of the device can be ensured.

[0044] The use method of the intelligent manufacturing mechanical hand: first, through the fixed hole 2 on the base 1, the device is installed and fixed, the external power supply is connected, in the use process, the driving motor 16 drives the rotating disc 3 to rotate, the motor 1 4 drives the rotating arm 1 5 to rotate, the motor 2 6 drives the rotating arm 2 7 to rotate, the motor 3 8 drives the bearing block 9 to rotate, at the same time, the rotating motor 1 5 drives the electric suction cup 1 2 to rotate, and then the position of the electric suction cup 1 2 is adjusted according to the position of the plate, after adjustment, the electric push rod 1 0 pushes the electric suction cup 1 2 to move downward to adsorb and fix the plate, in the process of moving downward, the soft silica gel pad 1 8 is in contact with the surface of the plate in advance, and is moved outward along the surface of the plate under the action of the connecting rod 1 7 and the rotating shaft 1 9, in the moving process, the dust on the surface of the plate can be automatically cleaned, so as to ensure the adsorption effect of the electric suction cup 1 2 on the plate and the stability of the plate during transfer, after adsorption, the above operation is repeated, the plate is placed in the specified position, the automatic feeding of the plate is realized, then the connecting rod 1 7 is reset under the action of the tension spring 2 0, in the adjustment process, the main supporting rod 1 4 and the auxiliary supporting rod 1 3 are rotated, and after adjustment, the electromagnet 2 4 is energized, the main supporting rod 1 4 and the auxiliary supporting rod 1 3 are locked through the adsorption of the connecting shaft 2 3, so that the auxiliary support of the rotating arm 1 5 and the rotating arm 2 7 can be realized, the load borne by the motor can be reduced, and the service life and use effect of the device are ensured.

[0045] The basic principles, main features and advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A smart manufacturing robot, characterized by: The utility model provides a kind of automatic glass bottle labeling machine, including base (1), the drive motor (16) is mounted inside the upper end of base (1), the output shaft of drive motor (16) is connected with carousel (3), one side of the upper end of carousel (3) is fixed with motor one (4), the output shaft of motor one (4) is connected with rotating arm one (5), rotating arm one (5) one end is provided with motor two (6), the output shaft of motor two (6) is fixed with rotating arm two (7), rotating arm two (7) one end is provided with adjusting cavity (25), bearing block (9) is provided in adjusting cavity (25), motor three (8) is installed on the side wall of adjusting cavity (25), rotating motor (15) is provided in bearing block (9), the output shaft of rotating motor (15) is fixed with electric push rod (10), the movable part of electric push rod (10) is fixed with mounting plate (11), electric chuck (12) is fixed on the side wall of mounting plate (11), two groups of connecting rods (17) are symmetrically installed on the outer side wall of mounting plate (11), rotating shaft (19) is arranged between connecting rod (17), soft silica gel pad (18) is arranged on the outer side wall of rotating shaft (19), connecting block (21) is fixed on the side wall of connecting rod (17), pull spring (20) is connected between connecting block (21).

2. The intelligent manufacturing robot according to claim 1, wherein: The base (1) is circumferentially distributed with multiple groups of fixed holes (2), and the output shaft of the drive motor (16) is fixedly connected with the carousel (3).

3. The intelligent manufacturing robot of claim 1, wherein: The output shaft of the motor one (4) is fixedly connected with the rotating arm one (5), and the output shaft of the motor two (6) is fixedly connected with the rotating arm two (7).

4. The intelligent manufacturing robot of claim 3, wherein: The adjusting cavity (25) is formed at one end of the rotating arm two (7), and the bearing block (9) is rotatably installed in the adjusting cavity (25), and the output shaft of the motor three (8) is fixedly connected with the bearing block (9).

5. The intelligent manufacturing robot of claim 4, wherein: The rotating motor (15) is fixed in the bearing block (9) by bolts, and the output shaft of the rotating motor (15) is fixedly connected with the fixed part of the electric push rod (10).

6. The intelligent manufacturing robot of claim 1, wherein: The movable part of the electric push rod (10) is connected with the mounting plate (11) by screws, and the electric chuck (12) is fixed on the mounting plate (11) by screws.

7. The intelligent manufacturing robot of claim 6, wherein: The connecting rod (17) is rotatably installed on the outer side wall of the mounting plate (11), the rotating shaft (19) is rotatably installed between the connecting rods (17), the soft silica gel pad (18) is bonded on the outer side wall of the rotating shaft (19), the connecting block (21) is welded on the outer side wall of the connecting rod (17), and the pull spring (20) is connected between the connecting blocks (21) by hooks.

8. The intelligent manufacturing robot of claim 7, wherein: The rotating arm one (5) is rotatably installed with a main support rod (14) at the upper end, the rotating arm two (7) is rotatably installed with a vice support rod (13) on the side wall, and the main support rod (14) is hinged with the vice support rod (13).

9. The intelligent manufacturing robot of claim 8, wherein: The main support rod one end is fixed with connecting shaft (23), the vice support rod (13) one end is provided with connecting cavity (22), the connecting shaft (22) is rotatably connected with the connecting cavity (22), the connecting cavity (22) inner wall is fixed with the electromagnet (24) of semicircle arc structure, the connecting shaft (23) is made of iron material.

10. A method for using the intelligent manufacturing manipulator, applied to the intelligent manufacturing manipulator in any one of claims 1-9, characterized in that: Firstly, the device is installed and fixed through the fixing hole (2) on the base (1), and the external power supply is connected. During use, the driving motor (16) drives the rotating disc (3) to rotate, the motor one (4) drives the rotating arm one (5) to rotate, the motor two (6) drives the rotating arm two (7) to rotate, the motor three (8) drives the bearing block (9) to rotate, and the rotating motor (15) drives the electric suction cup (12) to rotate, and then the position of the electric suction cup (12) is adjusted according to the position of the plate. After adjustment, the electric suction cup (12) is pushed down by the electric push rod (10) to adsorb and fix the plate. During the downward movement, the soft silica gel pad (18) is in contact with the surface of the plate in advance, and is moved outward along the surface of the plate under the action of the connecting rod (17) and the rotating shaft (19). During the movement, the dust on the surface of the plate can be automatically cleaned, thereby ensuring the adsorption effect of the electric suction cup (12) on the plate and the stability of the plate during transfer. After adsorption is completed, repeat the above operation to place the plate to the specified position to realize automatic feeding of the plate. Then the connecting rod (17) is reset under the action of the tension spring (20), and during the adjustment process, the main support rod (14) and the vice support rod (13) are rotated, and after adjustment, the electromagnet (24) is energized to lock the main support rod (14) and the vice support rod (13) through the adsorption of the connecting shaft (23), thereby achieving the auxiliary support of the rotating arm one (5) and the rotating arm two (7), reducing the load borne by the motor, and ensuring the service life and use effect of the device.

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