Feeding manipulator for multi-stage centrifugal pump production line

Abstract

The utility model relates to the technical field of feeding manipulators, and discloses a feeding manipulator for a multistage centrifugal pump production line, which comprises a mechanical arm and a grabbing mechanism, the grabbing mechanism comprises a fixed shell, fifth servo motors are arranged on the left side and the right side of the outer part of the fixed shell, and the fifth servo motors are connected with the mechanical arm. Lead screws are arranged on the two sides, located in the fixing shell, of the output end of the fifth servo motor; the sliding plates are slidably mounted on the two sides in the lower end of the fixing shell, and clamping plates are arranged at the lower ends of the sliding plates; and the electromagnets are arranged in the middles of the interiors of the clamping plates, reset springs are arranged at the upper ends and the lower ends of the electromagnets, limiting rods are arranged outside the reset springs, and inserting grooves are formed in the sides, located outside the limiting rods, of the interiors of the clamping plates. The inserting plate on one side of the anti-skid block is fixed by adopting the structure that the reset spring is matched with the limiting rod, and the limiting rod is pulled back through the electromagnet, so that the anti-skid block is more convenient to disassemble.

Description

Technical Field

[0001] The utility model relates to the technical field of feeding manipulators, in particular to a feeding manipulator for a multi-stage centrifugal pump production line. Background Art

[0002] The feeding robot on the multi-stage centrifugal pump production line is an automated device used to automatically grab, carry and place materials during the production process. It is often used to replace manual repetitive and high-intensity feeding work to improve production efficiency and reduce labor costs. The robot usually consists of three parts: 1. Robotic arm: used to perform the action of grabbing, carrying and placing materials. The robot arm can be extended, rotated and bent as needed to reach different working positions; 2. Grasping device: used to grab and fix materials. The design of the grabbing device will be selected according to factors such as the shape, size and weight of the material to ensure that the material can be grabbed and carried stably and accurately; 3. Control system: used to control the action of the robot arm and the grabbing device. The control system can command the robot arm to perform various actions according to preset programs or real-time sensor data to realize automated production. On the production line of multi-stage centrifugal pumps, the feeding robot can automatically grab the materials such as pump bodies and parts to be processed from the storage location and place them on the designated processing equipment, thereby realizing automated production.

[0003] When the robot arm of the prior art clamps an object, in order to increase the friction between the grasping device and the object and reduce the possibility of sliding, an anti-slip block is usually installed. The anti-slip block is fixed with bolts. However, replacement of the anti-slip block requires the use of tools to unscrew the bolts and thus remove the current anti-slip block for replacement, making the disassembly and assembly of the anti-slip block inconvenient. For this reason, a feeding robot for a multi-stage centrifugal pump production line is proposed. Utility Model Content

[0004] 1. Technical issues to be resolved

[0005] In view of the deficiencies of the prior art, the utility model provides a feeding robot for a multi-stage centrifugal pump production line to solve the problem of inconvenient assembly and disassembly of the anti-sliding block proposed in the above background technology.

[0006] (II) Technical solution

[0007] In order to achieve the above-mentioned purpose, the utility model provides the following technical solution: a feeding manipulator for a multi-stage centrifugal pump production line, comprising:

[0008] A mechanical arm and a grasping mechanism, wherein the grasping mechanism comprises a fixed shell, a fifth servo motor is disposed on both left and right sides of the outside of the fixed shell, and the fifth servo motor is fixedly connected to the fixed shell, and a lead screw is disposed on both sides of the output end of the fifth servo motor located inside the fixed shell;

[0009] A slide plate is slidably mounted on both sides of the lower end of the fixed shell, and the slide plate is transmission-connected to the lead screw, a clamping plate is provided at the lower end of the slide plate, and the clamping plate is fixedly connected to the slide plate;

[0010] The electromagnet is arranged at the middle position inside the splint, and return springs are arranged at the upper and lower ends of the electromagnet, and a limit rod is arranged outside the return spring, and a slot is arranged on the side of the splint outside the limit rod, and an anti-sliding block is arranged on the side outside the splint, and an insert plate is arranged on the side of the anti-sliding block outside the slot, and the insert plate is fixedly connected to the anti-sliding block, and a through hole is arranged inside the insert plate, and the limit rod is adapted to the through hole, and the shape of the anti-sliding block is adapted to the appearance of the multi-stage centrifugal pump accessories.

[0011] Preferably, the robotic arm comprises a base, a first servo motor is fixedly mounted on the upper end of the base, and a first electric telescopic rod is fixedly mounted on the output end of the first servo motor.

[0012] Preferably, a second servo motor is fixedly mounted on the upper end of the first electric telescopic rod, a first steering gear is fixedly mounted on the output end of the second servo motor, and the first electric telescopic rod is used to control the lifting and lowering of the robotic arm.

[0013] Preferably, a second electric telescopic rod is fixedly mounted on the output end of the first steering gear, a third servo motor is fixedly mounted on one end outside the second electric telescopic rod, and the second electric telescopic rod is used to control the extension and retraction of the robotic arm.

[0014] Preferably, a second steering gear is fixedly mounted on the output end of the third servo motor, a third electric telescopic rod is fixedly mounted on the output end of the second steering gear, a third steering gear is fixedly mounted on the lower end of the third electric telescopic rod, and the third steering gear is used to control the swing angle of the grasping mechanism.

[0015] Preferably, a fourth servo motor is fixedly mounted on the output end of the third steering gear, and the middle position of the upper end of the fixed shell is fixedly connected to the output end of the fourth servo motor, and the fourth servo motor is used to rotate the grasping mechanism.

[0016] (III) Beneficial effects

[0017] Compared with the prior art, the utility model provides a feeding manipulator for a multi-stage centrifugal pump production line, which has the following beneficial effects:

[0018] The utility model starts the electromagnet, and under the action of magnetic force, the limit rod moves toward the direction of the electromagnet, the return spring is compressed and deformed by force, and one end of the limit rod is separated from the through hole of the plug plate, thereby canceling the fixation of the anti-sliding block, so that the anti-sliding block can be disassembled. When installing the anti-sliding block, the electromagnet is started to move the limit rod to the electromagnet, and the plug plate on one side of the anti-sliding block is inserted into the slot, and the electromagnet is turned off. The return spring is reset and pushes the limit rod to insert it into the through hole to fix the plug plate. In this way, the disassembly and assembly of the anti-sliding block is convenient and quick, and the problems raised in the background technology are solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional diagram of the overall structure of the utility model;

[0020] Figure 2 It is a cross-sectional view of the grabbing mechanism of the utility model;

[0021] Figure 3 For the utility model Figure 2 A partial enlarged view of area A.

[0022] In the figure: 1. base; 2. first servo motor; 3. first electric telescopic rod; 4. second servo motor; 5. first steering gear; 6. second electric telescopic rod; 7. third servo motor; 8. second steering gear; 9. third electric telescopic rod; 10. third steering gear; 11. fourth servo motor; 12. fixed shell; 13. fifth servo motor; 14. lead screw; 15. slide plate; 16. clamping plate; 17. anti-sliding plate; 18. plug plate; 19. perforation; 20. electromagnet; 21. reset spring; 22. limit rod; 23. slot. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] The utility model provides a technical solution, a feeding manipulator for a multi-stage centrifugal pump production line, please refer to Figure 1 , Figure 2 and Figure 3 ,include:

[0025] A mechanical arm and a grasping mechanism, the grasping mechanism comprises a fixed shell 12, a fifth servo motor 13 is arranged on both the left and right sides of the outside of the fixed shell 12, and the fifth servo motor 13 is fixedly connected to the fixed shell 12, and a lead screw 14 is arranged on both sides of the output end of the fifth servo motor 13 located inside the fixed shell 12;

[0026] The slide plate 15 is slidably mounted on both sides of the lower end of the fixed shell 12, and the slide plate 15 is transmission-connected with the lead screw 14. A clamping plate 16 is disposed at the lower end of the slide plate 15, and the clamping plate 16 is fixedly connected with the slide plate 15.

[0027] The electromagnet 20 is arranged at the middle position inside the splint 16, and a return spring 21 is arranged at the upper and lower ends of the electromagnet 20, and a limit rod 22 is arranged outside the return spring 21. A slot 23 is arranged on the side of the splint 16 outside the limit rod 22, and an anti-sliding block 17 is arranged on one side of the outside of the splint 16. A plug plate 18 is arranged on the side of the outside of the anti-sliding block 17 close to the slot 23. The plug plate 18 is fixedly connected to the anti-sliding block 17, and a through hole 19 is arranged inside the plug plate 18, and the limit rod 22 is adapted to the through hole 19. The shape of the anti-sliding block 17 is adapted to the shape of the multi-stage centrifugal pump accessories.

[0028] When in use, the electromagnet 20 is started, and under the action of magnetic force, the limit rod 22 moves toward the direction of the electromagnet 20, the reset spring 21 is compressed and deformed, and one end of the limit rod 22 is separated from the through hole 19 of the plug plate 18, canceling the fixation of the anti-sliding block 17, so as to facilitate the removal of the anti-sliding block 17. It should be noted that in order to save space and highlight the innovative elements of this patent, this solution is based on the existing feeding manipulator, and improves its non-control system related structure, such as servo motors, electric telescopic rods, steering gears, electromagnets 20 and other conventional equipment, which will not be repeated in this patent.

[0029] See also Figure 1 The robot arm includes a base 1, a first servo motor 2 is fixedly mounted on the upper end of the base 1, a first electric telescopic rod 3 is fixedly mounted on the output end of the first servo motor 2, and the first servo motor 2 is used to control the rotation of the entire robot arm.

[0030] See also Figure 1 A second servo motor 4 is fixedly mounted on the upper end of the first electric telescopic rod 3, and a first steering gear 5 is fixedly mounted on the output end of the second servo motor 4. The first electric telescopic rod 3 is used to control the lifting and lowering of the mechanical arm.

[0031] See also Figure 1 A second electric telescopic rod 6 is fixedly mounted on the output end of the first steering gear 5, and a third servo motor 7 is fixedly mounted on one end outside the second electric telescopic rod 6. The second electric telescopic rod 6 is used to control the extension and retraction of the mechanical arm.

[0032] See also Figure 1 A second steering gear 8 is fixedly mounted on the output end of the third servo motor 7, a third electric telescopic rod 9 is fixedly mounted on the output end of the second steering gear 8, a third steering gear 10 is fixedly mounted on the lower end of the third electric telescopic rod 9, and the third steering gear 10 is used to control the swing angle of the grasping mechanism.

[0033] See also Figure 1 A fourth servo motor 11 is fixedly mounted on the output end of the third steering gear 10 , and a middle position on the upper end of the fixed shell 12 is fixedly connected to the output end of the fourth servo motor 11 , and the fourth servo motor 11 is used to rotate the grasping mechanism.

[0034] This solution: when the anti-sliding block 17 needs to be removed, the electromagnet 20 is started. Under the action of magnetic force, the limit rod 22 moves toward the direction of the electromagnet 20, and the return spring 21 is compressed and deformed by force. One end of the limit rod 22 is separated from the through hole 19 of the plug plate 18, and the fixation of the anti-sliding block 17 is cancelled, so that the anti-sliding block 17 can be removed. When installing the anti-sliding block 17, the electromagnet 20 is started to move the limit rod 22 to the electromagnet 20, and the plug plate 18 on one side of the anti-sliding block 17 is inserted into the slot 23. The electromagnet 20 is turned off, and the return spring 21 is reset to push the limit rod 22 to insert it into the through hole 19 to fix the plug plate 18.

[0035] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A feeding robot for a multi-stage centrifugal pump production line, characterized in that: include: A mechanical arm and a grasping mechanism, the grasping mechanism comprising a fixed shell (12), a fifth servo motor (13) being arranged on both left and right sides of the outside of the fixed shell (12), the fifth servo motor (13) being fixedly connected to the fixed shell (12), and a lead screw (14) being arranged on both sides of the output end of the fifth servo motor (13) located inside the fixed shell (12); A slide plate (15) is slidably mounted on both sides of the interior of the lower end of the fixed shell (12), and the slide plate (15) is transmission-connected to the lead screw (14), and a clamping plate (16) is provided at the lower end of the slide plate (15), and the clamping plate (16) is fixedly connected to the slide plate (15); The electromagnet (20) is arranged at the middle position inside the clamp (16), and the upper and lower ends of the electromagnet (20) are provided with reset springs (21), and the outside of the reset spring (21) is provided with a limit rod (22), and the inside of the clamp (16) is provided with a slot (23) on the side outside the limit rod (22), and the outside of the clamp (16) is provided with an anti-sliding block (17), and the outside of the anti-sliding block (17) is provided with an insert plate (18) on the side close to the slot (23), and the insert plate (18) is fixedly connected to the anti-sliding block (17), and the inside of the insert plate (18) is provided with a through hole (19), and the limit rod (22) is adapted to the through hole (19).

2. The feeding robot for a multi-stage centrifugal pump production line according to claim 1 is characterized in that: The mechanical arm comprises a base (1), a first servo motor (2) is fixedly arranged at the upper end of the base (1), and a first electric telescopic rod (3) is fixedly mounted at the output end of the first servo motor (2).

3. The feeding robot for a multi-stage centrifugal pump production line according to claim 2 is characterized in that: A second servo motor (4) is fixedly mounted on the upper end of the first electric telescopic rod (3), and a first steering gear (5) is fixedly mounted on the output end of the second servo motor (4).

4. The feeding robot for a multi-stage centrifugal pump production line according to claim 3 is characterized in that: A second electric telescopic rod (6) is fixedly mounted on the output end of the first steering gear (5), and a third servo motor (7) is fixedly mounted on one end outside the second electric telescopic rod (6).

5. The feeding robot for a multi-stage centrifugal pump production line according to claim 4 is characterized in that: A second steering gear (8) is fixedly mounted on the output end of the third servo motor (7), a third electric telescopic rod (9) is fixedly mounted on the output end of the second steering gear (8), and a third steering gear (10) is fixedly mounted on the lower end of the third electric telescopic rod (9).

6. The feeding robot for a multi-stage centrifugal pump production line according to claim 5 is characterized in that: A fourth servo motor (11) is fixedly mounted on the output end of the third steering gear (10), and the middle position of the upper end of the fixed shell (12) is fixedly connected to the output end of the fourth servo motor (11).

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