Feeding robot for part machining

Abstract

The feeding robot for part machining comprises a mechanical arm, a grabbing device and a locking device, a claw seat is installed at the movable end of the mechanical arm, a bottom plate is fixedly connected to the front end of the claw seat, and a plurality of inserting holes are formed in the bottom plate at equal intervals; a moving plate is mounted in a mounting seat, a locking device is mounted on the outer side wall of a claw seat, the moving plate can move in the mounting seat under the cooperation of a first motor, a first gear and a rack, and an inserting rod and an abutting plate can move in the vertical direction to clamp a part in the X-axis direction and the Z-axis direction; and a second motor in the locking device drives two clamping plates to get away from each other or get close to each other through a double-tooth screw rod and a movable seat so as to clamp the part in the Y-axis direction, so that the part can be clamped in the X-axis direction, the Y-axis direction and the Z-axis direction through the device, the stability of part transportation is improved, and damage caused by falling during movement is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of robot equipment, in particular to a feeding robot for parts processing. Background Art

[0002] A robotic gripper is a common industrial device used to grasp, move or manipulate objects. It is usually driven by a robotic arm, hydraulic system or electric system and is equipped with various types of claws or grippers to adapt to objects of different shapes and sizes. It is widely used in manufacturing, logistics, warehousing and robotics.

[0003] When existing manipulators clamp parts, they often only apply pressure in a single axis direction, which can easily cause parts to slip when moving parts with high smoothness. Therefore, a new technical solution needs to be designed to solve this problem. Utility Model Content

[0004] The purpose of the utility model is to provide a feeding robot for parts processing, so as to solve the problem that the manipulator proposed in the above background technology often only applies pressure in a single axis direction when clamping the parts, which easily causes the parts to slip when moving parts with high smoothness.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a feeding robot for parts processing, comprising a mechanical arm, a gripping device and a locking device, the movable end of the mechanical arm is equipped with a claw seat, the front end of the claw seat is fixedly connected to a base plate, and a plurality of jacks are opened at equal intervals inside the base plate; the gripping device comprises a mounting seat, a movable plate, a first motor, an electric push rod 1 and an electric push rod 2, the mounting seat is welded to the top of the claw seat, the movable plate is located in the inner cavity of the mounting seat and is slidably connected, a mounting groove is opened on the top of the movable plate, the first motor is located in the mounting groove and is fixedly connected, the electric push rod 1 and the electric push rod 2 are connected The electric push rod is fixed to the bottom of the movable plate by bolts, the movable end of the electric push rod one is fixed with an insertion rod, the movable end of the electric push rod two is fixed with a contact plate, and the contact plate is sleeved on the outside of the insertion rod; the locking device includes a mounting frame, a double-thread screw, a second motor and a clamping plate, the mounting frame is fixed to the outer wall of the claw seat by bolts, the second motor is fixed to the inner wall of the mounting frame, the two ends of the double-thread screw are rotatably connected to the inner wall of the mounting frame by bearings, the second motor is connected to the double-thread screw by gear two and gear three, the two clamping plates are distributed on both sides of the claw seat, and the clamping plate is connected to the double-thread screw through a movable seat.

[0006] As a preferred embodiment of the utility model, a guide strip extends from the inner side wall of the mounting seat, a guide groove is opened at the outer side wall of the movable plate corresponding to the guide strip, and the guide strip is slidably connected to the guide groove; in order to enable the movable plate to move stably in the mounting seat.

[0007] As a preferred embodiment of the utility model, a rack is fixed on the top of the inner cavity of the mounting seat, and the driving end key of the first motor is connected with gear one, and the gear one is meshed with the rack; in order to better drive the movable plate.

[0008] As a preferred embodiment of the utility model, a balance bar is welded at the angle between the bottom plate and the claw seat to prevent the clamped object from tipping over before being locked by the locking device.

[0009] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0010] By installing a movable plate inside the mounting seat and a locking device on the outer wall of the claw seat, the movable plate can move in the mounting seat under the cooperation of the first motor, gear 1 and rack to adjust the distance between the insertion rod and the claw seat, and the insertion rod and the contact plate can move in the vertical direction to achieve clamping of the part in the X-axis and Z-axis directions, and the second motor in the locking device drives the two clamping plates to move away from or close to each other through the double-thread screw and the movable seat to achieve clamping of the part in the Y-axis direction. Therefore, the device can be used to achieve clamping of the part in the X, Y and Z-axis directions, thereby improving the stability of part transportation and avoiding damage caused by falling during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0012] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0013] Figure 2 This is a schematic diagram of the structure of the grabbing device of the utility model;

[0014] Figure 3 This is an exploded structural diagram of the grabbing device of the utility model;

[0015] Figure 4 It is a top view of the structure of the utility model;

[0016] Figure 5 This is a structural diagram of the locking device of the utility model;

[0017] Figure 6 This is a cross-sectional structural diagram of the movable plate of the utility model;

[0018] In the figure: 1. Robotic arm; 2. Claw seat; 3. Bottom plate; 31. Socket; 32. Balance bar; 4. Grasping device; 41. Mounting seat; 411. Guide bar; 412. Rack; 42. Moving plate; 43. First motor; 431. Gear 1; 423. Guide groove; 44. Electric push rod 1; 441. Insert rod; 45. Electric push rod 2; 451. Contact plate; 5. Locking device; 51. Mounting frame; 52. Double-thread screw; 521. Gear 2; 522. Moving seat; 53. Second motor; 531. Gear 3; 54. Clamp. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0020] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0021] Embodiment 1: A loading robot for parts processing, comprising a robotic arm 1, a gripping device 4 and a locking device 5, wherein a claw seat 2 is installed at the movable end of the robotic arm 1, a base plate 3 is fixedly connected to the front end of the claw seat 2, and a plurality of sockets 31 are opened at equal intervals inside the base plate 3; the robotic arm 1 is used to be connected to an external driving device to control the movement state of the claw seat 2, the base plate 3 is used to support the parts, and the gripping device 4 and the locking device 5 are used to provide multiple axial pressures for clamping the parts.

[0022] A balancing rod 32 is welded at the angle between the bottom plate 3 and the claw seat 2 ; the balancing rod 32 can support the bottom of the part so that the part is stably maintained on the top of the bottom plate 3 .

[0023] Embodiment 2: The grasping device 4 includes a mounting seat 41, a moving plate 42, a first motor 43, an electric push rod 1 44 and an electric push rod 2 45. The mounting seat 41 is welded to the top of the claw seat 2. The moving plate 42 is located in the inner cavity of the mounting seat 41 and is slidably connected. A mounting groove is opened on the top of the moving plate 42. The first motor 43 is located in the mounting groove and is fixedly connected. The electric push rod 1 44 and the electric push rod 2 45 are fixed to the bottom of the moving plate 42 by bolts. The moving end of the electric push rod 1 44 is fixed with a plug 441. The electric push rod 44 is fixed to the moving end of the electric push rod 1 44. A contact plate 451 is fixed to the movable end of the push rod 45, and the contact plate 451 is sleeved on the outside of the insertion rod 441; the movable plate 42 slides along the inner cavity of the mounting base 41 under the action of the first motor 43, the gear 1 431, and the rack 412, and the electric push rod 1 44 and the electric push rod 2 45 respectively control the insertion rod 441 and the contact plate 451 to move downward, so that the insertion rod 441 contacts the outer wall of the part, and the contact plate 451 contacts the top of the part, thereby realizing the locking and fixation of the part in the X-axis and Z-axis directions.

[0024] A guide bar 411 extends from the inner wall of the mounting seat 41, and a guide groove 423 is formed at the outer wall of the movable plate 42 corresponding to the guide bar 411, and the guide bar 411 is slidably connected to the guide groove 423; the coordinated use of the guide bar 411 and the guide groove 423 can limit the moving trajectory of the movable plate 42, so that the movable plate 42 can only move in a straight line in the inner cavity of the mounting seat 41.

[0025] A rack 412 is fixed to the top of the inner cavity of the mounting base 41, and a driving end key of the first motor 43 is connected to a gear 431, and the gear 431 is meshed with the rack 412; the installation of the first motor 43 can make the structure simpler, and the use of the gear 431 and the rack 412 can stably drive the moving plate 42 to move in the inner cavity of the mounting base 41.

[0026] Embodiment 3: The locking device 5 includes a mounting frame 51, a double-thread screw 52, ​​a second motor 53 and a clamping plate 54. The mounting frame 51 is fixed to the outer wall of the claw seat 2 by bolts, and the second motor 53 is fixed to the inner wall of the mounting frame 51. Both ends of the double-thread screw 52 are rotatably connected to the inner wall of the mounting frame 51 through bearings. The second motor 53 is connected to the double-thread screw 52 through a gear 2 521 and a gear 3 531. The gear 2 521 is clamped on the outside of the double-thread screw 52, ​​and the gear 3 531 is keyed to the driving end of the second motor 53. The gear 2 521 and the gear 3 531 are connected. The two clamps 54 are distributed on both sides of the claw seat 2 in a meshing connection. The clamps 54 are connected to the double-thread screw 52 through the movable seat 522. One end of the movable seat 522 is fixed to the clamp 54 by bolts, and the other end of the movable seat 522 is threadedly connected to the double-thread screw 52. The double-thread screw 52 is in sliding contact with the top and bottom of the inner cavity of the mounting frame 51. The use of the second motor 53 can drive the double-thread screw 52 to rotate, and then control the two movable seats 522 to move relative to each other or away from each other along the double-thread screw 52, ​​thereby driving the two clamps 54 to limit the parts in the Y-axis direction.

[0027] Working principle: First, connect the robot arm 1, the first motor 43, the electric push rod 1 44, the electric push rod 2 45, and the second motor 53 to the external control device and power supply. The robot arm 1 drives the claw seat 2 and the bottom plate 3 to contact the part, so that the part is placed on the top of the bottom plate 3. At this time, operate the control switch of the first motor 43, the first motor 43 drives the gear 1 431 to rotate, so that the moving plate 42 moves inside the mounting seat 41, and the electric push rod 1 44 and the electric push rod 2 45 synchronously push the insertion rod 441 and the contact plate 451 downward, so that the insertion rod 441 contacts with the outer wall of the part, and the contact plate 451 contacts with the top of the part, thereby clamping the part in the X-axis and Z-axis directions, and then operating the control switch of the second motor 53, the second motor 53 drives the gear two 521 to rotate through the gear three 531, thereby driving the double-thread screw 52 to rotate. When the double-thread screw 52 rotates, the two moving seats 522 approach each other until the clamping plate 54 contacts with the outer wall of the part. At this time, the clamping and fixation of the part in the X, Y, and Z axis directions are completed, so that the part can be stably moved for loading.

[0028] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. For those skilled in the art, it is obvious that the utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic features of the utility model. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the utility model is defined by the attached claims rather than the above description, and it is intended to include all changes within the meaning and scope of the equivalent elements of the claims. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0029] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A feeding robot for parts processing, characterized in that: The invention comprises a mechanical arm (1), a grasping device (4) and a locking device (5); a claw seat (2) is installed at the movable end of the mechanical arm (1); a bottom plate (3) is fixedly connected to the front end of the claw seat (2); and a plurality of jacks (31) are formed inside the bottom plate (3) at equal intervals. The gripping device (4) comprises a mounting seat (41), a movable plate (42), a first motor (43), an electric push rod 1 (44) and an electric push rod 2 (45); the mounting seat (41) is welded to the top of the claw seat (2); the movable plate (42) is located in the inner cavity of the mounting seat (41) and is slidably connected; a mounting groove is provided on the top of the movable plate (42); the first motor (43) is located in the mounting groove and is fixedly connected; the electric push rod 1 (44) and the electric push rod 2 (45) are fixed to the bottom of the movable plate (42) by bolts; a plug rod (441) is fixed to the movable end of the electric push rod 1 (44); a contact plate (451) is fixed to the movable end of the electric push rod 2 (45); and the contact plate (451) is sleeved on the outside of the plug rod (441); The locking device (5) comprises a mounting frame (51), a double-thread screw (52), a second motor (53) and a clamping plate (54); the mounting frame (51) is fixed to the outer wall of the claw seat (2) by bolts; the second motor (53) is fixed to the inner wall of the mounting frame (51); both ends of the double-thread screw (52) are rotatably connected to the inner wall of the mounting frame (51) by bearings; the second motor (53) is connected to the double-thread screw (52) by gear 2 (521) and gear 3 (531); the two clamping plates (54) are distributed on both sides of the claw seat (2); and the clamping plates (54) are connected to the double-thread screw (52) by a movable seat (522).

2. A parts processing feeding robot according to claim 1, characterized in that: A guide strip (411) extends from the inner side wall of the mounting seat (41), a guide groove (423) is formed at a position corresponding to the outer side wall of the movable plate (42) and the guide strip (411), and the guide strip (411) is slidably connected to the guide groove (423).

3. A parts processing feeding robot according to claim 1, characterized in that: A rack (412) is fixed to the top of the inner cavity of the mounting seat (41), and a driving end key of the first motor (43) is connected to a gear one (431), and the gear one (431) is meshedly connected to the rack (412).

4. A parts processing feeding robot according to claim 1, characterized in that: A balancing rod (32) is welded at the angle between the bottom plate (3) and the claw seat (2).

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