Workpiece feeding manipulator for machining

Abstract

The utility model discloses a workpiece feeding mechanical arm for machining. The workpiece feeding mechanical arm comprises a supporting stand column, a connecting arm assembly and a clamping jaw mechanism. The connecting arm assembly comprises an upper side plate and at least one extension plate; the fixed mounting seat is F-shaped and is used for rotatably mounting the upper side plate; the first supporting reinforcing mechanism is used for rotationally abutting against the upper side plate; the second supporting and reinforcing mechanism comprises a lower side plate which is arranged in parallel with the upper side plate at an interval and fixedly connected with the upper side plate through connecting plates on the two sides, and the upper side plate is driven by a motor assembly to rotationally abut against the fixed mounting base; the third supporting and reinforcing mechanism comprises a middle-layer plate which is fixedly connected to the vertical plate and is parallel to the lower side plate in a spaced mode, and a spherical limiting piece is rotationally installed between the middle-layer plate and the lower side plate through arc-shaped grooves formed in the opposite side faces of the middle-layer plate and the lower side plate in a sunken mode; when the feeding manipulator acts and the electric assembly drives the lower side plate to rotate, the limiting piece rolls. According to the utility model, the stable performance of installation and operation of the manipulator is effectively ensured, so that the clamping range and the material taking diameter depth of the manipulator are increased.

Description

Technical Field

[0001] The utility model relates to machining equipment, in particular to a workpiece loading manipulator for machining. Background Art

[0002] A manipulator is an automated device that mimics certain movements and functions of human hands and arms, allowing it to grasp, move objects, or operate tools according to a fixed program. A loading manipulator is primarily used for directional material transfer. It consists of a base with a support column. A connecting arm is mounted on the support column, driven by a drive motor. A corresponding manipulator is mounted at the end of the connecting arm. The motor drives the manipulator to rotate, and the lifting mechanism drives the manipulator up and down, achieving directional gripping and transfer.

[0003] To increase the gripping range and material depth of the robot, the original single connecting arm needs to be configured as a dual-arm structure that rotates together or a multi-arm structure that connects in sequence, and the length of the guide column that drives the robot up and down is extended. This will greatly increase the overall counterweight of the robot, which can easily lead to loose joints and greatly reduce stability, or cause deformation at the connection between the connecting arm and the support column.

[0004] Therefore, on the basis of ensuring the increase in the number of connections of the connecting arm and the extension of the length of the guide column for the up and down movement of the manipulator, the research purpose of this utility model is to design a machining workpiece loading manipulator that effectively ensures the installation stability performance, thereby increasing the manipulator's clamping range and the material picking diameter depth. Utility Model Content

[0005] In view of the technical problems existing in the above-mentioned prior art, the present invention provides a workpiece loading robot for machining, which can effectively solve the technical problems existing in the above-mentioned prior art.

[0006] The technical solution of the utility model is:

[0007] A workpiece loading robot for machining includes: a support column mounted on a base, an arm assembly mounted on the top of the support column rotated by a motor assembly, the end of the arm assembly being moved up and down by a drive mechanism and being mounted with a corresponding clamping mechanism; the arm assembly includes an upper side plate and at least one extension plate that are rotatably connected to each other; the loading robot also includes

[0008] An F-shaped mounting base for rotatably mounting the upper side plate, the mounting base comprising a vertical plate fixedly mounted on the top of the support column and a first horizontal plate and a second horizontal plate fixedly mounted on the vertical plate in parallel and spaced relation to each other, the upper side plate being mounted between the first horizontal plate and the second horizontal plate, with one end thereof overlapping the first horizontal plate in an up-and-down manner and the other end thereof extending outwardly and rotatably connected to the extension plate;

[0009] a first supporting and reinforcing mechanism, mounted on the first transverse plate and configured to rotate and abut against the upper side plate;

[0010] The second support and reinforcement mechanism comprises a lower side plate arranged parallel to and spaced apart from the upper side plate, the upper side plate and the lower side plate being fixedly connected by connecting plates fixed on both sides, the upper side plate being driven by the motor assembly to rotate and abut against the second transverse plate;

[0011] The third supporting and reinforcing mechanism includes a middle plate fixedly connected to the vertical plate and arranged parallel to the lower side plate at an interval. A spherical limiter is rotatably installed between the middle plate and the lower side plate through an arc groove arranged inwardly on the relative sides of the middle plate and the lower side plate; when the loading robot is in motion, the electric component drives the lower side plate to rotate, and the limiter rolls.

[0012] The end of the lower side plate not connected to the second transverse plate extends outward to the middle of the upper side plate, and the side surface of the connecting plate is tilted upward at the end of the lower side plate to form an inclined surface.

[0013] The first support and reinforcement mechanism includes an annular member fixedly connected to the first transverse plate, a connecting column is rotatably installed in the annular member through a corresponding bearing, the upper side plate is fixedly connected to the connecting column, and by being fixed to the connecting column, the upper side plate is rotatably abutted and installed on the fixing seat.

[0014] The motor assembly includes a first drive motor for driving the lower side plate to rotate and at least one second drive motor for driving the corresponding extension plate to rotate; the housing of the second drive motor adjacent to the upper side plate is fixedly connected to the bottom of the upper side plate, and its output shaft extends upward through the upper side plate and is fixedly connected to the extension plate, and the output shaft of the second drive motor is rotatably connected to the upper side plate through corresponding bearings; the first drive motor is fixedly installed under the second horizontal plate through a corresponding bearing seat, and its output shaft is installed on the bearing seat and extends upward and is fixed to the lower side plate.

[0015] The middle layer board is fixed on the vertical plate of the fixing seat by fastening bolts fixed on the fixing blocks.

[0016] The driving mechanism includes a support plate fixedly connected to the end of the outermost extension plate, and a corresponding guide column is installed on the support plate so as to move up and down through the cooperation of a slider groove. The side wall of the guide column is provided with a corresponding rack, which is meshed with a gear rotatably installed on the support plate, and the gear is fixedly connected to the output shaft of the third drive motor installed on the support plate.

[0017] The clamping mechanism includes a telescopic cylinder fixed to the lower end of the guide column through a corresponding connecting piece, the piston rod of the telescopic cylinder is fixed to the connecting piece, and an electromagnetic suction piece is fixedly installed under its cylinder housing. The electromagnetic suction piece, telescopic cylinder and drive mechanism are all electrically connected to the electrical control box.

[0018] The clamping mechanism comprises a pneumatic clamping jaw fixedly connected to the lower end of the guide column through a corresponding connecting piece, and the pneumatic clamping jaw and the driving mechanism are both electrically connected to an electric control box.

[0019] Corresponding stable reinforcement plates are fixedly installed at the connection between the extension plate and the support plate, and between the two sides of the lower side plate and the vertical plate.

[0020] Advantages of this utility model:

[0021] 1) The utility model effectively ensures the stable performance of the installation and operation of the manipulator on the basis of increasing the number of connections of the connecting arm and extending the length of the guide column for the up and down movement of the manipulator, avoiding loosening and deformation of the installation connection, thereby increasing the clamping range and material retrieving depth of the manipulator.

[0022] 2) The utility model forms a triple fixation through the cooperation of three supporting and reinforcing mechanisms, thereby improving the stability of the installation of the connecting arm assembly; the upper side plate and the lower side plate, which are spaced apart and arranged in parallel, are connected to form a whole through the connecting plates fixed on both sides, while controlling the reasonable weight distribution and ensuring its rigidity, so as to more stably install the connecting arm assembly; furthermore, the upper side plate is rotatably installed by the cooperation of the ring part and the bearing fixed on the first horizontal plate, and the lower side plate is rotatably installed by installing the bearing seat of the driving motor, so as to achieve double abutment rotation up and down, thereby improving the stability of the installation and operation.

[0023] 3) The utility model further adds a middle plate fixedly connected to the fixed seat and arranged parallel to the lower side plate. A spherical limiter is rotatably installed between the middle plate and the lower side plate through an inwardly recessed arc groove. When the connecting arm assembly rotates, the middle plate can disperse part of the force, further improving stability and practical effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural diagram of the present utility model.

[0025] Figure 2 for Figure 1 A partially enlarged schematic diagram of .

[0026] Figure 3 for Figure 2 Schematic cross-section diagram.

[0027] In the accompanying drawings: base 1, supporting column 2, upper side plate 3, extension plate 4, fixed seat 5, vertical plate 501, first horizontal plate 502, second horizontal plate 503, lower side plate 6, connecting plate 7, middle plate 8, limit member 9, ring member 10, electric control box 11, first drive motor 12, second drive motor 13, bearing seat 14, support plate 15, guide column 16, third drive motor 17, telescopic cylinder 18, electromagnetic suction member 19. DETAILED DESCRIPTION

[0028] In order to facilitate understanding by those skilled in the art, the structure of the present invention is further described in detail with reference to the following embodiments and accompanying drawings:

[0029] Example 1

[0030] refer to Figure 1-3 A workpiece loading robot for machining includes: a support column 2 mounted on a base 1; an arm assembly mounted on the top of the support column 2 rotated by a motor assembly; the end of the arm assembly is moved up and down by a drive mechanism and is equipped with a corresponding clamping mechanism; the arm assembly includes an upper side plate 3 and at least one extension plate 4 that are rotatably connected to each other; the loading robot also includes

[0031] An F-shaped mounting base 5 for rotatably mounting the upper side panel 3 includes a vertical panel 501 fixedly mounted on the top of the support column 2 and a first horizontal panel 502 and a second horizontal panel 503 parallel to and fixed to the vertical panel 501. The upper side panel 3 is mounted between the first horizontal panel 502 and the second horizontal panel 503, with one end thereof overlapping the first horizontal panel 502, and the other end thereof extending outwardly and rotatably connected to the extension panel 4.

[0032] A first supporting and reinforcing mechanism is mounted on the first transverse plate 502 and is configured to rotate and abut against the upper side plate 3;

[0033] The second supporting and reinforcing mechanism comprises a lower side plate 6 arranged parallel to and spaced apart from the upper side plate 3. The upper side plate 3 and the lower side plate 6 are fixedly connected by connecting plates 7 fixed on both sides. The upper side plate 3 is driven by the motor assembly to rotate and abut against the second transverse plate 503.

[0034] The third supporting and reinforcing mechanism includes a middle plate 8 fixedly connected to the vertical plate 501 and spaced apart from the lower side plate 6. A spherical limiter 9 is rotatably installed between the middle plate 8 and the lower side plate 6 through an arc groove recessed inwardly through the relative sides thereof. When the loading robot is in motion, the electric component drives the lower side plate 6 to rotate, and the limiter 9 rolls.

[0035] The utility model ensures the increased number of connections of the connecting arms and the extended length of the guide column for the up and down movement of the manipulator, effectively ensures the stable performance of the installation and operation of the manipulator, avoids loosening and deformation of the installation connections, and thereby realizes the increase of the clamping range and material taking depth of the manipulator.

[0036] The end of the lower side plate 6 not connected to the second transverse plate 503 extends outward to the middle of the upper side plate 3 , and the side surface of the connecting plate 7 is tilted upward at the end of the lower side plate 6 to form an inclined surface.

[0037] The first support and reinforcement mechanism includes an annular member 10 fixedly connected to the first horizontal plate 502, and a connecting column is rotatably installed in the annular member 10 through a corresponding bearing. The upper side plate 3 is fixedly connected to the connecting column. By being fixed to the connecting column, the upper side plate 3 is rotatably abutted and installed on the fixing seat 5.

[0038] The motor assembly includes a first drive motor 12 for driving the lower side plate 6 to rotate, and at least one second drive motor 13 for driving the corresponding extension plate 4 to rotate; the shell of the second drive motor 13 adjacent to the upper side plate 3 is fixedly connected to the bottom of the upper side plate 3, and its output shaft extends upward through the upper side plate 3 and is fixedly connected to the extension plate 4, and the output shaft of the second drive motor 13 is rotatably connected to the upper side plate 3 through corresponding bearings; the first drive motor 12 is fixedly installed below the second horizontal plate 503 through the corresponding bearing seat 14, and its output shaft is installed on the bearing seat 14 and extends upward and is fixedly connected to the lower side plate 6.

[0039] The present invention forms a triple fixation through the cooperation of three supporting and reinforcing mechanisms, thereby improving the stability of the installation of the connecting arm assembly; the upper side plate 3 and the lower side plate 6, which are spaced apart and arranged in parallel, are connected to form a whole through the connecting plates fixed on both sides, while controlling the reasonable weight distribution and ensuring its rigidity, so as to be used for a more stable installation of the connecting arm assembly; furthermore, the upper side plate 3 is rotatably installed by cooperating with the ring part 10 and the bearing fixed on the first horizontal plate 502, and the lower side plate 6 is rotatably installed by installing the bearing seat 14 of the driving motor, so as to achieve double abutment rotation up and down, thereby improving the stability of the installation and operation.

[0040] The middle plate 8 is fixed on the vertical plate 501 of the mounting base 5 by fastening the bolts fixed on the fixing blocks.

[0041] The utility model further adds a middle plate 8 fixedly connected to the fixed seat and arranged parallel to the lower side plate 6. A spherical limiting member 9 is rotatably installed between the middle plate and the lower side plate 6 through an inwardly recessed arc groove. When the connecting arm assembly rotates, the middle plate can disperse part of the force, further improving stability and practical effect.

[0042] The driving mechanism includes a support plate 15 fixedly connected to the end of the outermost extension plate 4, and a corresponding guide column 16 is installed on the support plate 15 so as to move up and down by cooperating with a slider slot. The side wall of the guide column 16 is provided with a corresponding rack, which is meshed with a gear rotatably installed on the support plate 15, and the gear is fixedly connected to the output shaft of a third drive motor 17 installed on the support plate 15.

[0043] The clamping mechanism includes a telescopic cylinder 18 fixed to the lower end of the guide column 16 through a corresponding connecting piece. The piston rod of the telescopic cylinder 18 is fixed to the connecting piece, and an electromagnetic suction piece 19 is fixedly installed below its cylinder housing. The electromagnetic suction piece 19, the telescopic cylinder 18 and the driving mechanism are all electrically connected to the electrical control box 11.

[0044] Corresponding stabilizing reinforcement plates are fixedly installed at the connection between the extension plate 4 and the support plate 15 , and between both sides of the lower side plate 6 and the vertical plate 501 .

[0045] Example 2

[0046] The difference from Example 1 is that the clamping mechanism includes a pneumatic clamping mechanism fixed to the lower end of the guide column 16 through a corresponding connecting piece, and the pneumatic clamping mechanism and the driving mechanism are both electrically connected to the electric control box 11.

[0047] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A workpiece loading robot for machining, comprising: A supporting column (2) is mounted on a base (1), and a connecting arm assembly mounted on the top of the supporting column (2) is rotated by a motor assembly, and the end of the connecting arm assembly is moved up and down by a driving mechanism and is equipped with a corresponding clamping mechanism; it is characterized in that the connecting arm assembly comprises an upper side plate (3) and at least one extension plate (4) that are rotatably connected to each other; the loading robot also includes A fixing seat (5) in an F-shape and used for rotatably mounting the upper side plate (3), the fixing seat (5) comprising a vertical plate (501) fixedly arranged at the top end of the supporting column (2) and a first horizontal plate (502) and a second horizontal plate (503) fixedly connected to the vertical plate (501) in parallel and spaced relation, the upper side plate (3) being installed between the first horizontal plate (502) and the second horizontal plate (503), with one end thereof being arranged to overlap with the first horizontal plate (502) in an up-and-down manner, and the other end thereof extending outwards to be rotatably connected to the extension plate (4); a first supporting and reinforcing mechanism, mounted on the first transverse plate (502) and configured to rotate and abut against the upper side plate (3); The second supporting and reinforcing mechanism comprises a lower side plate (6) arranged parallel to and spaced apart from the upper side plate (3); the upper side plate (3) and the lower side plate (6) are fixedly connected via connecting plates (7) fixedly connected on both sides; the upper side plate (3) is driven by the motor assembly to rotate and abut against the second transverse plate (503); The third supporting and reinforcing mechanism comprises a middle plate (8) fixedly connected to the vertical plate (501) and arranged parallel to and spaced apart from the lower side plate (6); a spherical limiting member (9) is rotatably installed between the middle plate (8) and the lower side plate (6) through an arc groove recessed inwardly arranged on the opposite sides thereof; when the feeding robot is in motion, the electric component drives the lower side plate (6) to rotate, and the limiting member (9) rolls.

2. A machining workpiece loading robot according to claim 1, characterized in that: The end of the lower side plate (6) not connected to the second transverse plate (503) extends outward to the middle position of the upper side plate (3), and the side surface of the connecting plate (7) is tilted upward at the end of the lower side plate (6) to form an inclined surface.

3. A machining workpiece loading robot according to claim 1, characterized in that: The first supporting and reinforcing mechanism comprises an annular member (10) fixedly connected to the first transverse plate (502), a connecting column being rotatably mounted in the annular member (10) via a corresponding bearing, the upper side plate (3) being fixedly connected to the connecting column, and the upper side plate (3) being rotatably abutted and mounted on the fixing seat (5) by being fixedly connected to the connecting column.

4. A machining workpiece loading robot according to claim 1, characterized in that: The motor assembly comprises a first drive motor (12) for driving the lower side plate (6) to rotate, and at least one second drive motor (13) for driving the corresponding extension plate (4) to rotate; the housing of the second drive motor (13) adjacent to the upper side plate (3) is fixedly connected to the lower side plate (3), and its output shaft extends upward through the upper side plate (3) and is fixedly connected to the extension plate (4); the output shaft of the second drive motor (13) is rotationally connected to the upper side plate (3) through a corresponding bearing; the first drive motor (12) is fixedly installed below the second transverse plate (503) through a corresponding bearing seat (14), and its output shaft is installed on the bearing seat (14) and extends upward and is fixedly connected to the lower side plate (6).

5. The workpiece loading robot for machining according to claim 1, characterized in that: The middle plate (8) is integrally and vertically fixed with corresponding fixing blocks on both sides of one end without the arc groove, and the middle plate (8) is fixedly mounted on the vertical plate (501) of the fixing seat (5) by respectively tightening the bolts fixed on the fixing blocks.

6. A machining workpiece loading robot according to claim 1, characterized in that: The driving mechanism includes a support plate (15) fixedly connected to the end of the outermost extension plate (4); a corresponding guide column (16) is installed on the support plate (15) so as to move up and down by cooperating with a slider slot; a corresponding rack is provided on the side wall of the guide column (16) and is meshed with a gear rotatably installed on the support plate (15); the gear is fixedly connected to the output shaft of a third drive motor (17) installed on the support plate (15).

7. A machining workpiece loading robot according to claim 6, characterized in that: The clamping mechanism includes a telescopic cylinder (18) fixedly connected to the lower end of the guide column (16) through a corresponding connecting piece, the piston rod of the telescopic cylinder (18) is fixedly connected to the connecting piece, and an electromagnetic suction piece (19) is fixedly installed below its cylinder housing, and the electromagnetic suction piece (19), the telescopic cylinder (18) and the driving mechanism are all electrically connected to the electric control box (11).

8. A machining workpiece loading robot according to claim 6, characterized in that: The clamping mechanism comprises a pneumatic clamping jaw fixedly connected to the lower end of the guide column (16) through a corresponding connecting piece, and the pneumatic clamping jaw and the driving mechanism are both electrically connected to the electric control box (11).

9. The workpiece loading robot for machining according to claim 1, characterized in that: Corresponding stabilizing reinforcement plates are fixedly installed at the connection between the extension plate (4) and the support plate (15), and between the two sides of the lower side plate (6) and the vertical plate (501).

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