Variable-pitch type overturning and translating manipulator

Abstract

The utility model discloses a variable-pitch turnover translation manipulator, which is arranged on an engraving and milling machine and comprises a transfer mechanism, a turnover mechanism, a first grabbing piece, a second grabbing piece and a variable-pitch driver, the second grabbing piece and the first grabbing piece are arranged in a spaced manner, and the variable-pitch driver is assembled at the output end of the turnover mechanism. The turnover mechanism and the transferring mechanism are arranged in a stacked mode, and the turnover mechanism is assembled at the output end of the transferring mechanism. The first grabbing piece and / or the second grabbing piece are / is arranged at the output end of the turnover mechanism in a sliding mode, and the variable-pitch driver is used for driving the first grabbing piece and / or the second grabbing piece which are / is arranged at the output end in a sliding mode to slide, so that the distance between the first grabbing piece and the second grabbing piece is changed; therefore, the variable-pitch type overturning and translating manipulator has better compatibility, and the application range of the variable-pitch type overturning and translating manipulator is expanded.

Description

Technical Field

[0001] The utility model relates to a manipulator, in particular to a variable-distance flip-translation manipulator used in a precision engraving machine. Background Art

[0002] As we all know, the process of machining glass or metal panels on a precision engraving machine involves numerous steps, such as removing the panel from a vertically inserted panel basket, flipping the removed vertical panel to a horizontal position, and placing the horizontally arranged panel on a positioning fixture for positioning and clamping, and vice versa. All of these steps require the use of a robot, which ensures the continuity of panel transfer between the panel basket and the positioning fixture. Therefore, the robot has become an essential component of a precision engraving machine.

[0003] For example, in the flip-translation robot disclosed in Chinese patent application No. 202323327818.8, since the distance between the vacuum nozzles installed on the flip seat cannot be adjusted, the flip-translation robot cannot adapt to the different center distances between the fixtures and the material box in the precision engraving machine, resulting in poor compatibility and a small adaptability range of the flip-translation robot.

[0004] Therefore, a variable-distance flip-translation manipulator is needed to overcome the above-mentioned defects. Utility Model Content

[0005] The purpose of the utility model is to provide a variable-distance flip-translation manipulator with good compatibility and a wide adaptability range.

[0006] To achieve the aforementioned objectives, the present invention provides a variable-pitch flipping and translational manipulator installed on a precision engraving machine. The manipulator comprises a transfer mechanism, a flipping mechanism, a first gripper, a second gripper spaced apart from the first gripper, and a variable-pitch actuator mounted on the output end of the flipping mechanism. The flipping mechanism is stacked with the transfer mechanism, and the flipping mechanism is mounted on the output end of the transfer mechanism. The first gripper and / or the second gripper are slidably mounted on the output end of the flipping mechanism, and the variable-pitch actuator causes the first gripper and / or the second gripper, which are slidably mounted on the output end, to slide, thereby changing the spacing between the first and second grippers.

[0007] Compared with the prior art, with the help of the design of "the first grabbing member and / or the second grabbing member is slidably arranged on the output end of the flipping mechanism, and the variable pitch drive is assembled at the output end of the flipping mechanism and drives the first grabbing member and / or the second grabbing member sliding with the output end to slide", when the center distance of the clamp in the precision engraving machine is different from the center distance of the material box, the variable pitch drive changes the distance between the first grabbing member and the second grabbing member, thereby making the variable pitch flipping and translation manipulator of the present invention have good compatibility and a wide range of applications.

[0008] Preferably, the variable distance drive is arranged back to back with the transfer mechanism, and the variable distance drive has a first sliding telescopic head and a second sliding telescopic head facing opposite directions, the first sliding telescopic head is used to drive the first grabbing member to slide, and the second sliding telescopic head is used to drive the second grabbing member to slide.

[0009] Preferably, the variable-length flipping and translation manipulator of the present invention also includes a first spring and a second spring, and the output end of the flipping mechanism is provided with a first side block and a second side block arranged relatively to each other in the spacing direction of the first grabbing member and the second grabbing member, and the first grabbing member and the second grabbing member are located between the first side block and the second side block, and the first spring is arranged between the first grabbing member and the first side block, and the first spring keeps the first grabbing member and the first sliding telescopic head in a pushing state, and the second spring is arranged between the second grabbing member and the second side block, and the second spring keeps the second grabbing member and the second sliding telescopic head in a pushing state.

[0010] Preferably, the flipping mechanism includes a flipping seat, a mechanism frame and a flipping driver, the flipping seat is hinged to one end of the mechanism frame, the mechanism frame is installed at the output end of the transfer mechanism away from the end, the flipping driver is installed on the mechanism frame and drives the flipping seat to flip relative to the mechanism frame, the variable pitch driver is installed in a stacked manner on the flipping seat, the flipping seat forms the output end of the flipping mechanism, and the telescopic directions of the first sliding telescopic head and the second sliding telescopic head are parallel to the direction of the flipping centerline of the flipping seat.

[0011] Preferably, the variable-pitch flip and translation manipulator of the present invention also includes an adjusting operating member for manually adjusting the angle of the flip seat, and a push block is provided on the side of the flip seat facing away from the variable-pitch driver. The adjusting operating member is rotatably assembled on the side of the mechanism frame facing the transfer mechanism, and the adjusting operating member also cooperates with the push of the push block; the flip seat is adjusted in angle around the flip center line by pushing the push block with the help of the adjusting operating member.

[0012] Preferably, a fixed block protruding toward the transfer mechanism is assembled on the side of the mechanism frame facing the transfer mechanism, and the fixed block extends in the direction of the flip center line of the flip seat, and the adjustment operating member is a screw inserted into the fixed block and threadedly connected to the fixed block.

[0013] Preferably, a magnetic switch seat fixed to the mechanism frame is mounted outside the mechanism frame, a first magnetic switch is provided in the magnetic switch seat and is fully protected by the magnetic switch seat, a second magnetic switch and a third magnetic switch are provided in the transfer mechanism, a first opening for exposing the second magnetic switch to the outside and a second opening for exposing the third magnetic switch to the outside are provided on the side wall of the transfer mechanism, a transparent plate is assembled and connected to the side wall of the transfer mechanism, and the transparent plate also covers the first opening and the second opening.

[0014] Preferably, both the first opening and the second opening extend along the transfer direction of the transfer mechanism; and both the first opening and the second opening are square openings with rounded corners.

[0015] Preferably, a protective rubber strip for protecting the interior of the transfer mechanism is further provided on the side wall of the transfer mechanism, and the protective rubber strip extends along the transfer direction of the transfer mechanism.

[0016] Preferably, the magnetic opening lines of the second magnetic switch and the third magnetic switch each extend out of the first end wall of the transfer mechanism, the first end wall is away from the variable pitch driver, and the first end wall is further provided with a soft rubber block that is tightly fitted over the magnetic opening line.

[0017] Preferably, the first end wall is equipped with an oiling nozzle for injecting lubricating oil into the transfer mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional diagram of the variable-distance flip-translation manipulator of the utility model when the first grasping member and the second grasping member each grasp a workpiece.

[0019] Figure 2 yes Figure 1 3D exploded view of .

[0020] Figure 3 It is a three-dimensional diagram of the transfer mechanism in the variable-distance flip and translation manipulator of the present utility model.

[0021] Figure 4 yes Figure 3 3D exploded view of .

[0022] Figure 5It is a three-dimensional diagram of a turning mechanism, a first grabbing member, a second grabbing member and a variable pitch driver assembled together in a variable pitch turning and translation manipulator of the utility model.

[0023] Figure 6 yes Figure 5 3D exploded view of .

[0024] Figure 7 It is a three-dimensional diagram of a turning seat, a variable pitch driver, a first grabbing member and a second grabbing member assembled together in a variable pitch turning and translation manipulator of the utility model.

[0025] Figure 8 yes Figure 7 3D exploded view of .

[0026] Figure 9 yes Figure 8 Exploded three-dimensional diagram from another angle. DETAILED DESCRIPTION

[0027] In order to explain the technical content and structural features of the present invention in detail, the following is a further description in conjunction with the embodiments and the accompanying drawings.

[0028] See also Figure 1 The variable-length tilting and translating manipulator 100 of the present invention is installed on a precision engraving machine. During each operation, it can transfer two workpieces 200 stored separately in a material box to corresponding positioning fixtures of the precision engraving machine, and also perform a workpiece 200 clamped separately between two positioning fixtures for unloading. Since the position and method of installing the variable-length tilting and translating manipulator 100 on a precision engraving machine are well known in the art, they will not be described in detail here.

[0029] And combined Figure 2 and Figure 7 The variable pitch flip translation manipulator 100 of the present invention comprises a transfer mechanism 10, a flip mechanism 20, a first gripping member 30, a second gripping member 40 arranged apart from the first gripping member 30, and a variable pitch driver 50 mounted on the output end 21 of the flip mechanism 20. The flip mechanism 20 and the transfer mechanism 10 are stacked, for example, Figure 1 and Figure 2As an example, the flipping mechanism 20 is stacked with the transfer mechanism 10 in the direction indicated by arrow C, making the flipping mechanism 20 and the transfer mechanism 10 more compact. The flipping mechanism 20 is assembled at the output end 11 of the transfer mechanism 10 and is driven by the transfer mechanism 10 to move in the direction indicated by the double arrow B. The first gripping member 30 and the second gripping member 40 are both slidably mounted on the output end 21 of the flipping mechanism 20, so that both the first gripping member 30 and the second gripping member 40 can slide relative to the output end 21. Obviously, according to actual needs, the first gripping member 30 or the second gripping member 40 can also be slidably mounted on the output end 21.

[0030] The variable pitch driver 50 is used to drive the first grabbing member 30 and / or the second grabbing member 40 that are slidably mounted on the output end 21 to slide, thereby changing the distance between the first grabbing member 30 and the second grabbing member 40; Figure 1 、 Figure 7 、 Figure 8 and Figure 9 In the embodiment, as an example, the first grasping member 30 and the second grasping member 40 are both vacuum suction nozzles, so that the first grasping member 30 and the second grasping member 40 each grasp the workpiece 200 in a negative pressure adsorption manner, thereby simplifying the structures of the first grasping member 30 and the second grasping member 40; obviously, the first grasping member 30 and the second grasping member 40 can also be designed according to the specific workpiece 200 to be grasped. Other structures well known in the art are not used. Figure 1 、 Figure 7 、 Figure 8 and Figure 9 The illustration is limited. In addition, the spacing direction between the first grabbing member 30 and the second grabbing member 40 is the direction indicated by the double arrow A. Correspondingly, the first grabbing member 30 and / or the second grabbing member 40 slidingly arranged with respect to the output end 21 slides relative to the output end 21 along the direction indicated by the double arrow A. More specifically, as follows:

[0031] like Figure 2As shown, the variable distance drive 50 and the transfer mechanism 10 are arranged back to back, so that the flipping mechanism 20 is located between the variable distance drive 50 and the transfer mechanism 10 in the direction indicated by the arrow C, thereby making the variable distance drive 50, the flipping mechanism 20 and the transfer mechanism 10 more compact; the variable distance drive 50 has a first sliding telescopic head 51 and a second sliding telescopic head 52 facing opposite directions. Optionally, as an example, the first sliding telescopic head 51 and the second sliding telescopic head 52 are aligned with each other to avoid the first sliding telescopic head 51 and the second sliding telescopic head 52 from occupying a larger space position due to misalignment in the direction indicated by the arrow C; in addition, the first sliding telescopic head 51 is used to drive the first grabbing member 30 to slide, and the second sliding telescopic head 52 is used to drive the second grabbing member 40 to slide, so as to achieve the purpose of driving the first grabbing member 30 and the second grabbing member 40 to move away from each other by one variable distance drive 50, so the number of variable distance drives 50 used can be reduced. Specifically, combined with Figures 7 to 9 As an example, the variable-length flip translation manipulator 100 of the present invention further includes a first spring 31 and a second spring 29. The output end 21 of the flip mechanism 20 is provided with a first side block 28 and a second side block 41 arranged opposite to each other in the spacing direction of the first grabbing member 30 and the second grabbing member 40 (as indicated by the double arrow A); the first grabbing member 30 and the second grabbing member 40 are located between the first side block 28 and the second side block 41, and the first spring 31 is provided between the first grabbing member 30 and the first side block 28. The first spring 31 keeps the first grabbing member 30 and the first sliding telescopic head 51 in a pushing state. In this state, the second spring 29 is disposed between the second gripping member 40 and the second side block 41. The second spring 29 maintains the second gripping member 40 and the second sliding telescopic head 52 in a pushing state. This design simplifies the assembly relationship between the variable pitch actuator 50 and the first gripping member 30 and the second gripping member 40, respectively, and facilitates disassembly of the variable pitch actuator 50 when the center distance between the clamp and the center distance of the magazine is the same. Furthermore, the first gripping member 30, under the action of the first spring 31, can automatically return to its original position following the first sliding telescopic head 51, and the second gripping member 40, under the action of the second spring 29, can automatically return to its original position following the second sliding telescopic head 52. It should be noted that during the process of expanding the distance between the first gripping member 30 and the second gripping member 40, the first spring 31 and the second spring 29 are in an energy-storing state due to deformation (e.g., compression deformation).

[0032] like Figure 2 、 Figure 5 and Figure 6As shown, as an example, the flip mechanism 20 includes a flip seat, a mechanism frame 22, and a flip actuator (not labeled). The flip seat is hingedly connected to one end 221 of the mechanism frame 22. The mechanism frame 22 is mounted at the output end 11 of the transfer mechanism 10, away from the end 221. The flip actuator is mounted within the mechanism frame 22 and drives the flip seat to flip relative to the mechanism frame 22. The flip seat forms the output end 21 of the flip mechanism 20. In other words, reference numeral 21 also represents the flip seat. The variable pitch actuator 50 is stacked and mounted on the flip seat 21. Correspondingly, the first and second grippers 30 and 40 are slidably mounted on the flip seat 21. Furthermore, the first and second sliding telescopic heads 51 and 52 extend and retract in directions parallel to the flip centerline C1 of the flip seat 21. The first and second sliding telescopic heads 51 and 52 also extend and retract in directions parallel to the spacing between the first and second grippers 30 and 40. Since the specific structure of the turnover mechanism 20 is well known in the art, it will not be described in detail here.

[0033] In order to better adjust the turning angle of the turning seat 21, Figure 5 and Figure 6 As an example, the variable pitch flip translation manipulator 100 of the present invention further includes an adjustment operating member 60 for manually adjusting the angle of the flip seat 21. The flip seat 21 is provided with a push block 24 on the side facing away from the variable pitch driver 50. The adjustment operating member 60 is rotatably mounted on the side of the mechanism frame 22 facing the transfer mechanism 10. The adjustment operating member 60 also pushes against the push block 24. Therefore, by pushing the push block 24 with the help of the adjustment operating member 60, the angle of the flip seat 21 around the flip center line C1 can be adjusted. Specifically, Figure 5 and Figure 6 As an example, a fixed block 25 protruding toward the transfer mechanism 10 is assembled on the side of the mechanism frame 22 facing the transfer mechanism 10. The fixed block 25 extends in the direction of the flip center line C1 of the flip seat 21. The adjustment operating member 60 is a screw inserted into the fixed block 25 and threadedly connected to the fixed block 25. By using the adjustment operating member 60 as a screw, the structure of the adjustment operating member 60 can be simplified, and it is also convenient for the operator to screw the adjustment operating member 60.

[0034] like Figure 2 As shown, as an example, a magnetic switch base 26 is mounted on the exterior of the mechanism frame 22 and fixed thereto. A first magnetic switch 27 is housed within the magnetic switch base 26 and is fully protected by the magnetic switch base 26. As an example, two first magnetic switches 27 are provided to control the tilting angle range of the tilting base 21 about the tilting centerline C1 driven by the tilting actuator. Furthermore, the magnetic switch base 26 provides full directional protection for the first magnetic switches 27, effectively protecting them from harsh conditions.

[0035] like Figure 2 and Figure 4 As shown, as an example, a second magnetic switch 12 and a third magnetic switch 13 are provided in the transfer mechanism 10, and a first opening 141 for exposing the second magnetic switch 12 to the outside and a second opening 142 for exposing the third magnetic switch 13 to the outside are provided on the side wall 14 of the transfer mechanism 10. A transparent plate 16 is assembled and connected to the side wall 14 of the transfer mechanism 10, and the transparent plate 16 also covers the first opening 141 and the second opening 142. Therefore, under the action of the transparent plate 16, the second magnetic switch 12 and the third magnetic switch 14 can be effectively prevented from being damaged under harsh conditions, and it can be clearly seen from the outside whether the second magnetic switch 12 and the third magnetic switch 13 are working normally, because the second magnetic switch 12 and the third magnetic switch 13 will light up when working. Specifically, Figure 2 and Figure 4 As an example, the first opening 141 and the second opening 142 both extend along the transfer direction of the transfer mechanism 10 (as indicated by the double arrow B), and the first opening 141 and the second opening 142 are both square openings with rounded corners, so as to facilitate the opening and processing of the first opening 141 and the second opening 142 on the side wall 14 of the transfer mechanism 10; in addition, the magnetic opening wires 121 (131) of the second magnetic switch 12 and the third magnetic switch 13 each extend out of the first end wall 15 of the transfer mechanism 10, and the first end wall 15 is away from the variable pitch drive 50. The first end wall 15 is also provided with a soft rubber block 17 that is tightly fitted on the magnetic opening wire 121 (131), so that the magnetic opening wire 121 (131) can be well wrapped with the help of the soft rubber block 17 to prevent water, dust and other objects from entering. In addition, a protective rubber strip 17 for protecting the interior of the transfer mechanism 10 is provided on the side wall 14 of the transfer mechanism 10. The protective rubber strip 17 extends along the transfer direction of the transfer mechanism 10. With the help of the protective rubber strip 17, the interior of the transfer mechanism 10 is prevented from being damaged by dust, sewage, fog and the like in a harsh environment. The first end wall 15 is equipped with an oiling nozzle 19 for injecting lubricating oil into the transfer mechanism 10. With the help of the oiling nozzle 19, lubricating oil can be regularly injected into the transfer mechanism 10, which can more effectively extend the service life of the transfer mechanism 10. It should be noted that since the other structures of the transfer mechanism 10 are already well known in the art, reference can be made to the flipping and translational manipulator disclosed in Chinese Patent Application No. 202323327818.8, and therefore they will not be described in detail here.

[0036] Compared with the prior art, with the help of the design of "the first grabbing member 30 and / or the second grabbing member 40 is slidably provided on the output end 21 of the flipping mechanism 20, and the variable pitch driver 50 is assembled on the output end 21 of the flipping mechanism 20 and drives the first grabbing member 30 and / or the second grabbing member 40 slidingly provided with the output end 21 to slide", when the center distance of the clamp in the precision engraving machine is different from the center distance of the material box, the variable pitch driver 50 changes the distance between the first grabbing member 30 and the second grabbing member 40, thereby making the variable pitch flipping and translation manipulator 100 of the present invention have good compatibility and a wide range of applications.

[0037] It should be noted that the aforementioned "clamp center distance" refers to the distance between the centers of two adjacent clamps, which determines the spacing between the workpieces 200 clamped by the two clamps; while the aforementioned "cartridge center distance" refers to the distance between the centers of two adjacent cartridges, which determines the spacing between the stored workpieces 200. Furthermore, when the clamp center distance is the same as the cartridge center distance, the variable pitch actuator 50 can be flexibly removed. To facilitate assembly and disassembly of the variable pitch actuator 50 from the tilting base 21, fasteners 54 (e.g., screws) are used to secure the variable pitch actuator 50 to the tilting base 21. For example, the variable pitch actuator 50 may be a pneumatic cylinder or a hydraulic cylinder, but is not limited thereto.

[0038] The above disclosure is only a preferred embodiment of the present invention and certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A variable-distance flip-translation manipulator, provided on a precision engraving machine, comprising a transfer mechanism, a flip mechanism, a first gripping member, and a second gripping member spaced apart from the first gripping member. The flip mechanism is stacked with the transfer mechanism, and the flip mechanism is assembled at the output end of the transfer mechanism. The invention is characterized in that: The variable-pitch flip and translation manipulator also includes a variable-pitch drive, wherein the first gripping member and / or the second gripping member are slidably arranged on the output end of the flipping mechanism, and the variable-pitch drive is assembled at the output end of the flipping mechanism and drives the first gripping member and / or the second gripping member slidingly arranged with the output end to slide, thereby changing the distance between the first gripping member and the second gripping member.

2. The variable-length flip-translation manipulator according to claim 1, characterized in that: The variable distance drive is arranged back to back with the transfer mechanism, and has a first sliding telescopic head and a second sliding telescopic head facing opposite directions. The first sliding telescopic head is used to drive the first grabbing member to slide, and the second sliding telescopic head is used to drive the second grabbing member to slide.

3. The variable-length flip-translation manipulator according to claim 2, characterized in that: It also includes a first spring and a second spring, and the output end of the flipping mechanism is provided with a first side block and a second side block arranged relatively to each other in the spacing direction of the first grabbing member and the second grabbing member, the first grabbing member and the second grabbing member are located between the first side block and the second side block, the first spring is arranged between the first grabbing member and the first side block, the first spring keeps the first grabbing member and the first sliding telescopic head in a pushing state, the second spring is arranged between the second grabbing member and the second side block, the second spring keeps the second grabbing member and the second sliding telescopic head in a pushing state.

4. The variable-length flip-translation manipulator according to claim 2, characterized in that: The flipping mechanism includes a flip seat, a mechanism frame and a flip driver. The flip seat is hinged to one end of the mechanism frame. The mechanism frame is installed at the output end of the transfer mechanism away from the end. The flip driver is installed on the mechanism frame and drives the flip seat to flip relative to the mechanism frame. The variable pitch driver is installed in a stacked manner on the flip seat. The flip seat forms the output end of the flip mechanism. The telescopic directions of the first sliding telescopic head and the second sliding telescopic head are parallel to the direction of the flip center line of the flip seat.

5. The variable-length flip-translation manipulator according to claim 4, characterized in that: It also includes an adjusting operating member for manually adjusting the angle of the flip seat. A push block is provided on the side of the flip seat facing away from the variable pitch driver. The adjusting operating member is rotatably assembled on the side of the mechanism frame facing the transfer mechanism. The adjusting operating member also cooperates with the push of the push block. The adjusting operating member pushes the push block to adjust the angle of the flip seat around the flip center line.

6. The variable-distance flip-translation manipulator according to claim 5, characterized in that: A fixing block protruding toward the transferring mechanism is mounted on the side of the mechanism frame facing the transferring mechanism. The fixing block extends in the direction of the flip center line of the flip seat. The adjusting operating member is a screw inserted into the fixing block and threadedly connected to the fixing block.

7. The variable-length flip-translation manipulator according to claim 5, characterized in that: A magnetic switch seat fixed to the mechanism frame is assembled outside the mechanism frame, a first magnetic switch is arranged in the magnetic switch seat and is fully protected by the magnetic switch seat, a second magnetic switch and a third magnetic switch are arranged in the transfer mechanism, a first opening for exposing the second magnetic switch to the outside and a second opening for exposing the third magnetic switch to the outside are opened on the side wall of the transfer mechanism, a transparent plate is assembled and connected to the side wall of the transfer mechanism, and the transparent plate also covers the first opening and the second opening.

8. The variable-length flip-translation manipulator according to claim 7, characterized in that: The first opening and the second opening both extend along the transferring direction of the transferring mechanism, and the first opening and the second opening are both square openings with rounded corners; the side wall of the transferring mechanism is also provided with a protective rubber strip for protecting the interior of the transferring mechanism, and the protective rubber strip extends along the transferring direction of the transferring mechanism.

9. The variable-length flip-translation manipulator according to claim 7, characterized in that: The magnetic opening lines of the second magnetic switch and the third magnetic switch each extend out of the first end wall of the transfer mechanism, the first end wall is away from the variable pitch driver, and a soft rubber block is provided on the first end wall that is tightly fitted over the magnetic opening lines.

10. The variable-length flip-translation manipulator according to claim 9, characterized in that: The first end wall is equipped with an oiling nozzle for injecting lubricating oil into the transfer mechanism.

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