Quadratic element movable feeding manipulator

Abstract

The utility model discloses a quadratic element movable feeding manipulator, which belongs to the technical field of manipulators and comprises two U-shaped plates, the two U-shaped plates are sequentially arranged from left to right, mounting blocks are arranged on the side walls of the U-shaped plates, and adjusting mechanisms are arranged above the U-shaped plates. The installation assembly is arranged, the installation block is placed on a use tool, then the electric push rod in the installation groove is started, the electric push rod operates to drive the extension rod to move and protrude out of the pushing groove, the extension rod moves to drive the installation block to move, the installation block moves to drive the rotating screw to move away from the side wall of the use tool, and then the rotating screw is rotated. The rotating screw rotates and moves along the mounting block, the rotating screw rotates and moves to drive the supporting plate to rotate and move, the supporting plate rotates and moves to drive the fixing rod to move, and when the fixing rod moves to be attached to the bottom wall of a used tool, rotating of the rotating screw is stopped, and dismounting and mounting operation of the whole device is conveniently achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, and in particular relates to a two-dimensional mobile feeding manipulator. Background Art

[0002] A robot is an automatic operating device that can imitate certain movements and functions of human hands and arms to grasp, move objects or operate tools according to a fixed procedure.

[0003] Chinese patent application No. 201922203169.8 discloses a two-dimensional transfer robot, including a Y-axis displacement device, an X-axis displacement device and an inverted U-shaped plate; Y-axis displacement device: the Y-axis displacement device includes a U-shaped plate, a lead screw, a guide rod, a movable bracket and a servo motor, and the Y-axis displacement device is provided with two groups, the bottom end of the U-shaped plate is provided with a fixed seat, and a mounting hole is opened on the fixed seat, the lead screw and the guide rod are installed in parallel on the inner wall of the U-shaped plate, and the lead screw is rotatably connected to the U-shaped plate, and the threads at both ends of the lead screw have opposite rotation directions, the servo motor is installed on the outer side surface of the U-shaped plate, and the output shaft of the servo motor is connected to the lead screw, and the movable bracket is provided with two, and the two movable brackets are symmetrically installed on the guide rod. The utility model provides a two-dimensional transfer robot with a simple structure, easy control, and high applicability. It is convenient to disassemble the robot and replace parts, which is conducive to improving stamping efficiency.

[0004] In the above patent, external fixing bolts are used to connect the mounting block and the workpiece. External tools are required to operate during the disassembly and assembly process, which affects the operating efficiency. In addition, a limit switch is installed on the side wall of the fixture mounting groove. The limit switch is directly exposed to the outside. If the limit switch is accidentally touched, it is easy to affect the normal operation of the entire device. Utility Model Content

[0005] In order to solve the problems raised in the above background technology, the utility model provides a two-dimensional mobile feeding manipulator, which has the characteristics of easy disassembly and assembly and anti-accidental touch.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a two-dimensional mobile feeding robot, comprising a U-shaped plate, wherein there are two U-shaped plates in total, and the two U-shaped plates are arranged in sequence from left to right. A mounting block is provided on the side wall of the U-shaped plate, and an adjustment mechanism is provided above the U-shaped plate. Moving mechanisms are provided at both ends of the outer periphery of the adjustment mechanism, and clamping mechanisms are provided on both moving mechanisms. A travel switch is connected to the side wall of the clamping mechanism, an installation component is provided on the mounting block, and a touch component is provided on the periphery of the travel switch.

[0007] Preferably, the mounting assembly includes a fixed rod, a rotating screw, a through-hole, a support plate and an extension piece. An extension piece is provided between the mounting block and the U-shaped plate. The interior of the mounting block is connected to the rotating screw. The outer periphery of the rotating screw is sleeved with a fixed rod. A through-hole is provided on the fixed rod at a position corresponding to the rotating screw. The end of the rotating screw close to the fixed rod is connected to a support plate.

[0008] Preferably, both ends of the fixing rod on one side close to the mounting block are connected with connecting rods, and connecting grooves are provided inside the mounting block at positions corresponding to the connecting rods.

[0009] Preferably, the extension member includes an extension rod, a push groove, a mounting groove and an electric push rod. The U-shaped plate is provided with a push groove inside, the push groove is provided with a mounting groove on the side wall, the mounting groove is connected to the electric push rod inside, and the output end of the electric push rod is located inside the push groove and is connected to the extension rod.

[0010] Preferably, the touch assembly includes an anti-touch sleeve, a touch disc, an opening and a transmission rod. The anti-touch sleeve is connected to the side wall of the clamping mechanism and located at the periphery of the travel switch. The touch disc is provided inside the anti-touch sleeve. The transmission rod is connected to the side wall of the touch disc. An opening is provided on the anti-touch sleeve at a position corresponding to the transmission rod.

[0011] Preferably, guide posts are connected to both sides of the interior of the anti-touch sleeve, and guide holes are provided on the touch plate at positions corresponding to the guide posts.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] 1. The utility model is provided with an installation component, the installation block is placed on the use tool, and then the electric push rod inside the installation slot is started. The operation of the electric push rod drives the extension rod to move and protrude from the push slot. The movement of the extension rod drives the installation block to move. The movement of the installation block drives the rotating screw to move away from the side wall of the use tool, and then the rotating screw is rotated to make it rotate along the installation block. The rotation of the rotating screw drives the supporting plate to rotate, and the rotation of the supporting plate drives the fixing rod to move. When the fixing rod moves to fit the bottom wall of the use tool, the rotation of the rotating screw is stopped, which facilitates the disassembly and assembly operation of the entire device.

[0014] 2. The utility model is provided with a touch assembly. After the workpiece is clamped by the clamping mechanism, the transmission rod is forced to move along the opening toward the inside of the anti-touch sleeve. The movement of the transmission rod drives the movement of the touch disk. During the movement of the touch disk, the travel switch can be triggered, causing the adjustment mechanism to stop operating. While ensuring the normal use of the travel switch, under the action of the anti-touch sleeve, the travel switch can be prevented from being accidentally touched, affecting the normal operation of the entire device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural diagram of the utility model;

[0016] Figure 2 This is a cross-sectional view of the U-shaped plate and the mounting assembly of the present invention in connection;

[0017] Figure 3 For this utility model Figure 2 Enlarged view of point A in the middle;

[0018] Figure 4 It is a cross-sectional view of the clamping mechanism of the present utility model;

[0019] Figure 5 For this utility model Figure 4 Enlarged view of point B in the middle.

[0020] In the figure: 1. Adjusting mechanism; 2. Clamping mechanism; 3. Moving mechanism; 4. Mounting block; 5. Mounting assembly; 51. Fixing rod; 52. Rotating screw; 53. Perforation; 54. Support plate; 55. Extension piece; 551. Extension rod; 552. Push groove; 553. Mounting groove; 554. Electric push rod; 6. U-shaped plate; 7. Travel switch; 8. Touch assembly; 81. Anti-touch sleeve; 82. Touch disk; 83. Opening; 84. Transmission rod. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] Example 1

[0023] See also Figure 1-5 The utility model provides the following technical solutions: a two-dimensional mobile feeding robot, comprising a U-shaped plate 6, two U-shaped plates 6 are provided, and the two U-shaped plates 6 are arranged in sequence from left to right. A mounting block 4 is provided on the side wall of the U-shaped plate 6, and an adjusting mechanism 1 is provided above the U-shaped plate 6. Moving mechanisms 3 are provided at both ends of the periphery of the adjusting mechanism 1, and clamping mechanisms 2 are provided on the two moving mechanisms 3. A travel switch 7 is connected to the side wall of the clamping mechanism 2, a mounting assembly 5 is provided on the mounting block 4, and a touch assembly 8 is provided on the periphery of the travel switch 7.

[0024] Specifically, the mounting assembly 5 includes a fixed rod 51, a rotating screw 52, ​​a through-hole 53, a support plate 54 and an extension piece 55. The extension piece 55 is provided between the mounting block 4 and the U-shaped plate 6. The interior of the mounting block 4 is connected to the rotating screw 52. The outer periphery of the rotating screw 52 is sleeved with the fixed rod 51. A through-hole 53 is provided on the fixed rod 51 at a position corresponding to the rotating screw 52. The end of the rotating screw 52 close to the fixed rod 51 is connected to the support plate 54.

[0025] By adopting the above technical solution, the mounting block 4 is placed on the tool, and then the extension piece 55 is used to drive the mounting block 4 to move. After the movement of the mounting block 4 drives the rotating screw 52 to move away from the side wall of the tool, the rotating screw 52 is rotated to rotate along the mounting block 4. The rotation of the rotating screw 52 drives the support plate 54 to rotate, and the rotation of the support plate 54 drives the fixing rod 51 to move. When the fixing rod 51 moves to fit the bottom wall of the tool, the rotation of the rotating screw 52 is stopped, thereby facilitating the disassembly and assembly operation of the entire device.

[0026] Specifically, both ends of the fixing rod 51 near the mounting block 4 are connected to connecting rods, and a connecting groove is provided inside the mounting block 4 at the position corresponding to the connecting rod.

[0027] By adopting the above technical solution, the movement of the fixing rod 51 drives the connecting rod to move inside the connecting groove. Under the cooperation of the connecting rod and the connecting groove, a guiding effect can be provided for the movement of the fixing rod 51, thereby improving the stability of the movement of the fixing rod 51.

[0028] Specifically, the extension member 55 includes an extension rod 551, a push groove 552, a mounting groove 553 and an electric push rod 554. The U-shaped plate 6 is provided with a push groove 552 inside, and a mounting groove 553 is provided on the side wall of the push groove 552. The mounting groove 553 is connected to the electric push rod 554 inside, and the output end of the electric push rod 554, which is located inside the push groove 552, is connected to the extension rod 551.

[0029] By adopting the above technical solution, the electric push rod 554 inside the installation slot 553 is started, and the electric push rod 554 drives the extension rod 551 to move and protrude from the push slot 552. The movement of the extension rod 551 drives the installation block 4 to move, thereby facilitating the movement operation of the installation block 4.

[0030] When this embodiment is used, the mounting block 4 is placed on the tool, and then the electric push rod 554 inside the mounting groove 553 is started. The electric push rod 554 drives the extension rod 551 to move and protrude the push groove 552. The extension rod 551 moves and drives the mounting block 4 to move. After the mounting block 4 moves and drives the rotating screw 52 to move away from the side wall of the tool, the rotating screw 52 is rotated to make it rotate along the mounting block 4. The rotating screw 52 rotates and drives the supporting plate 54 to rotate and move. The rotating movement of the supporting plate 54 drives the fixing rod 51 to move. When the fixing rod 51 moves to fit the bottom wall of the tool, the rotating screw 52 is stopped, which facilitates the disassembly and assembly operation of the entire device. When a two-dimensional moving and feeding operation is required, the adjusting mechanism 1 is used to drive the two clamping mechanisms 2 to move. The clamping mechanism 2 can clamp and pick up the workpiece during the movement process, and then the moving mechanism 3 is used to drive the clamping mechanism 2 to move, thereby realizing the moving and feeding operation of the workpiece;

[0031] Example 2

[0032] The difference between this embodiment and the first embodiment is that the trigger assembly 8 includes an anti-touch sleeve 81, a trigger disc 82, an opening 83 and a transmission rod 84. The anti-touch sleeve 81 is connected to the side wall of the clamping mechanism 2 and is located outside the limit switch 7. The trigger disc 82 is provided inside the anti-touch sleeve 81. The transmission rod 84 is connected to the side wall of the trigger disc 82. The opening 83 is provided on the anti-touch sleeve 81 at a position corresponding to the transmission rod 84.

[0033] Specifically, guide posts are connected to both sides of the interior of the anti-touch sleeve 81, and guide holes are provided on the touch plate 82 at positions corresponding to the guide posts.

[0034] By adopting the above technical solution, during the movement of the trigger plate 82 , the cooperation of the guide post and the guide hole can provide a guiding effect for the movement of the trigger plate 82 , thereby improving the stability of the movement of the trigger plate 82 .

[0035] When this embodiment is used, after the workpiece is clamped by the clamping mechanism 2, the transmission rod 84 is forced to move along the opening 83 toward the inside of the anti-touch sleeve 81. The movement of the transmission rod 84 drives the touch plate 82 to move. During the movement of the touch plate 82, the limit switch 7 can be triggered, causing the adjustment mechanism 1 to stop operating. While ensuring the normal use of the limit switch 7, under the action of the anti-touch sleeve 81, the limit switch 7 can be prevented from being accidentally touched, which would affect the normal operation of the entire device.

[0036] The electric push rod 554 in the present invention is an existing disclosed technology, and the selected model is SL42.

[0037] The structure and principle of the adjustment mechanism 1 composed of a screw, a guide rod, a movable bracket and a servo motor in the utility model have been disclosed in a two-dimensional transfer robot disclosed in Chinese patent application No. 201922203169.8. Its working principle is: the screw 2 and the guide rod are installed in parallel on the inner wall of the U-shaped plate 6, and the screw is rotatably connected to the U-shaped plate 6. The threads at both ends of the screw rotate in opposite directions. The servo motor is installed on the outer side of the U-shaped plate 6. The output shaft of the servo motor is connected to the screw. There are two movable brackets. The two movable brackets are symmetrically installed on the guide rod. The two movable brackets are slidingly connected to the guide rod and are threadedly connected to the screw. Start the servo motor, and the output shaft of the servo motor drives the screw to rotate, thereby driving the two movable brackets to approach or move away along the guide rod, thereby driving the two clamping mechanisms 2 and the moving mechanism 3 to approach or move away from each other.

[0038] The structure and principle of the clamping mechanism 2 composed of a splint, a slide, a spring, a straight rod, and a clamp mounting groove in the utility model have been disclosed in a two-dimensional transfer robot disclosed in Chinese patent application No. 201922203169.8, and its working principle is: a clamp mounting groove is provided at the top of the moving mechanism 3 component, and a slide is installed in the clamp mounting groove. One end of the slide is connected to a straight rod, and the straight rod is connected to the inner wall of the clamp mounting groove for left and right sliding. The other end of the straight rod is connected to a limiting plate. The spring is sleeved on the side of the straight rod and is located between the slide and the inner wall of the clamp mounting groove. The other end of the slide is connected to a splint. When in use, the adjusting mechanism 1 is used to drive the moving mechanism 3 to approach each other, and the splints on both sides contact the workpiece and squeeze the spring to make the slide and the straight rod slide away from the workpiece.

[0039] The structure and principle of the moving mechanism 3 composed of a round rod, a linear motor, a guide rail, and an inverted U-shaped plate in the utility model have been disclosed in a two-dimensional transfer robot disclosed in Chinese patent application No. 201922203169.8. Its working principle is: the guide rail is fixed between two adjustment mechanisms 1 by screws, the linear motor is installed on the guide rail, the linear motor can move along the guide rail, the inverted U-shaped plate is installed at the top of the linear motor, the round rod is installed on both sides of the guide rail, and the bottom end of the inverted U-shaped plate is slidably connected to the two round rods. When in use, the linear motor is controlled to move on the guide rail, which can drive the inverted U-shaped plate to move. The movement of the inverted U-shaped plate drives the clamping mechanism 2 to move, and the movement of the clamping mechanism 2 drives the workpiece to move, thereby changing the position of the workpiece and realizing the feeding operation of the workpiece.

[0040] The working principle and use process of the present invention are as follows: the present invention places the mounting block 4 on the tool, and then starts the electric push rod 554 inside the mounting groove 553. The electric push rod 554 drives the extension rod 551 to move and protrude the push groove 552. The extension rod 551 moves and drives the mounting block 4 to move. After the mounting block 4 moves and drives the rotating screw 52 to move away from the side wall of the tool, the rotating screw 52 is rotated to rotate along the mounting block 4. The rotating screw 52 rotates and drives the supporting plate 54 to rotate and move. The rotating plate 54 rotates and drives the fixing rod 51 to move. When the fixing rod 51 moves to fit the bottom wall of the tool, the rotating screw 52 is stopped, which facilitates the disassembly and assembly operation of the entire device. When a two-dimensional moving feeding operation is required, the adjusting mechanism 1 is used to drive the two clamping mechanisms 2 to move. The clamping mechanisms 2 can clamp and pick up the workpiece during the movement. After the workpiece is clamped by the clamping mechanism 2, the transmission rod 84 is forced to move along the opening 83 toward the inside of the anti-touch sleeve 81. The movement of the transmission rod 84 drives the touch plate 82 to move. During the movement of the touch plate 82, the travel switch 7 can be triggered, so that the adjusting mechanism 1 stops running. While ensuring the normal use of the travel switch 7, under the action of the anti-touch sleeve 81, the travel switch 7 can be avoided from being accidentally touched, affecting the normal operation of the entire device. Then the moving mechanism 3 is used to drive the clamping mechanism 2 to move, and the moving feeding operation of the workpiece can be realized.

[0041] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A two-dimensional mobile feeding manipulator, comprising a U-shaped plate (6), wherein two U-shaped plates (6) are provided, and the two U-shaped plates (6) are arranged in sequence from left to right, a mounting block (4) is provided on the side wall of the U-shaped plate (6), an adjustment mechanism (1) is provided above the U-shaped plate (6), and a moving mechanism (3) is provided at both ends of the outer periphery of the adjustment mechanism (1), and a clamping mechanism (2) is provided on each of the two moving mechanisms (3), and a travel switch (7) is connected to the side wall of the clamping mechanism (2), characterized in that: A mounting assembly (5) is provided on the mounting block (4), and a touch assembly (8) is provided on the periphery of the travel switch (7).

2. A two-dimensional mobile feeding robot according to claim 1, characterized in that: The mounting assembly (5) comprises a fixed rod (51), a rotating screw rod (52), a through hole (53), a supporting plate (54) and an extension piece (55). The extension piece (55) is provided between the mounting block (4) and the U-shaped plate (6). The interior of the mounting block (4) is connected to the rotating screw rod (52). The periphery of the rotating screw rod (52) is sleeved with the fixed rod (51). The through hole (53) is provided on the fixed rod (51) at a position corresponding to the rotating screw rod (52). The end of the rotating screw rod (52) close to the fixed rod (51) is connected to the supporting plate (54).

3. A two-dimensional mobile feeding robot according to claim 2, characterized in that: Both ends of the fixing rod (51) on one side close to the mounting block (4) are connected to connecting rods, and connecting grooves are provided inside the mounting block (4) at positions corresponding to the connecting rods.

4. The two-dimensional mobile feeding robot according to claim 2, characterized in that: The extension member (55) comprises an extension rod (551), a push groove (552), a mounting groove (553) and an electric push rod (554); the U-shaped plate (6) is provided with a push groove (552) inside, a mounting groove (553) is provided on a side wall of the push groove (552), the mounting groove (553) is connected to the inside of the electric push rod (554), and the output end of the electric push rod (554) located inside the push groove (552) is connected to the extension rod (551).

5. The two-dimensional mobile feeding robot according to claim 1, characterized in that: The touch assembly (8) comprises an anti-touch sleeve (81), a touch disc (82), an opening (83) and a transmission rod (84); the anti-touch sleeve (81) is connected to the side wall of the clamping mechanism (2) and is located on the periphery of the travel switch (7); the touch disc (82) is arranged inside the anti-touch sleeve (81); the transmission rod (84) is connected to the side wall of the touch disc (82); and the opening (83) is arranged on the anti-touch sleeve (81) at a position corresponding to the transmission rod (84).

6. The two-dimensional mobile feeding robot according to claim 5, characterized in that: Both sides of the interior of the anti-touch sleeve (81) are connected with guide posts, and guide holes are provided on the touch plate (82) at positions corresponding to the guide posts.

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