Intelligent working equipment for robot

Abstract

The utility model provides intelligent working equipment for a robot, and belongs to the technical field of automatic feeding equipment. The device comprises a cabinet body and a goods shelf, a mechanical arm with a clamping jaw at the end is arranged on one side of the top of the cabinet body, a feeding notch and a feeding notch are formed in the top and the front portion of the cabinet body respectively, the goods shelf is detachably connected to the feeding notch, a feeding frame is arranged in the cabinet body, and a servo motor is fixed to the rear end of the feeding frame; a driving wheel is fixed to the output end of the servo motor, a driven wheel is arranged on the feeding frame, lead screw sliding blocks are connected to the front lead screw and the rear lead screw, abutting parts are arranged at the upper ends of the lead screw sliding blocks, a feeding notch communicated with the feeding notch is formed in the rear end of the goods shelf, and a plurality of sets of symmetrical supporting pulleys are arranged on the two side walls in the goods shelf. A feeding supporting plate is arranged on the symmetrical supporting pulleys, and a tray is fixed to the feeding supporting plate. The automatic feeding device has the advantages of high automatic feeding efficiency, high success rate and the like.

Description

Technical Field

[0001] This utility model belongs to the technical field of automated feeding equipment, and specifically refers to an intelligent working device for robots. Background Technology

[0002] In automated production processes, there is an automated material feeding step. With the development of society, common material feeding equipment includes using robots and intelligent robotic arms to grab and feed workpieces from the tray, providing convenience for subsequent processing operations.

[0003] Existing automated feeding devices can accurately grasp material trays in fixed positions, thus achieving efficient feeding operations. However, in actual use, each tray needs to be manually placed one by one into the corresponding position grasped by the robot, which is very inefficient. In addition, placement errors are prone to occur during manual placement, thus affecting subsequent feeding or processing operations. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent working device for robots that integrates automated material feeding and gripping of materials of different heights, while maintaining high accuracy, significantly improving the success rate of material feeding, and greatly enhancing processing efficiency.

[0005] The purpose of this utility model is achieved as follows:

[0006] A smart working device for robots includes a cabinet and a shelf. A robotic arm with grippers at its end is mounted on one side of the top of the cabinet. The top and front of the cabinet have loading and unloading notches, respectively. The shelf is detachably connected to the unloading notch. Inside the cabinet is a loading rack driven by a lead screw motor for vertical movement. A servo motor with its output end in the front-rear direction is fixed to the rear end of the loading rack, and a drive wheel is fixed to the output end of the servo motor. Front and rear lead screws with their axial direction in the front-rear direction are mounted on the loading rack, and driven wheels adapted to the drive wheel are coaxially fixed to the rear ends of the front and rear lead screws. Lead screw sliders are connected to the front and rear lead screws, and the upper end of the lead screw sliders has an abutment portion for the bottom of the loading tray to abut against. The rear end of the shelf has a feeding notch communicating with the unloading notch. Several sets of symmetrical support pulleys are mounted on the two side walls inside the shelf, and loading trays are mounted on the symmetrical support pulleys, with pallets fixed on the loading trays.

[0007] The present invention is further configured such that both sides of the feeding rack are provided with feeding side plates, and the end of the lead screw motor is fixed to the feeding side plate. One side of the inner wall of the cabinet is provided with a longitudinal lead screw adapted to the lead screw motor, and the other side of the inner wall of the cabinet is provided with a second longitudinal lead screw with the same structure as the longitudinal lead screw. A synchronous shaft is provided between the two feeding side plates, and both ends of the synchronous shaft are coaxially fixed with synchronous pulleys, and the synchronous pulleys are adapted to the longitudinal lead screw and the second longitudinal lead screw.

[0008] The present invention is further configured such that the synchronous pulley, the output end of the lead screw motor, the longitudinal lead screw, and the second longitudinal lead screw are all helical teeth.

[0009] The present invention is further configured such that guide sliders are fixed at the outer ends of both feeding side plates, and longitudinal guide rails adapted to the guide sliders are respectively provided on the two inner side walls of the cabinet.

[0010] The present invention is further configured such that the top cover of the feeding rack is provided with a guide cover, the guide cover includes a guide platform, the guide platform is provided with a guide groove in the front-to-back direction, the abutment part extends out of the guide groove, and when the front and rear lead screws drive the lead screw slider to move back and forth, the bottom of the abutment part slides back and forth along the guide groove.

[0011] The present invention is further configured such that the upper end of the feeding rack is provided with a front and rear slide rail, the front and rear slide rails are provided with a front and rear slider, the top of the front and rear sliders are fixed between the slider and the lead screw slider, the upper end of the connecting plate is fixed with a guide post extending out of the guide groove, and the abutting part is sleeved on the top of the guide post.

[0012] The present invention is further provided that the bottom of the front end of the feeding tray is provided with an abutment groove that is adapted to the abutment part.

[0013] The present invention is further configured such that a limiting corner block and a vibration damping part are fixed at the upper end of the feeding rack.

[0014] The present invention is further configured such that a U-shaped limiting notch is provided at the bottom of the front side of the cabinet, and a limiting end adapted to the limiting notch is provided at the front side of the bottom of the shelf. When the limiting end is embedded in the limiting notch, the feeding notch and the material feeding notch are connected and correspond to each other.

[0015] The present invention is further provided that the front side of the shelf is provided with a pusher.

[0016] The outstanding and beneficial technical effects of this utility model compared to the prior art are:

[0017] 1. The intelligent working equipment provided by this utility model uses motors in both the up-down and front-back directions to move the loading pallet in both directions, thereby picking up loading pallets at different heights on the shelf. The accurate rise of the loading pallet to the braking position facilitates the gripping of the robotic arm and improves the working efficiency of the loading operation.

[0018] 2. The present invention further adopts a feeding side frame on both sides of the feeding frame, which ensures the installation of the screw motor and facilitates the installation of the synchronous shaft, so that the two sides of the feeding frame that move up and down can be effectively synchronized, ensuring the accuracy of the position when rising or falling; the helical gear form adopted can provide a greater overlap, making the transmission more stable.

[0019] 3. The guide slider and the matching longitudinal guide rail further provided by this utility model can provide good guidance when the feeding rack slides up and down, and avoid excessive rotation along the output end of the screw motor.

[0020] 4. The guide cover in this utility model not only provides some protection for the upper end of the front and rear lead screws, but also provides some support for the bottom of the feeding tray, ensuring stability during the forward and backward movement.

[0021] 5. The front and rear slide rails provided by this utility model can provide guidance in the front and rear directions through the connecting plate provided at the upper end of the front and rear slide blocks, so as to avoid axial rotation on the front and rear lead screws, and the abutment part is also smoother when sliding in the front and rear directions with the feeding plate.

[0022] 6. The limiting corner block and vibration damping part set in the first step of this utility model can provide abutment and good vibration damping for the end of the feeding tray.

[0023] 7. The matching limiting notch and limiting end further provided in this utility model enable the shelf to feed materials to the cabinet more accurately, and the two motors can also move the feeding pallet more efficiently. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of this utility model;

[0025] Figure 2 This is a structural schematic diagram of the shelf of this utility model;

[0026] Figure 3 This is a structural schematic diagram of the cabinet body of this utility model;

[0027] Figure 4 This is a partial structural diagram of the cabinet of this utility model. Figure 1 ;

[0028] Figure 5This is a partial structural diagram of the cabinet of this utility model. Figure 2 ;

[0029] Figure 6 This is a partial structural diagram of the cabinet of this utility model. Figure 3 ;

[0030] Figure 7 This is an exploded view of the feeding tray of this utility model relative to the image;

[0031] Figure label:

[0032] 1-Cabinet body; 10-Feeding notch; 11-Infeed notch; 12-Longitudinal lead screw; 13-Guide slide rail; 14-Limit notch;

[0033] 2-Shelf; 20-Feeding notch; 21-Supporting casters; 22-Limiting end; 23-Hand push unit;

[0034] 3-Robotic arm;

[0035] 4-Feeding rack; 40-Lead screw motor; 41-Servo motor; 410-Drive wheel; 411-Front and rear lead screws; 412-Driven wheel; 413-Lead screw slider; 414-Abutting part; 42-Feeding side plate; 43-Synchronous shaft; 430-Synchronous wheel; 44-Front and rear slide rails; 440-Front and rear sliders; 45-Connecting plate; 450-Guide column; 46-Limiting corner block; 47-Vibration damping part;

[0036] 5-Feeding pallet; 50-Pallet; 51-Abutment groove;

[0037] 6-Guide cover; 60-Guide platform; 61-Guide groove. Detailed Implementation

[0038] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. See also: Figure 1 — Figure 7 :

[0039] A smart working device for robots includes a cabinet 1 and a shelf 2. A robotic arm 3 with a gripper at its end is mounted on one side of the top of the cabinet 1. The top and front of the cabinet 1 have a loading notch 10 and an inlet notch 11, respectively. The shelf 2 is detachably connected to the inlet notch 11. A loading rack 4, driven by a lead screw motor 40, is installed inside the cabinet 1. A servo motor 41 with its output end in the front-rear direction is fixed to the rear end of the loading rack 4. A drive wheel 410 is fixed to the output end of the servo motor 41. A axial direction of front-rear is provided on the upper part of the loading rack 4. The front and rear lead screws 411 are oriented in the direction of the drive wheel 410. The rear ends of the front and rear lead screws 411 are coaxially fixed with driven wheels 412 that are adapted to drive wheels 410. The lead screws 411 are connected to lead screw sliders 413. The upper end of the lead screw sliders 413 is provided with a contact part 414 for the bottom of the feeding tray 5 to abut against. The rear end of the shelf 2 is provided with a feeding notch 20 that communicates with the feeding notch 11. Several sets of symmetrical support pulleys 21 are provided on the two side walls inside the shelf 2. The feeding trays 5 are provided on the symmetrical support pulleys 21, and the trays 50 are fixed on the feeding trays 5.

[0040] During implementation, the shelving 2 stacks materials on pallets 50, where the pallets 50 are fixedly connected to the feeding trays 5 by bolts, so that the pallets 50 on each layer of feeding trays 5 are in the same position. The shelving provides that each layer of feeding trays 50 has the same structure, only the height of each layer is different.

[0041] After the materials are stacked on the shelf, it approaches the cabinet 1, and the inlet 11 of the cabinet corresponds to the feeding 20. The loading rack 4, driven by the lead screw motor 40 inside the cabinet, moves up and down. After moving to the corresponding position, the servo motor 41 drives the lead screw slider 413 on the front and rear lead screws to move back and forth. During the movement, the abutment part 414 abuts and matches with the bottom of the loading tray 5, thereby realizing the accurate gripping of objects of different heights.

[0042] The driving pulley and the driven pulley are connected by a belt, and they are matched with each other using a ring belt.

[0043] Additionally, the supporting pulley 21 is in the form of a roller, with roller shafts at both ends. The roller shafts are fitted with bearings, or the bearing surfaces are fitted with rubber rings.

[0044] This feeding equipment has a high degree of automation and a wide feeding range, which greatly improves the efficiency of processing operations.

[0045] Preferably, both sides of the feeding rack 4 are provided with feeding side plates 42, and the end of the lead screw motor 40 is fixed to the feeding side plate 42. One side of the inner wall of the cabinet 1 is provided with a longitudinal lead screw 12 adapted to the lead screw motor 40, and the other side of the inner wall of the cabinet 1 is provided with a second longitudinal lead screw with the same structure as the longitudinal lead screw 12. A synchronous shaft 43 is passed between the two feeding side plates 42, and both ends of the synchronous shaft 43 are coaxially fixed with synchronous pulleys 430, and the synchronous pulleys 430 are adapted to the longitudinal lead screw 12 and the second longitudinal lead screw.

[0046] In the above structure, the lead screw motor 40 serves as the main output power source for vertical movement. Due to its single quantity, when the output end of the drive side is connected to the longitudinal lead screw 12, there will be some lag at the other end. Therefore, a synchronous shaft 43 is set to give the vertically moving feeder 4 stability on both sides.

[0047] Preferably, the synchronous pulley 430, the output end of the lead screw motor 40, the longitudinal lead screw 12, and the second longitudinal lead screw all have helical teeth. The purpose of the helical teeth is to enhance the overlap ratio, reduce vibration during transmission, and ensure overall stability during longitudinal movement.

[0048] Preferably, the outer ends of both feeding side plates 42 are fixed with guide sliders 420, and the two inner side walls of the cabinet 1 are respectively provided with longitudinal guide rails 13 adapted to the guide sliders 420.

[0049] The above structure is adopted to provide a certain degree of guidance for vertical movement while maintaining a synchronous shaft. This prevents rotation in the axial direction at the output end of the lead screw motor 40. In actual use, a single guide rail 13 can solve the vertical guidance problem, but considering the stability and synchronization on both sides, a double guide rail 13 configuration is adopted on both sides.

[0050] Preferably, the top of the feeding rack 4 is covered with a guide cover 6, the guide cover 6 includes a guide platform 60, the guide platform 60 is provided with a guide groove 61 in the front-back direction, the abutment part 414 extends out of the guide groove 61, when the front and rear lead screws 411 drive the lead screw slider 413 to move back and forth, the bottom of the abutment part 414 slides back and forth along the guide groove 61.

[0051] In the above structure, the guide cover 6 not only provides good protection for components such as the front and rear lead screws 411, but also provides a certain support for the feeding pallet 5, so that the feeding pallet will not sway left and right when it moves back and forth.

[0052] Preferably, the upper end of the feeding rack 4 is provided with a front and rear slide rail 44, and a front and rear slider 440 slides on the front and rear slide rail 44. A connecting plate 45 is fixed between the top of the front and rear slider 440 and the lead screw slider 413. A guide post 450 extending out of the guide groove 61 is fixed to the upper end of the connecting plate 45, and the abutment part 414 is sleeved on the top of the guide post 450. The front and rear slider 440 on the front and rear slide rail 44 can provide guidance and stability for the connecting plate 45 on the lead screw slider, and the guide post 450 is convenient for installation by extending out of the abutment part 414 of the guide groove 61.

[0053] In the above structure, the contact part 414 is a ring-shaped rubber pad. This increases friction and provides a certain degree of compressive deformation capability.

[0054] Preferably, the bottom of the front end of the feeding tray 5 is provided with an abutment groove 51 that is adapted to the abutment part 414. The abutment groove 51 is provided so that the feeding tray 5 can be easily adapted to the abutment part 414, facilitating the fitting and adaptation.

[0055] Preferably, the upper end of the feeding rack 4 is fixed with a limiting corner block 46 and a vibration damping part 47. The limiting corner block 46 can effectively limit the forward and backward movement of the feeding tray 5 to the end, while the vibration damping part 47 is designed to provide a certain buffer when the feeding tray 5 moves to the end.

[0056] Preferably, a U-shaped limiting notch 14 is provided at the bottom of the front side of the cabinet 1, and a limiting end 22 adapted to the limiting notch 14 is provided at the front side of the bottom of the shelf 2. When the limiting end 22 is embedded in the limiting notch 14, the feeding notch 11 is connected to and corresponds to the feeding notch 20.

[0057] In order for the servo motor 41 to accurately grasp the feeding tray 5 during the driving process, the feeding notch 11 on the shelf 2 and the feeding notch 20 on the shelf need to be accurately aligned. The set limit notch 14 and limit end 22 can effectively achieve the positioning effect.

[0058] Preferably, the front side of the shelf 2 is provided with a push handle 23 for easy pushing by the user.

[0059] The above embodiments are merely preferred embodiments of the present utility model and are not intended to limit the scope of protection of the present utility model. Therefore, all equivalent changes made to the structure, shape, and principle of the present utility model should be covered within the scope of protection of the present utility model.

Claims

1. An intelligent working device for robots, characterized in that, The system includes a cabinet (1) and a shelf (2). A mechanical arm (3) with a gripper at the end is provided on one side of the top of the cabinet (1). The top and front of the cabinet (1) are respectively provided with a loading notch (10) and an inlet notch (11). The shelf (2) is detachably connected to the inlet notch (11). The cabinet (1) is equipped with a loading rack (4) that is driven to move up and down by a lead screw motor (40). A servo motor (41) with its output end in the front-back direction is fixed at the rear end of the loading rack (4). A drive wheel (410) is fixed on the output end of the servo motor (41). A front and rear lead screw (410) with its axial direction in the front-back direction is provided on the loading rack (4). 11), and the rear ends of the front and rear lead screws (411) are coaxially fixed with driven wheels (412) that are compatible with the driving wheel (410). The lead screws (411) are connected to the lead screw sliders (413), and the upper end of the lead screw sliders (413) is provided with a contact part (414) for the bottom of the feeding tray (5) to abut against. The rear end of the shelf (2) is provided with a feeding notch (20) that is connected to the feeding notch (11). Several sets of symmetrical support pulleys (21) are provided on the two side walls inside the shelf (2). The symmetrical support pulleys (21) are provided with feeding trays (5), and the feeding trays (50) are fixed on the feeding trays (5).

2. The intelligent working device for a robot according to claim 1, characterized in that, The feeding rack (4) is provided with feeding side plates (42) on both sides, and the end of the screw motor (40) is fixed on the feeding side plate (42). A longitudinal screw (12) adapted to the screw motor (40) is provided on one side of the inner wall of the cabinet (1). A second longitudinal screw with the same structure as the longitudinal screw (12) is provided on the other side of the inner wall of the cabinet (1). A synchronous shaft (43) is passed between the two feeding side plates (42). Both ends of the synchronous shaft (43) are coaxially fixed with synchronous wheels (430), and the synchronous wheels (430) are adapted to the longitudinal screw (12) and the second longitudinal screw.

3. The intelligent working device for a robot according to claim 2, characterized in that, The synchronous pulley (430), the output end of the lead screw motor (40), the longitudinal lead screw (12), and the second longitudinal lead screw all have helical teeth.

4. The intelligent working device for a robot according to claim 2, characterized in that, The outer ends of the two loading side plates (42) are fixed with guide sliders (420), and the two inner side walls of the cabinet (1) are respectively provided with longitudinal guide rails (13) that are compatible with the guide sliders (420).

5. The intelligent working device for a robot according to claim 1, characterized in that, The top of the feeding rack (4) is covered with a guide cover (6), which includes a guide platform (60). The guide platform (60) has a guide groove (61) in the front-back direction. The abutment part (414) extends out of the guide groove (61). When the front and rear lead screws (411) drive the lead screw slider (413) to move back and forth, the bottom of the abutment part (414) slides back and forth along the guide groove (61).

6. The intelligent working device for a robot according to claim 5, characterized in that, The upper end of the feeding rack (4) is provided with front and rear slide rails (44), and front and rear sliders (440) are slidably mounted on the front and rear slide rails (44). A connecting plate (45) is fixed between the top of the front and rear sliders (440) and the lead screw slider (413). A guide post (450) extending out of the guide groove (61) is fixed at the upper end of the connecting plate (45). The abutting part (414) is sleeved on the top of the guide post (450).

7. An intelligent working device for a robot according to claim 1 or 6, characterized in that, The bottom of the front end of the feeding tray (5) is provided with an abutment groove (51) that is adapted to the abutment part (414).

8. The intelligent working device for a robot according to claim 1, characterized in that, The upper end of the feeding rack (4) is fixed with a limiting corner block (46) and a vibration damping part (47).

9. The intelligent working device for a robot according to claim 1, characterized in that, The cabinet (1) has a U-shaped limiting notch (14) at the bottom front side, and the shelf (2) has a limiting end (22) at the bottom front side that matches the limiting notch (14). When the limiting end (22) is embedded in the limiting notch (14), the feeding notch (11) and the feeding notch (20) are connected and correspond to each other.

10. An intelligent working device for a robot according to claim 1, characterized in that, A pusher (23) is provided on the front side of the shelf (2).

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