Silkworm frame stacking manipulator

Abstract

The utility model discloses a silkworm frame stacking manipulator, which belongs to the technical field of manipulators and comprises a mechanical arm and a frame clamping mechanism arranged at the end of the mechanical arm. The frame clamping mechanism comprises a fixing frame, a connecting plate and two clamping assemblies. The connecting plate is arranged in the middle of the top face of the fixing frame and connected with the end of the mechanical arm. The two clamping assemblies are installed on the fixing frame and are arranged in a bilateral symmetry mode. The clamping assembly comprises a telescopic driving device, a clamping frame and at least two clamping jaws arranged at intervals. The telescopic driving device is fixedly installed on the fixing frame, the clamping frame is located on one side of the fixing frame and connected with the telescopic driving device, and the clamping jaw is installed on the clamping frame. The clamping jaws of the two clamping assemblies are driven by the two telescopic driving devices to get close to each other or get away from each other, the action of clamping or releasing the silkworm frames is executed, and the silkworm frame clamping device can adapt to silkworm frames of different sizes. The silkworm frame stacking device solves the problem that a frame clamping mechanism of an existing silkworm frame stacking device cannot be matched with silkworm frames of different sizes.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical hand technical field, especially a kind of silkworm frame stacking manipulator. BACKGROUND

[0002] Traditional silkworm frame carrying and stacking mainly rely on manpower, not only inefficient, but also heavy burden to workers. Chinese patent CN 218201045U proposes a frame clamping mechanism for silkworm frame unstacking and stacking, which can realize the stacking of silkworm frame in cooperation with a moving mechanism (such as a mechanical arm). The frame clamping mechanism includes a mounting frame, a driving assembly, and a frame clamping piece. The driving assembly is provided on the mounting frame, and a transmission shaft is rotatably connected to the mounting frame. The frame clamping piece is provided on the transmission shaft. The driving assembly drives the two transmission shafts to rotate towards each other, causing the oppositely distributed frame clamping pieces to exert clamping or unloading actions on the silkworm frame. However, the frame clamping mechanism needs to cooperate with silkworm frames of fixed size, otherwise it will be too tight or too loose, and cannot be applied to silkworm frames of different sizes, so the universality is poor. Therefore, it is necessary to improve the existing technology. SUMMARY

[0003] The utility model provides a kind of silkworm frame stacking manipulator, to solve the problem that the frame clamping mechanism of existing silkworm frame stacking device cannot adapt to different size silkworm frame.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is as follows:

[0005] A silkworm frame stacking manipulator includes a mechanical arm that can move arbitrarily in the vertical and horizontal directions, and a frame clamping mechanism provided at the end of the mechanical arm. The mechanical arm and the frame clamping mechanism are both electrically connected to a controller. The frame clamping mechanism includes a fixed frame, a connecting plate, and two clamping assemblies. The connecting plate is arranged in the middle of the top surface of the fixed frame and is connected to the end of the mechanical arm. The two clamping assemblies are installed on the fixed frame and are arranged symmetrically left and right.

[0006] The clamping assembly includes a telescopic driving device, a clamping frame, and at least two spaced-apart clamping jaws. The telescopic driving device is fixedly installed on the fixed frame. The clamping frame is located on one side of the fixed frame and is connected to the telescopic driving device. The clamping jaws are installed on the clamping frame and are located obliquely below the fixed frame. The clamping jaws have L-shaped clamping parts for contacting the bottom surface and the side surface of the silkworm frame body.

[0007] The clamping jaws of the two clamping assemblies are driven by the two telescopic driving devices to move towards or away from each other, thereby performing the actions of clamping or releasing the silkworm frame. The two telescopic driving devices are both electrically connected to the controller.

[0008] Further, the clamping frame comprises an upper beam, a lower beam and a connecting beam, the upper beam and the lower beam are symmetrically arranged up and down and are connected together through the connecting beam; the telescopic driving device is connected to the middle part of the upper beam, and the clamping jaw is installed on the lower beam.

[0009] Further, the clamping jaw comprises a mounting plate, a vertical plate and two horizontally arranged horizontal plates, the mounting plate is connected to the top surface of the lower beam through bolts, the top of the vertical plate is connected to the mounting plate perpendicularly, the bottom of the vertical plate is connected to the two horizontal plates perpendicularly, and the vertical plate and the two horizontal plates form the L-shaped clamping part.

[0010] Further, the top surface of the lower beam is provided with a material blocking plate, the material blocking plate is parallel to the horizontal plates of the clamping jaw, and the vertical spacing between the material blocking plate and the horizontal plates is matched with the height of the cocoon frame body.

[0011] Further, the end of the horizontal plate away from the vertical plate is inclined downward to form a first inclined part, the end of the material blocking plate away from the lower beam is inclined upward to form a second inclined part, and the projections of the first inclined part and the second inclined part on the vertical plane are in an eight-character shape.

[0012] Further, the clamping assembly further comprises two spaced-apart optical shafts, the optical shafts are telescopically installed on the fixing frame through linear bearings and are fixedly connected to the upper beam of the clamping frame, and the telescopic directions of the optical shafts are parallel to the telescopic direction of the telescopic driving device.

[0013] Further, the mechanical arm is a four-degree-of-freedom mechanical arm with four rotating joints.

[0014] Further, the controller is a PLC.

[0015] Further, the vertical plate of the clamping jaw is provided with a pressure sensor, and the pressure sensor is electrically connected to the controller.

[0016] Further, the vertical spacing between the material blocking plate and the horizontal plate is adjustable, the top surface of the lower beam is vertically provided with a sliding rail, one end of the material blocking plate is slidingly connected to the sliding rail, the sliding direction is the up-down direction, the top surface of the lower beam is further provided with an adjusting screw rod, the bottom of the adjusting screw rod is rotatably connected to the lower beam, the middle part of the adjusting screw rod is threadedly connected to the material blocking plate, and the top of the adjusting screw rod is provided with an adjusting knob.

[0017] Due to the adoption of the above technical scheme, the present application has the following beneficial effects:

[0018] 1. The frame clamping mechanism of the utility model can be applied to clamping silkworm frames of different sizes, and has good versatility. When the frame clamping mechanism clamps a silkworm frame, the two telescopic driving devices drive the two clamping frames to approach each other, and stop after moving a certain distance, so that the L-shaped clamping parts of the multiple clamping claws contact the bottom surface and the side surface of the silkworm frame body respectively, realizing clamping of the silkworm frame body. When the silkworm frame is released, the two telescopic driving devices drive the two clamping frames to move away from each other and reset to the initial state, so that the silkworm frame can be separated, and can match silkworm frames of various sizes.

[0019] 2. When the frame clamping mechanism of the utility model clamps a silkworm frame, the bottom surface of the silkworm frame body is supported by the clamping claws, so that the problem of accidental falling due to insufficient clamping force does not occur. Compared with the prior art, the silkworm frame clamping is realized by applying a large extrusion force to the side surface of the silkworm frame. The anti-falling effect of the utility model is better, and stable clamping can be achieved without applying a large clamping force, effectively avoiding the problem of damage to the silkworm frame caused by excessive clamping force. In addition, the frame clamping mechanism also has the advantages of simple structure, high reliability, good safety and the like.

[0020] 3. The utility model also provides a blocking plate on the lower beam of the clamping frame for limiting the upper part of the silkworm frame, which cooperates with the clamping claws to further improve the stability of clamping. The height of the blocking plate is adjustable to adapt to silkworm frames with different thicknesses of silkworm frame bodies, further improving the versatility.

[0021] 4. The utility model provides a first inclined part at the end of the clamping claw and a second inclined part at the end of the blocking plate. The first inclined part is inclined downward, and the second inclined part is inclined upward. The projections of the two inclined parts on the vertical plane form an eight-character shape. The cooperation of the two inclined parts is conducive to better clamping the silkworm frame body into the clamping claw to realize stable clamping of the silkworm frame.

[0022] 5. The utility model provides a pressure sensor on the clamping claw, so that the clamping force of the silkworm frame is controllable. When the clamping force reaches the set value, the telescopic driving device stops moving, thereby fixing the position of the clamping claw, ensuring that the clamping force is large enough to achieve good clamping effect, and avoiding excessive clamping force to protect the silkworm frame. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The utility model provides a three-dimensional structure schematic diagram of the silkworm frame stacking manipulator of the embodiment 1;

[0024] Figure 2 The utility model provides a left view of the silkworm frame stacking manipulator of the embodiment 1;

[0025] Figure 3 The utility model provides a front view of the silkworm frame stacking manipulator of the embodiment 1;

[0026] Figure 4The utility model discloses a top view of the silkworm frame stacking manipulator of embodiment 1 is provided.

[0027] Figure 5 It is the front view of silkworm frame.

[0028] Figure 6 The utility model discloses a front view of the frame clamping mechanism of embodiment 2 is provided.

[0029] Figure 7 The utility model discloses the installation schematic drawing of the material baffle of embodiment 3 is provided.

[0030] In the drawing, the mark is: 1 - fixed frame, 2 - connecting plate, 3 - telescopic drive arrangement, 4 - optical axis, 5 - linear bearing, 6 - upper beam, 7 - lower beam, 8 - connecting beam, 9 - clamping jaw, 10 - first inclined part, 11 - material baffle, 12 - second inclined part, 13 - base, 14 - waist support, 15 - rotary motor, 16 - big arm, 17 - small arm, 18 - end mounting seat, 19 - end motor, 20 - triangular retainer, 21 - front balance pull rod, 22 - horizontal retaining link, 23 - small arm transmission link, 24 - first turnover motor, 25 - second turnover motor, 26 - pressure sensor, 27 - slide rail, 28 - adjusting screw, 29 - silkworm frame main part, 30 - silkworm frame support foot. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model and not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0032] Embodiment 1

[0033] As shown in Figures 1-4 A silkworm frame stacking manipulator, comprising a mechanical arm movable in vertical and horizontal directions and a frame clamping mechanism arranged at the end of the mechanical arm, the mechanical arm and the frame clamping mechanism are electrically connected with a controller, and the controller controls the mechanical arm and the frame clamping mechanism to perform corresponding actions.

[0034] The frame clamping mechanism comprises a fixed frame 1, a connecting plate 2 and two clamping assemblies. The connecting plate 2 is arranged at the top middle part of the fixed frame 1 and connected with the end of the mechanical arm, and the two clamping assemblies are installed on the fixed frame 1 and arranged symmetrically left and right.

[0035] The clamping assembly comprises a telescopic driving device 3, a clamping frame and at least two clamping jaws 9 arranged at intervals. In the embodiment, two clamping jaws 9 are arranged on one clamping assembly. The telescopic driving device 3 is fixedly installed on the fixed frame 1, and the clamping frame is arranged on one side of the fixed frame 1 and connected with the telescopic driving device 3. In the embodiment, the telescopic driving device 3 is a pneumatic cylinder. The two clamping jaws 9 are arranged at intervals on the clamping frame and located obliquely below the fixed frame 1. The clamping jaw 9 has an L-shaped clamping part for contacting the bottom surface and the side surface of the cocoon frame body.

[0036] The clamping jaws 9 of the two clamping assemblies are driven by the two telescopic driving devices 3 to move close to or away from each other, thereby performing the action of clamping or releasing the cocoon frame. The two telescopic driving devices 3 are electrically connected with the controller.

[0037] Specifically, the clamping frame comprises an upper beam 6, a lower beam 7 and a connecting beam 8. The upper beam 6 and the lower beam 7 are arranged symmetrically above and below each other and connected together through the connecting beam 8. The telescopic driving device 3 is connected with the middle part of the upper beam 6, and the clamping jaw 9 is installed on the lower beam 7. The clamping jaw 9 comprises a mounting plate, a vertical plate and two horizontally arranged plates. The mounting plate is connected with the top surface of the lower beam 7 through bolts, the top of the vertical plate is connected with the mounting plate perpendicularly, the bottom of the vertical plate is connected with the two horizontal plates perpendicularly, and the vertical plate and the two horizontal plates form an L-shaped clamping part. In the specific implementation process, a plurality of bolt holes can be uniformly arranged on the top surface of the lower beam 7, and the mounting plate is installed in the bolt hole at a proper position, so that the spacing between different clamping jaws 9 on the same clamping frame can be adjusted.

[0038] In addition, the top surface of the lower beam 7 is provided with a material blocking plate 11, which is parallel to the horizontal plate of the clamping jaw 9, and the vertical spacing between the two is matched with the height of the cocoon frame body 29. The material blocking plate 11 is used for limiting the upper part of the cocoon frame, cooperating with the clamping jaw 9, and further improving the stability of clamping. The end of the horizontal plate away from the vertical plate is inclined downward to form a first inclined part 10, and the end of the material blocking plate 11 away from the lower beam 7 is inclined upward to form a second inclined part 12. The projections of the first inclined part 10 and the second inclined part 12 on the vertical plane are in the shape of an eight-character. The cooperation of the first inclined part 10 and the second inclined part 12 is conducive to better clamping the cocoon frame body 29 into the clamping jaw 9, so as to realize stable clamping of the cocoon frame.

[0039] The clamping assembly further comprises two spaced-apart optical shafts 4, which are telescopically installed on the fixed frame 1 through linear bearings 5 and fixedly connected with the upper beam 6 of the clamping frame. The telescopic direction of the optical shaft 4 is parallel to the telescopic direction of the telescopic driving device 3. The arrangement of the optical shaft 4 can improve the stability of the clamping frame moving horizontally with the telescopic driving device 3.

[0040] As shown in FIG. 1, the cocoon frame 2 is placed on the fixed frame 1, and the clamping assembly is used to clamp the cocoon frame 2. The telescopic driving device 3 drives the clamping jaw 9 to move close to the cocoon frame 2, and the L-shaped clamping part of the clamping jaw 9 is in contact with the bottom surface and the side surface of the cocoon frame body 29, thereby clamping the cocoon frame 2. The telescopic driving device 3 drives the clamping jaw 9 to move away from the cocoon frame 2, and the cocoon frame 2 is released. Figure 5As shown, the reeling frame includes a reeling frame body 29 and a reeling frame support foot 30, when stacking, the reeling frame support foot 30 of the upper reeling frame extends into the reeling frame body 29 of the lower reeling frame, and the stacking is realized from bottom to top.

[0041] The frame clamping mechanism of the utility model can be applicable to clamping reeling frames of different sizes, and has good versatility. When the frame clamping mechanism clamps the reeling frame, the two telescopic driving devices 3 drive the two clamping frames to approach each other, and stop after moving a certain distance, which can be set according to actual conditions, so that the L-shaped clamping parts of the plurality of clamping claws 9 respectively contact the bottom surface and the side surface of the reeling frame body 29, and the clamping of the reeling frame body 29 is realized. When the reeling frame is released, the two telescopic driving devices 3 drive the two clamping frames to move away from each other and reset to the initial state, that is, the reeling frame can be separated, and can match reeling frames of various sizes.

[0042] When the frame clamping mechanism of the utility model clamps the reeling frame, the bottom surface of the reeling frame body 29 is supported by the clamping claw 9, so that the problem of accidental falling due to too small clamping force does not occur. Compared with the prior art, the reeling frame clamping is realized by applying a large extrusion force to the side surface of the reeling frame, the anti-falling effect of the utility model is better, and the reeling frame can be stably clamped without applying a large clamping force, effectively avoiding the problem of damage to the reeling frame due to too large clamping force. In addition, the frame clamping mechanism also has the advantages of simple structure, high reliability, good safety and the like.

[0043] In addition, the mechanical arm is a four-degree-of-freedom mechanical arm with four rotating joints, and the controller is a PLC. In this embodiment, the mechanical arm comprises a base 13, a waist support 14, a rotating motor 15, a large arm 16, a small arm 17, an end mounting seat 18, an end motor 19, a triangular retaining frame 20, a front balance pull rod 21, a horizontal retaining link 22, a small arm transmission link 23, a first overturning motor 24, and a second overturning motor 25. The waist support 14 is rotatably installed on the base 13, and the rotating motor 15 is installed on the waist support 14 to drive the waist support 14 to rotate relative to the base 13. One end of the large arm 16 is hingedly connected to the waist support 14, the other end is hingedly connected to one end of the small arm 17, the other end of the small arm 17 is hingedly connected to the end mounting seat 18, and the end motor 19 is installed on the end mounting seat 18 and connected to the connecting plate 2 of the frame clamping mechanism. One corner of the triangular retaining frame 20 is hingedly connected to the end of the large arm 16 away from the waist support 14, and the other two corners are respectively hingedly connected to one end of the front balance pull rod 21 and one end of the horizontal retaining link 22. The other end of the front balance pull rod 21 is hingedly connected to the end mounting seat 18, and the other end of the horizontal retaining link 22 is hingedly connected to the waist support 14. One end of the small arm transmission link 23 is hingedly connected to the end of the small arm away from the end mounting seat, and the other end is hingedly connected to the waist support 14. The first overturning motor 24 for driving the large arm 16 to overturn and the second overturning motor 25 for driving the small arm 17 to overturn are installed on the waist support 14, the first overturning motor 24 is in transmission connection with the large arm 16, and the second overturning motor 25 is in transmission connection with the small arm transmission link 23. The rotating motor 15, the end motor 19, the first overturning motor 24, and the second overturning motor 25 are electrically connected to the controller. The controller can be installed on the waist support 14 or in a ground-mounted control box.

[0044] The mechanical arm is designed in this way, so that the frame clamping mechanism always maintains approximately parallel to the ground plane during movement, thereby ensuring that the frame clamping mechanism can stably transport the reeling frame to the stacking point, and has good stability.

[0045] Embodiment 2

[0046] As shown in Figure 6 In this embodiment based on embodiment 1, a pressure sensor 26 is arranged on the vertical plate of the clamping jaw 9, and the pressure sensor 26 is electrically connected to the controller. The arrangement of the pressure sensor 26 makes the clamping force on the reeling frame controllable. When it is detected that the clamping force reaches a set value, the extension and retraction driving device 3 is stopped to fix the position of the clamping jaw 9, so as to ensure that the clamping force is large enough to have a good clamping effect, and also to avoid that the clamping force is too large to protect the reeling frame. In this embodiment, the extension and retraction driving device 3 can adopt an electric push rod.

[0047] Embodiment 3

[0048] As shown in Figure 7As shown, on the basis of the embodiment 1, in the embodiment, the vertical spacing between the material baffle 11 and the cross plate is adjustable, that is, the material baffle 11 can move up and down. Wherein, the top surface of the lower beam 7 is vertically provided with a sliding rail 27, one end of the material baffle 11 is slidably connected with the sliding rail 27, the sliding direction is upward and downward, the top surface of the lower beam 7 is further provided with an adjusting screw 28, the bottom of the adjusting screw 28 is rotatably connected with the lower beam 7, the middle part is threadedly connected with the material baffle 11, and the top is provided with an adjusting knob. The height of the material baffle 11 is adjustable, so as to adapt to the reeling frame with different thicknesses of the reeling frame main body 29, and the universality is further improved. When it is necessary to adjust the height of the material baffle 11, only the adjusting knob on the adjusting screw 28 needs to be rotated, and the advantages of simple structure and convenient operation are achieved.

[0049] The above description is a detailed description of the preferred and feasible embodiment of the utility model, but the embodiment is not used to limit the patent application range of the utility model, and any equivalent change or modification change completed under the technical spirit of the utility model should belong to the patent range covered by the utility model.

Claims

1. A reeling frame stacking manipulator, comprising a mechanical arm capable of moving in vertical and horizontal directions and a frame clamping mechanism arranged at the end of the mechanical arm, the mechanical arm and the frame clamping mechanism are electrically connected with a controller, characterized in that: The clamping frame mechanism comprises a fixed frame, a connecting plate and two clamping assemblies; the connecting plate is arranged at the middle of the top surface of the fixed frame and connected with the end of the mechanical arm, and the two clamping assemblies are symmetrically arranged on the fixed frame; The clamping assembly comprises a telescopic driving device, a clamping frame and at least two clamping jaws arranged at intervals; the telescopic driving device is fixedly arranged on the fixed frame, and the clamping frame is arranged on one side of the fixed frame and connected with the telescopic driving device; the clamping jaws are arranged on the clamping frame and located obliquely below the fixed frame; the clamping jaws have L-shaped clamping portions for contacting the bottom surface and the side surface of the cocoon frame body; The clamping jaws of the two clamping assemblies are driven by the two telescopic driving devices to approach or move away from each other to clamp or release the cocoon frame, and the two telescopic driving devices are electrically connected with the controller.

2. The mechanical hand according to claim 1, characterized in that: The clamping frame comprises an upper beam, a lower beam and a connecting beam; the upper beam and the lower beam are symmetrically arranged above and below and connected together through the connecting beam; the telescopic driving device is connected with the middle of the upper beam, and the clamping jaws are arranged on the lower beam.

3. The mechanical hand according to claim 2, characterized in that: The clamping jaw comprises a mounting plate, a vertical plate and two horizontally arranged horizontal plates; the mounting plate is connected with the top surface of the lower beam through bolts; the top of the vertical plate is connected with the mounting plate perpendicularly; the bottom of the vertical plate is connected with the two horizontal plates perpendicularly; and the vertical plate and the two horizontal plates form the L-shaped clamping portion.

4. The mechanical hand according to claim 3, characterized in that: The top surface of the lower beam is provided with a material blocking plate; the material blocking plate is parallel to the horizontal plates of the clamping jaws, and the vertical distance between the material blocking plate and the horizontal plates matches the height of the cocoon frame body.

5. The mechanical hand according to claim 4, characterized in that: The end of the horizontal plate away from the vertical plate is inclined downward to form a first inclined portion, and the end of the material blocking plate away from the lower beam is inclined upward to form a second inclined portion; the projections of the first inclined portion and the second inclined portion on the vertical plane are in the shape of an eight-character.

6. The mechanical hand according to claim 5, wherein: The clamping assembly further comprises two spaced optical shafts; the optical shafts are telescopically arranged on the fixed frame through linear bearings and fixedly connected with the upper beam of the clamping frame; and the telescopic directions of the optical shafts are parallel to the telescopic directions of the telescopic driving devices.

7. The mechanical hand according to claim 1, characterized in that: The mechanical arm is a four-degree-of-freedom mechanical arm with four rotating joints.

8. The mechanical hand according to claim 1, characterized in that: The controller is a PLC.

9. The mechanical hand according to claim 3, characterized in that: A pressure sensor is arranged on the vertical plate of the clamping jaw, and the pressure sensor is electrically connected with the controller.

10. The mechanical hand according to claim 4, characterized in that: The vertical distance between the material blocking plate and the horizontal plates is adjustable; the top surface of the lower beam is vertically provided with a sliding rail, one end of the material blocking plate is slidingly connected with the sliding rail in the upward and downward direction, the top surface of the lower beam is further provided with an adjusting screw, the bottom of the adjusting screw is rotatably connected with the lower beam, the middle part of the adjusting screw is threadedly connected with the material blocking plate, and the top of the adjusting screw is provided with an adjusting knob.

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