Composite collaborative robot feeding and discharging device

Abstract

The utility model relates to the technical field of composite collaborative robots, and discloses a composite collaborative robot feeding and discharging device which comprises a base, a fixing frame is fixed to the top of the base, a fixing frame is rotatably connected to the top of the fixing frame, a connecting table is slidably connected to the surface of the fixing frame, and a third motor is fixed to the top of the connecting table. According to the composite collaborative robot feeding and discharging device, through the arranged butt joint assembly, during installation, a fixing cylinder is inserted into an installation groove, meanwhile, a clamping block enters a limiting groove, the inner wall of the limiting groove abuts against the side, away from the inclined face, of the clamping block, and the clamping block is clamped in the limiting groove; the mounting holes between the connecting frame and the stabilizing frame are aligned, the connecting frame and the stabilizing frame can be normally fixed through bolts, mistaken touch deviation is avoided, the mounting efficiency is improved, and the connecting frame and the stabilizing frame can be conveniently disassembled and conveniently replaced in the follow-up process through the releasing part.

Description

Technical Field

[0001] This utility model relates to the field of composite collaborative robot technology, specifically a composite collaborative robot loading and unloading device. Background Technology

[0002] A collaborative robot is a type of robot that integrates the functions of an AGV (Automated Guided Vehicle) mobile robot and a general-purpose industrial robot. Traditional AGVs are only responsible for handling or lifting, while collaborative robots can combine multiple mechanical devices into one unit to perform tasks such as handling, walking, and palletizing.

[0003] According to a public notice (publication number: CN213703483U) of a loading and unloading device for collaborative robots, the second connecting plate is removed by fixing bolt number two, replaced with other types of clamps, and then fixed to the first connecting plate by fixing bolt number two. This makes it easy to replace different clamps, expands the application range of the device, is more practical, and has a better effect than the traditional method.

[0004] However, in actual operation, this solution still has some shortcomings. Especially when changing fixtures and reinstalling, it is necessary to ensure that the mounting holes between connecting plates one and two are precisely aligned for bolt fixing. This step often relies on the operator's skill and experience, is not only time-consuming and labor-intensive, but also prone to errors. If accidental contact or improper operation occurs during installation, misalignment between the mounting holes may occur, thus affecting the installation efficiency and stability of the entire device. Utility Model Content

[0005] The purpose of this invention is to provide a composite collaborative robot loading and unloading device to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a composite collaborative robot loading and unloading device, comprising a base, a fixed frame fixed to the top of the base, a fixed bracket rotatably connected to the top of the fixed frame, a connecting platform slidably connected to the surface of the fixed bracket, a motor three fixed to the top of the connecting platform, the output shaft of the motor three passing through the connecting platform, and a connecting bracket fixed to the bottom of the output shaft of the motor three, a stabilizing frame provided below the connecting bracket, and docking components for easy docking and installation by personnel, as well as protective components to prevent accidental separation, the docking components including:

[0007] The mounting slot is located at the top of the stabilizer, and a limiting groove is formed on the inner wall of the mounting slot.

[0008] Preferably, the docking assembly further includes a fixing cylinder, which is fixed to the bottom of the connecting frame. The fixing cylinder has a cavity inside, and a cross plate is fixed to the inner wall of the cavity. A sliding groove is formed on the surface of the cross plate. A locking block is slidably connected to the inner wall of the sliding groove. A spring is fixed to the surface of the locking block. The end of the spring away from the locking block is fixed to the inner wall of the sliding groove. The docking assembly also includes a release component. When the fixing cylinder is inserted into the mounting groove, the locking block can be moved into the limiting groove by the spring. The inner wall of the limiting groove abuts against the side of the locking block away from the inclined surface, thereby limiting the mutual positioning of the connecting frame and the stabilizing frame.

[0009] Preferably, the releasing component includes an abutment groove formed on the surface of the locking block. A second cavity is formed inside the connecting frame, and a rotating plate is rotatably connected to the inner wall of the second cavity. An arc-shaped hole is formed on the surface of the rotating plate, and a long rod abuts against the inner wall of the arc-shaped hole. Through holes are formed on the surfaces of the connecting frame, the fixing cylinder, and the cross plate. The bottom of the long rod passes through the through hole and extends into the abutment groove. A moving block is fixed to the end of the long rod away from the through hole. The moving block is slidably connected to the inner wall of the second cavity, and a fixing block is fixed to the inner wall of the second cavity. A second spring is fixed to the surface of the movable block. The end of the second spring away from the movable block is fixed to the surface of the fixed block. There are four sets of movable blocks, and the four sets of movable blocks are arranged in a circular array with the center of the cavity two as the axis. A connecting rod is rotatably connected to the surface of one of the four sets of movable blocks. The end of the connecting rod away from the movable block passes through the connecting frame. Pushing the connecting rod causes the movable blocks to move synchronously. When the long rod touches the inner wall of the arc-shaped hole, it can drive the rotating plate to rotate forward. Each long rod and movable block moves radially synchronously. At the same time, the surface of the long rod touches the inner wall of the contact groove, which can drive the locking block to disengage from the limiting groove.

[0010] Preferably, the protective component includes a ring, which is fixed to the surface of one of the four sets of movable blocks. A spiral spring is fixed to the inner side of the ring, and the end of the spiral spring away from the ring is fixed to the surface of the connecting rod. An abutment plate is fixed to the surface of the connecting rod, and a connecting groove is formed on the surface of the connecting frame. When the surface of the abutment plate abuts against the surface of the connecting frame, the connecting rod cannot move, which can prevent accidental external contact and the block from disengaging from the limiting groove.

[0011] Preferably, a motor is fixed to the inner side of the fixed frame, the output shaft of the motor passes through the fixed frame and is fixed to the bottom of the fixed frame, a motor is fixed to the top of the fixed frame, a screw is rotatably connected to the inner wall of the fixed frame, the screw passes through a connecting platform, the connecting platform is threaded to the screw, the end of the connecting platform away from the screw passes through the fixed frame and is slidably connected to the fixed frame, the output shaft of the motor is passed through the fixed frame and is fixed to the top of the screw, a cylinder is fixed to the bottom of the stable frame, a clamp is fixed to the output end of the cylinder, and the clamp is slidably connected to the surface of the stable frame. By controlling the motor, the overall angle can be adjusted; by the motor, the screw drives the connecting platform to move up and down; by the motor, the angle of the connecting frame, the stable frame, and the object can be adjusted; the cylinder clamps or releases the object, realizing convenient loading and unloading operations.

[0012] Preferably, the end of the locking block away from the spring is set as an inclined surface, which allows the locking block to move when it is pressed.

[0013] Compared with the prior art, this utility model provides a composite collaborative robot loading and unloading device, which has the following beneficial effects:

[0014] 1. The loading and unloading device of this composite collaborative robot, through the set docking components, allows the fixed cylinder to be inserted into the installation groove during installation, while the locking block enters the limiting groove. The inner wall of the limiting groove abuts against the side of the locking block away from the inclined surface, which can limit the mutual positioning of the connecting frame and the stabilizing frame. The mounting holes between the connecting frame and the stabilizing frame are aligned, and they can be fixed normally with bolts without accidental contact or displacement, thus improving installation efficiency. The release component allows for easy disassembly and subsequent replacement.

[0015] 2. The loading and unloading device of this composite collaborative robot, through the setting of protective components, prevents the connecting rod from moving when the block and the limiting groove are mutually limited, and when the surface of the contact plate and the surface of the connecting frame are in contact, thus avoiding external accidental contact and preventing the block from dislodging from the limiting groove, which would affect the subsequent bolt fixing. Attached Figure Description

[0016] Figure 1 This is a front view structural diagram of the present invention;

[0017] Figure 2 This is a schematic diagram of the internal structure of this utility model;

[0018] Figure 3 This is a front view structural diagram of the connecting frame and stabilizing frame of this utility model;

[0019] Figure 4 This is a partial cross-sectional structural diagram of the connecting frame, docking assembly, and protective assembly of this utility model;

[0020] Figure 5This is a top view sectional view of the connecting frame, docking assembly, and protective assembly of this utility model.

[0021] Figure 6 This is a cross-sectional structural diagram of the docking component and the protective component of this utility model.

[0022] In the diagram: 1. Base; 2. Fixing frame; 3. Motor 1; 4. Fixing bracket; 5. Motor 2; 6. Screw; 7. Connecting platform; 10. Motor 3; 11. Connecting bracket; 12. Stabilizing bracket; 13. Cylinder; 14. Clamping plate; 8. Docking assembly; 80. Mounting slot; 81. Limiting slot; 82. Fixing cylinder; 83. Cavity 1; 84. Cross plate; 85. Slide groove; 86. Locking block; 87. Spring 1; 88. Release component; 880. Contact groove; 881. Cavity 2; 882. Rotating plate; 883. Through hole; 884. Arc hole; 885. Long rod; 886. Moving block; 887. Spring 2; 888. Connecting rod; 889. Fixing block; 9. Protective assembly; 90. Ring; 91. Spiral spring; 92. Contact plate; 93. Connecting slot. Detailed Implementation

[0023] like Figures 1-6 As shown, this utility model provides a technical solution: a composite collaborative robot loading and unloading device, including a base 1, a fixed frame 2 fixed to the top of the base 1, a fixed bracket 4 rotatably connected to the top of the fixed frame 2, a connecting platform 7 slidably connected to the surface of the fixed bracket 4, a motor 10 fixed to the top of the connecting platform 7, the output shaft of the motor 10 passing through the connecting platform 7, and a connecting frame 11 fixed to the bottom of the output shaft of the motor 10. A stabilizing frame 12 is provided below the connecting frame 11. The stabilizing frame 12 and the connecting frame 1... The surface of 1 is provided with a docking component 8 for easy docking and installation by personnel and a protective component 9 to prevent accidental separation. The docking component 8 includes: a mounting groove 80, a limiting groove 81, a fixing cylinder 82, a cavity 1 83, a cross plate 84, a sliding groove 85, a locking block 86, a spring 1 87, a release component 88, a contact groove 880, a cavity 2 881, a rotating plate 882, a through hole 883, an arc-shaped hole 884, a long rod 885, a moving block 886, a spring 2 887, a connecting rod 888, and a fixing block 889.

[0024] The mounting groove 80 is located at the top of the stabilizer 12. The inner wall of the mounting groove 80 has a limiting groove 81. The docking assembly 8 also includes a fixing cylinder 82, which is fixed to the bottom of the connecting frame 11. The fixing cylinder 82 has a cavity 83 inside, and a cross plate 84 is fixed to the inner wall of the cavity 83. A sliding groove 85 is provided on the surface of the cross plate 84. A locking block 86 is slidably connected to the inner wall of the sliding groove 85. A spring 87 is fixed to the surface of the locking block 86. The end of the spring 87 away from the locking block 86 is fixed to the inner wall of the sliding groove 85. The docking assembly 8 also includes a release member 88. When the fixing cylinder 82 is inserted into the mounting groove 80, the locking block 86 can be moved into the limiting groove 81 by the spring 87. The inner wall of the limiting groove 81 abuts against the side of the locking block 86 away from the inclined surface, so that the connecting frame 11 and the stabilizer 12 are mutually limited. The mounting holes between the connecting frame 11 and the stabilizer 12 are aligned and can be fixed normally by bolts.

[0025] The release component 88 includes an abutment groove 880, which is formed on the surface of the locking block 86. A cavity 881 is formed inside the connecting frame 11. A rotating plate 882 is rotatably connected to the inner wall of the cavity 881. An arc-shaped hole 884 is formed on the surface of the rotating plate 882. A long rod 885 abuts against the inner wall of the arc-shaped hole 884. Through holes 883 are formed on the surfaces of the connecting frame 11, the fixing cylinder 82, and the cross plate 84. The bottom of the long rod 885 passes through the through hole 883 and extends into the abutment groove 880. A moving block 886 is fixed to the end of the long rod 885 away from the through hole 883. The moving block 886 is slidably connected to the inner wall of the cavity 881. A fixing block 889 is fixed to the inner wall of the cavity 881. A spring 88 is fixed to the surface of the moving block 886. 7. The end of spring 887 away from moving block 886 is fixed to the surface of fixed block 889. There are four sets of moving blocks 886, and the four sets of moving blocks 886 are arranged in a circular array with the center of cavity 881 as the axis. The surface of one of the four sets of moving blocks 886 is rotatably connected to a connecting rod 888. The end of the connecting rod 888 away from moving block 886 passes through the connecting frame 11. Pushing the connecting rod 888 causes the moving block 886 to move synchronously. The long rod 885 abuts against the inner wall of the arc hole 884, which can drive the rotating plate 882 to rotate forward. Each long rod 885 and moving block 886 moves radially synchronously. At the same time, the surface of the long rod 885 abuts against the inner wall of the contact groove 880, which can drive the locking block 86 to disengage from the limiting groove 81. The connecting frame 11 and the stabilizing frame 12 are separated for easy disassembly.

[0026] The protective component 9 includes a ring 90, which is fixed to the surface of one of the four sets of movable blocks 886. A spiral spring 91 is fixed to the inside of the ring 90. The end of the spiral spring 91 away from the ring 90 is fixed to the surface of the connecting rod 888. An abutment plate 92 is fixed to the surface of the connecting rod 888. A connecting groove 93 is opened on the surface of the connecting frame 11. When the surface of the abutment plate 92 abuts against the surface of the connecting frame 11, the connecting rod 888 cannot move, which can prevent external accidental contact and the jamming block 86 from disengaging from the limiting groove 81, affecting the subsequent bolt fixing.

[0027] Motor 1 3 is fixed to the inside of the fixed frame 2. The output shaft of motor 1 3 passes through the fixed frame 2 and is fixed to the bottom of the fixed bracket 4. Motor 2 5 is fixed to the top of the fixed bracket 4. A screw 6 is rotatably connected to the inner wall of the fixed bracket 4. A connecting platform 7 passes through the screw 6 and is threaded to the screw 6. The end of the connecting platform 7 away from the screw 6 passes through the fixed bracket 4 and is slidably connected to the fixed bracket 4. The output shaft of motor 2 5 passes through the fixed bracket 4 and is fixed to the top of the screw 6. The bottom of the stabilizer 12 is fixed with... Cylinder 13 has a clamping plate 14 fixed to its output end. The clamping plate 14 is slidably connected to the surface of the stabilizer 12. By turning on motor 3, the angles of the fixed frame 4, connecting platform 7, connecting frame 11, and stabilizer 12 can be adjusted. Controlling cylinder 13 allows the clamping plate 14 to clamp or release the object, enabling loading and unloading. Simultaneously, controlling motor 5 to rotate forward and backward allows the screw 6 to move the connecting platform 7 downward or downward, facilitating loading and unloading. Controlling motor 10 allows the angles of the object, connecting frame 11, and stabilizer 12 to be adjusted, facilitating loading and unloading. The end of the locking block 86 away from spring 87 is set as an inclined surface, which allows the locking block 86 to move when it is pressed.

[0028] During installation, the stabilizer 12 and connecting frame 11 are aligned. The fixing cylinder 82 is then inserted into the mounting groove 80, where the inner wall of the mounting groove 80 abuts against the inclined surface of the locking block 86, allowing the locking block 86 to enter the sliding groove 85. At this point, the spring 87 is compressed. When the locking block 86 is parallel to the limiting groove 81, the spring 87 is released, causing the locking block 86 to enter the limiting groove 81. The inner wall of the limiting groove 81 then abuts against the side of the locking block 86 away from the inclined surface, thus mutually limiting the connection frame 11 and the stabilizer 12. At this point, the connection frame 11 and the stabilizer 12... With the mounting holes aligned, bolts can be used for secure fixing without accidental contact, which could lead to misalignment and affect installation efficiency. During use, activating motor 3 adjusts the angles of the fixing frame 4, connecting platform 7, connecting frame 11, and stabilizing frame 12. Controlling cylinder 13 allows clamping or releasing of the clamping plate 14 for loading and unloading. Simultaneously, controlling motor 5 in forward and reverse rotation moves the screw 6, causing the connecting platform 7 to move downwards or downwards, facilitating loading and unloading. Controlling motor 3 10 adjusts the angles of the object, connecting frame 11, and stabilizing frame 12 for convenient... During loading and unloading, when different clamps need to be changed, the bolts are removed, and the connecting rod 888 is rotated, which drives the contact plate 92 to rotate. The spiral spring 91 is then wound up. When the contact plate 92 is parallel to the connecting groove 93, the connecting rod 888 is pushed, and the moving block 886 moves synchronously, causing the long rod 885 to abut against the inner wall of the arc-shaped hole 884. This drives the rotating plate 882 to rotate forward, which in turn drives the long rods 885 and the moving block 886 to move radially synchronously. At the same time, the surface of the long rod 885 abuts against the inner wall of the contact groove 880, which causes the locking block 86 to disengage from the limiting groove 81. When spring 887 is compressed, the connecting frame 11 and the stabilizer 12 can be separated for easy disassembly. When the connecting rod 888 is released, spring 887 and the spiral spring 91 are released, which allows the moving block 886, the long rod 885, the locking block 86, the connecting rod 888, and the contact plate 92 to return to their original positions. At this time, the surface of the contact plate 92 is in contact with the surface of the connecting frame 11. When replacing, the above steps can be repeated. When the surface of the contact plate 92 is in contact with the surface of the connecting frame 11, the connecting rod 888 cannot move, which can prevent external accidental contact and the locking block 86 from disengaging from the limiting groove 81, affecting the subsequent bolt fixing.

[0029] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.

Claims

1. A composite collaborative robot loading and unloading device, comprising a base (1), characterized in that: The top of the base (1) is fixed with a fixed frame (2), the top of the fixed frame (2) is rotatably connected with a fixed frame (4), the surface of the fixed frame (4) is slidably connected with a connecting table (7), the top of the connecting table (7) is fixed with a motor three (10), the output shaft of the motor three (10) penetrates the connecting table (7), and the bottom of the output shaft of the motor three (10) is fixed with a connecting frame (11), the lower portion of the connecting frame (11) is provided with a stabilizing frame (12), the surface of the stabilizing frame (12) and the connecting frame (11) is provided with a docking assembly (8) for facilitating personnel to dock and install and a protection assembly (9) for preventing separation due to accidental touch, the docking assembly (8) comprises: a mounting groove (80) opened in the top of the stabilizing frame (12), and a limiting groove (81) is opened in the inner wall of the mounting groove (80).

2. The composite collaborative robot loading and unloading device according to claim 1, wherein: The docking assembly (8) further comprises a fixed cylinder (82) fixed at the bottom of the connecting frame (11), a cavity one (83) is opened in the inside of the fixed cylinder (82), a cross plate (84) is fixed on the inner wall of the cavity one (83), a sliding groove (85) is opened on the surface of the cross plate (84), a clamping block (86) is slidably connected with the inner wall of the sliding groove (85), a spring one (87) is fixed on the surface of the clamping block (86), the end of the spring one (87) away from the clamping block (86) is fixed on the inner wall of the sliding groove (85), and the docking assembly (8) further comprises a release member (88).

3. The composite collaborative robot loading and unloading device according to claim 2, wherein: The release member (88) comprises a resisting groove (880) opened on the surface of the clamping block (86), a cavity two (881) is opened in the inside of the connecting frame (11), a rotating plate (882) is rotatably connected with the inner wall of the cavity two (881), an arc-shaped hole (884) is opened on the surface of the rotating plate (882), a long rod (885) is abutted with the inner wall of the arc-shaped hole (884), through holes (883) are opened on the surfaces of the connecting frame (11), the fixed cylinder (82) and the cross plate (84), the bottom of the long rod (885) penetrates the through holes (883), and the long rod (885) extends into the resisting groove (880), a moving block (886) is fixed on the end of the long rod (885) away from the through holes (883), the moving block (886) is slidably connected with the inner wall of the cavity two (881), a fixed block (889) is fixed on the inner wall of the cavity two (881), a spring two (887) is fixed on the surface of the moving block (886), the end of the spring two (887) away from the moving block (886) is fixed on the surface of the fixed block (889), the moving block (886) is provided with four groups, and the four groups of moving blocks (886) are circumferentially arranged with the center of the cavity two (881) as the axis, the surface of one of the four groups of moving blocks (886) is rotatably connected with a connecting rod (888), and the end of the connecting rod (888) away from the moving block (886) penetrates the connecting frame (11).

4. The composite collaborative robot loading and unloading device according to claim 3, wherein: The protection assembly (9) includes a circular ring (90) fixed on the surface of one of the four groups of moving blocks (886), the inner side of the circular ring (90) is fixed with a volute spring (91), one end of the volute spring (91) away from the circular ring (90) is fixed on the surface of a connecting rod (888), the surface of the connecting rod (888) is fixed with a resisting plate (92), the surface of the connecting frame (11) is provided with a connecting groove (93).

5. The composite collaborative robot loading and unloading device of claim 1, wherein: The inner side of the fixed frame (2) is fixed with a motor one (3), the output shaft of the motor one (3) penetrates through the fixed frame (2), and the output shaft of the motor one (3) is fixed at the bottom of the fixed frame (4), the top of the fixed frame (4) is fixed with a motor two (5), the inner wall of the fixed frame (4) is rotatably connected with a screw rod (6), the screw rod (6) penetrates through a connecting table (7), the connecting table (7) is threadedly connected with the screw rod (6), one end of the connecting table (7) away from the screw rod (6) penetrates through the fixed frame (4), and the connecting table (7) is slidably connected with the fixed frame (4), the output shaft of the motor two (5) penetrates through the fixed frame (4), and the output shaft of the motor two (5) is fixed at the top of the screw rod (6), the bottom of the stabilizing frame (12) is fixed with an air cylinder (13), the output end of the air cylinder (13) is fixed with a clamping plate (14), and the clamping plate (14) is slidably connected on the surface of the stabilizing frame (12).

6. The composite collaborative robot loading and unloading device of claim 2, wherein: The end of the clamping block (86) away from the spring one (87) is provided as an inclined surface.

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