Automatic feeding manipulator

Abstract

The utility model relates to the technical field of mechanical arms, in particular to an automatic feeding mechanical arm which comprises a lower base, a first motor, a first track, a first sliding block, a first bottom plate, a second track, a second sliding block, a second motor and a lead screw. Comprising a third motor, a third rail and a third sliding block to control the tool panel to move in the left-right direction. According to the technical scheme, the problems that in EPS building module production, the embedded part feeding efficiency is low, the manual operation danger coefficient is high, the equipment occupied space is large, and the positioning precision is insufficient are solved, and the automation level and the production safety are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to an automatic feeding robotic arm. Background Technology

[0002] EPS (expandable polystyrene) building modules are a new type of building material with advantages such as thermal insulation and convenient construction. In the production process of EPS building modules, the embedded parts are mainly fed manually. Manual operation has a high risk factor. Therefore, automatic feeding robots play an important role, which can improve production efficiency, reduce labor intensity, and ensure feeding accuracy. Utility Model Content

[0003] This utility model proposes an automatic feeding robot, which solves the problems of low efficiency, high operation difficulty, and high risk factor in the loading of embedded parts in the prior art.

[0004] The technical solution of this utility model is as follows: An automatic feeding robot includes a lower base, two parallel tracks are installed inside the lower base along its length, a base plate is provided on the lower base, a motor is installed on the base plate via a motor mount, a rack is also installed inside the lower base, the rack is parallel to the tracks, a gear is installed at the bottom output end of the motor to mesh with the rack, and a slider is also installed at the bottom end of the base plate to slide in cooperation with the two tracks.

[0005] Two parallel tracks and a lead screw are mounted on the base plate, and the tracks and lead screw are perpendicular to the tracks. A slider is mounted on the track and slides therewith, and the top of the two sliders is mounted on the base plate. A lead screw nut is connected to the bottom of the base plate. The lead screw is parallel to the track and located between the two tracks. The lead screw thread passes through the lead screw nut, and a motor is mounted on one end of the lead screw. The motor is mounted on the base plate through a motor bracket, and the output end of the motor is connected to the lead screw for transmission.

[0006] The top of the second base plate is connected to two pillars via an upper base. The two pillars are parallel in the longitudinal direction, and two transverse frames are installed on the front side of the two pillars. The transverse frames are set perpendicular to the pillars. A drive mechanism is installed on one side of the upper transverse frame. Tracks three are installed on the opposite ends of the two transverse frames, and the tracks three are parallel to the transverse frames.

[0007] Each pair of sliders is equipped with a transverse sliding frame, and one side of the two transverse sliding frames is connected by a connecting rod.

[0008] The drive mechanism includes a fixed frame and a motor three. The fixed frame is arranged parallel to one side of the transverse frame and is connected to the top of the two pillars. The motor three is mounted on the transverse sub-frame located on the upper side through a motor mount. A rack two is mounted on the fixed frame, and a gear two is mounted on the output end of the motor three. The gear two meshes with the rack two.

[0009] Tooling panels are installed on the front side of the two transverse sliding sub-frames, and clamps are installed on the front side of the tooling panels for clamping embedded parts.

[0010] Furthermore, track one and track three are arranged in parallel.

[0011] Preferably, each of the tracks is provided with at least two sliders.

[0012] Preferably, at least two sliders are provided on each of the two tracks.

[0013] Preferably, each of the three tracks is provided with at least two sliders.

[0014] Furthermore, the tooling panel is provided with multiple mounting feet on the rear side, and the mounting feet are installed with the transverse sliding sub-frame by bolts.

[0015] Preferably, motor one, motor two and motor three are all servo motors.

[0016] Furthermore, a limit block is provided on the inner wall of the lower base.

[0017] Furthermore, the lower base is rectangular, and multiple support feet are provided at the bottom of the lower base.

[0018] The beneficial effects of this utility model are as follows:

[0019] 1. In this utility model, by adopting a double-speed structure, the lateral stroke movement is increased, which effectively shortens the overall length of the robot and reduces the equipment footprint. At the same time, with the cooperation of independently used servo motors, gears and racks, and the lateral movement design of the guide rail slider, the running accuracy and speed are improved, significantly improving the equipment's operating efficiency and service life, reducing maintenance costs, and adapting to high-frequency production needs.

[0020] 2. In this utility model, through the shape and structural design of the lower base, base plate one, base plate two, support column, transverse frame and transverse sub-frame, and its multi-axis collaborative layout, redundant components are reduced, the overall space size of the equipment is greatly reduced, it is suitable for narrow production environments, and the deployment flexibility of the equipment is improved.

[0021] 4. In this utility model, the tooling panel is connected by bolts to achieve independent and quick replacement, adapting to different specifications of embedded parts, reducing downtime for adjustment, and improving production flexibility and continuity.

[0022] 5. In this utility model, the sliding on track one, track two and track three is independently driven by motor one, motor two and motor three respectively, realizing precise positioning in three-dimensional space. Combined with screw drive and gear rack structure, transmission gap is eliminated and the error in the placement of embedded parts is reduced. Attached Figure Description

[0023] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[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 present invention from another angle;

[0026] Figure 3 This is a structural schematic diagram of the present invention with the transverse sliding frame and the transverse sliding sub-frame separated.

[0027] Figure 4 This is a structural diagram of the lower base, base plate one, and base plate two of this utility model in their separated states;

[0028] Figure 5 This is a structural schematic diagram of the base plate, motor, and gear of this utility model from a bottom view.

[0029] In the diagram: 1. Lower base; 2. Rail 1; 3. Base plate 1; 4. Motor 1; 5. Rack 1; 6. Gear 1; 7. Slider 1; 8. Rail 2; 9. Slider 2; 10. Base plate 2; 11. Lead screw; 12. Motor 2; 13. Lead screw nut; 14. Support column; 15. Horizontal moving frame; 16. Rail 3; 17. Horizontal moving sub-frame; 18. Connecting rod; 19. Fixed frame; 20. Motor 3; 21. Rack 2; 22. Gear 2; 23. Tooling panel; 24. Mounting leg; 25. Limit block; 26. Support leg base. Detailed Implementation

[0030] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this utility model.

[0031] like Figures 1-5As shown, this embodiment proposes an automatic feeding robot, including a lower base 1. Two parallel tracks 2 are installed inside the lower base 1 along its length. A base plate 3 is provided on the lower base 1, and a motor 4 is mounted on the base plate 3 via a motor mount. A rack 5 is also installed inside the lower base 1, parallel to the tracks 2. A gear 6 that meshes with the rack 5 is installed at the bottom output end of the motor 4. A slider 7 that slides with the two tracks 2 is also installed at the bottom end of the base plate 3. Track 2 and slider 7 form the basic frame for lateral movement (movement along the X-axis) in the left-right direction, supporting the base plate 3 and the upper components to move along the length of the lower base 1. The base plate 3 moves laterally through the meshing of gear 6 and rack 5 driven by motor 4, realizing the overall lateral feeding of the robot. The use of gear and rack transmission eliminates slippage, improves the accuracy of lateral movement, and ensures smooth operation. The double track 2 and slider 7 can distribute the load. The overall structure is compact and suitable for long stroke requirements.

[0032] Each of the tracks 2 is provided with at least two sliders 7 to improve sliding stability;

[0033] Two parallel rails 2 8 and a lead screw 11 are mounted on the base plate 1 3, and the rails 2 8 and the lead screw 11 are perpendicular to the rail 1 2. A slider 2 9 is mounted on the rail 2 8 and slides therewith. A base plate 2 10 is mounted on the top of the two sliders 2 9. A lead screw nut 13 is connected to the bottom of the base plate 2 10. The lead screw 11 is parallel to the rails 2 8 and located between the two rails 2 8. The lead screw 11 is threaded through the lead screw nut 13, and a motor 2 12 is mounted on one end of the lead screw 11. The motor 2 12 is mounted on the base plate 1 3 via a motor bracket. The output end of the motor 2 12 is connected to the lead screw 11 for transmission. This embodiment uses... The transmission method involves installing a pulley at the output end of motor 12 and another pulley at one end of lead screw 11. A belt is fitted onto both pulleys. Track 2 8 is perpendicular to track 1 2, enabling lateral movement in the forward and backward direction (movement along the Y-axis). Lead screw 11 is driven by motor 12, which moves base plate 10 along track 2 8 to control longitudinal displacement. Through the transmission of lead screw 11, high-precision positioning is provided, transmission errors are reduced, and precise feeding is achieved. The design of double track 2 8 and slider 2 9 enhances longitudinal stability and prevents lateral deviation. At least two sliders 2 9 are provided on each track 2 8 to improve sliding stability.

[0034] The top of the base plate 10 is connected to two pillars 14 via an upper base. The two pillars 14 are parallel in length, and two transverse frames 15 are installed on the front side of the two pillars 14. The transverse frames 15 are perpendicular to the pillars 14. A drive mechanism is installed on one side of the upper transverse frame 15. Tracks 3 16 are installed on opposite ends of the two transverse frames 15, and the tracks 3 16 are parallel to the transverse frames 15. The pillars 14 and the transverse frames 15 form a vertical support structure to support the transverse sub-frame 17 and the tooling panel 23. The tracks 3 16 and the sliders 3 enable the transverse sub-frame 17 to move laterally in the left and right directions (moving along the X-axis). The vertical direction is supported by the pillars 14 and the transverse frames 15 to improve structural rigidity and prevent swaying. The connecting rod 18 moves the transverse sub-frames 17 on both sides synchronously to ensure that the tooling panel 23 moves horizontally. Each track 3 16 is provided with at least two sliders 3 to improve sliding stability.

[0035] Correspondingly, a transverse sliding sub-frame 17 is installed on each pair of sliders 3, and one side of the two transverse sliding frames 15 is connected by a connecting rod 18. A tooling panel 23 is installed on the front side of the two transverse sliding sub-frames 17, and a clamp is installed on the front side of the tooling panel 23 for clamping the embedded part. The driving mechanism includes a fixed frame 19 and a motor 3 20. The fixed frame 19 is arranged parallel to one side of the transverse sliding frame 15, and the fixed frame 19 is connected to the top of the two support columns 14. The motor 3 20 The motor is mounted on the upper transverse sub-frame 17 via a motor mount. A rack 21 is mounted on the fixed frame 19, and a gear 22 is mounted on the output end of the motor 20. The gear 22 meshes with the rack 21. The motor 20 drives the transverse sub-frame 17 to move laterally along the track 3 16 via the gear 22 and the rack 21. The movement is highly accurate and can better deliver the embedded parts to the working position. The embedded parts are clamped and released by the tooling panel 23 and the fixture. The fixture can be customized to fit various embedded parts specifications.

[0036] Based on the aforementioned scheme, it should also be noted that the first track 2 and the third track 16 are arranged in parallel. Multiple mounting feet 24 are provided on the rear side of the tooling panel 23. The mounting feet 24 are bolted to the transverse sliding sub-frame 17 to facilitate the installation and disassembly of the tooling panel 23. The first motor 4, the second motor 12 and the third motor 20 are all servo motors with high-precision positioning and fast response speed. Limiting blocks 25 are provided on the inner wall of the lower base 1 to limit the lateral movement range of the base plate 3, prevent overtravel collisions, and ensure safe operation of the equipment. The lower base 1 is rectangular, and multiple support feet 26 are provided at the bottom of the lower base 1. The rectangular lower base 1 provides uniform force support, and the support feet 26 adjust the level of the equipment, enhance overall stability, and adapt to uneven ground.

[0037] In this embodiment, the automatic feeding robot arm is set on the side of the foam molding machine. The embedded parts are placed on the tooling panel 23 by the operator in advance. After the molding machine opens the mold, the PLC controls the motor 4, motor 12 and motor 20 to move. This avoids direct human intervention in the dangerous area. Combined with the precise positioning of the limit block 25 and the servo motor, it prevents the machine from overtravel or malfunction, reduces the risk of operation, and allows the tooling panel 23 to automatically carry the embedded parts into the molding machine to complete the placement of the embedded parts.

[0038] The embedded parts are placed manually on the tooling panel 23 with clamps mounted on the robot arm. The robot arm controls the servo motors (motor 4, motor 12, and motor 20) of three axes via PLC to drive the frame on the three axes. The clamping panel quickly enters the molding machine from the side. After adjustment in the three-axis direction to reach the set stroke data, the clamps on the tooling panel 23, such as cylinders, push the embedded parts out of the robot arm panel and transfer them into the mold. Subsequently, the robot arm exits the mold in reverse order, completing the entire insertion process.

[0039] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An automatic feeding robot, characterized in that, Includes a lower base (1), in which two parallel rails (2) are installed along its length, a base plate (3) is provided on the lower base (1), a motor (4) is installed on the base plate (3) via a motor mount, a rack (5) is also installed in the lower base (1), the rack (5) is parallel to the rails (2), a gear (6) that meshes with the rack (5) is installed at the bottom output end of the motor (4), and a slider (7) that slides with the two rails (2) is also installed at the bottom end of the base plate (3); Two parallel rails (8) and a lead screw (11) are installed on the base plate (3). The rails (8) and the lead screw (11) are perpendicular to the rails (2). The rails (8) are equipped with sliders (9) that slide with them. The top of the two sliders (9) is equipped with a base plate (10). The lead screw nut (13) is connected to the bottom of the base plate (10). The lead screw (11) is parallel to the rails (8) and located in the middle of the two rails (8). The lead screw (11) is threaded through the lead screw nut (13). A motor (12) is installed at one end of the lead screw (11). The motor (12) is installed on the base plate (3) through a motor bracket. The output end of the motor (12) is connected to the lead screw (11) for transmission. The top of the base plate 2 (10) is connected to two pillars (14) via an upper base. The two pillars (14) are parallel in the longitudinal direction, and two transverse frames (15) are installed on the front side of the two pillars (14). The transverse frames (15) are set perpendicular to the pillars (14). A drive mechanism is installed on one side of the upper transverse frame (15). Track 3 (16) is installed on the opposite end face of the two transverse frames (15), and track 3 (16) is parallel to the transverse frame (15). Each pair of sliders is equipped with a transverse sliding sub-frame (17), and one side of the two transverse sliding frames (15) is connected by a connecting rod (18). The drive mechanism includes a fixed frame (19) and a motor (20). The fixed frame (19) is arranged parallel to one side of the transverse frame (15) and is connected to the top of the two pillars (14). The motor (20) is mounted on the transverse sub-frame (17) located on the upper side through a motor mount. A rack (21) is mounted on the fixed frame (19), and a gear (22) is mounted on the output end of the motor (20). The gear (22) meshes with the rack (21). Tooling panels (23) are installed on the front side of the two transverse sub-frames (17), and clamps are installed on the front side of the tooling panels (23) for clamping the embedded parts.

2. The automatic feeding robot according to claim 1, wherein The first track (2) and the third track (16) are set in parallel.

3. The automatic feeding robot according to claim 2, wherein Each of the said tracks (2) is provided with at least two of the said sliders (7).

4. The automatic feeding robot according to claim 3, wherein At least two sliders (9) are provided on each of the two tracks (8).

5. The automatic feeding robot according to claim 4, wherein Each of the said track three (16) is provided with at least two slider three.

6. The automatic feeding robot according to claim 5, wherein And the rear side of the tool panel (23) is provided with a plurality of mounting feet (24), and the mounting feet (24) and the transverse moving sub-frame (17) are bolted.

7. The automatic feeding robot according to claim 6, wherein The motor one (4), the motor two (12) and the motor three (20) are all servo motors.

8. The automatic feeding robot according to claim 7, wherein The inner wall of the lower base (1) is provided with a limiting block (25).

9. The automatic feeding robot according to claim 8, wherein The lower base (1) is rectangular, and the bottom end of the lower base (1) is provided with a plurality of foot seats (26).

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