CN104942794A - a feeding robot - Google Patents

Abstract

The present application discloses a feeding robot, which includes a base, a turntable mounted on the base, a large support arm rotatably mounted on the turntable, a small support arm rotatably mounted at the end of the large support arm, and a The manipulator at the end of the small support arm, the turntable, the large support arm, the small support arm and the manipulator are respectively connected with the first motor, the second motor, the third motor and the fourth motor. The robot of the present invention has simple structure and low cost.

Description

a feeding robot

technical field

The present application belongs to the technical field of robots, and in particular relates to a feeding robot.

Background technique

In the automatic operation of picking and placing materials by the robot, the robot gripper needs to load the parts on the jig of the machine. After the parts are processed, the robot gripper removes the parts from the jig of the machine. When removing parts from the jig of the machine, the robot gripper does not need high positioning accuracy. However, when the robot gripper grabs the parts stacked in the material tray, the parts stacked in the material tray may shift Irregular placement requires the robot gripper to have a larger adaptability range. At the same time, it also requires the robot gripper to accurately position the part in order to accurately fix the part on the machine.

The mechanical gripper in the prior art has the technical problems of complex structure and high cost.

Contents of the invention

The object of the present invention is to provide a feeding robot to overcome the deficiencies in the prior art.

To achieve the above object, the present invention provides the following technical solutions:

The embodiment of the present application discloses a feeding robot, which includes a base, a turntable mounted on the base, a large support arm rotatably mounted on the turntable, a small support arm rotatably mounted at the end of the large support arm, and a The manipulator at the end of the small support arm, the turntable, the large support arm, the small support arm and the manipulator are respectively connected with the first motor, the second motor, the third motor and the fourth motor.

Preferably, in the above-mentioned feeding robot, the manipulator includes a support, a first finger and a second finger rotatably mounted on the support, and a clamping space is formed between the first finger and the second finger , the ends of the first finger and the second finger are respectively connected to the first connecting rod and the second connecting rod, and the ends of the first connecting rod and the second connecting rod are connected to a cylindrical pin in rotation, and the support There is a chute on it, the cylindrical pin moves along the chute, and a flange plate is rotatably connected to the support, and the flange plate is connected with the fourth motor, and the flange plate and the cylinder A third link is connected between the pins, one end of the third link is rotatably connected to the cylindrical pin, and the other end of the third link is rotatably connected to the eccentric position of the flange.

Preferably, in the above-mentioned feeding robot, the support includes a rectangular main body and first extensions and second extensions protruding from both sides of the main body, the first fingers and second fingers are respectively It is rotatably connected to the first extension part and the second extension part.

Preferably, in the above feeding robot, a spring is fixed between the first finger and the second finger.

Preferably, in the above-mentioned feeding robot, pads are respectively fixed on opposite surfaces of the first finger and the second finger.

Compared with the prior art, the present invention has the advantages that: the feeding robot of the present invention has simple structure and low cost.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments described in this application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 shows the structural representation of feeding robot in the specific embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a manipulator in a specific embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Referring to Figures 1 and 2, the feeding robot includes a base 100, a turntable 200 mounted on the base, a large support arm 300 rotatably mounted on the turntable, and a small support arm 300 rotatably mounted at the end of the large support arm. The support arm 400 and the manipulator 500 installed at the end of the small support arm, the turntable 200, the large support arm 300, the small support arm 400 and the manipulator 500 are respectively connected with the first motor 201, the second motor 301, and the third motor 401 It is connected with the fourth motor 501.

Further, the manipulator 500 includes a support 1, a first finger 2 and a second finger 3 rotatably mounted on the support, a clamping space is formed between the first finger 2 and the second finger 3, and the first finger 2 and the second finger 3 The ends of the second finger 3 are respectively connected to the first connecting rod 4 and the second connecting rod 5, and the ends of the first connecting rod 4 and the second connecting rod 5 are connected to a cylindrical pin 6 in rotation, and a slide is provided on the support 1. Slot 7, the cylindrical pin moves along the chute, and a flange 8 is also rotated on the support, the flange is connected to the motor 501, the third connecting rod 9 is connected between the flange and the cylindrical pin, and the third connecting rod One end of the third connecting rod is rotatably connected to the cylindrical pin, and the other end of the third connecting rod is rotatably connected to the eccentric position of the flange.

Further, the support 1 includes a rectangular main body 11 and a first extension 12 and a second extension 13 protruding from both sides of the main body. The first finger and the second finger are rotatably connected to the first extension and the second extension respectively. On the second extension.

Further, a spring 10 is fixed between the first finger 2 and the second finger 3 .

Further, pads 14 are respectively fixed on opposite surfaces of the first finger and the second finger.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above description is only the specific implementation of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present application, some improvements and modifications can also be made. It should be regarded as the protection scope of this application.

Claims (5)

1. a feeding robot, it is characterized in that, comprise base, the rotating disk be installed on described base, rotate and be installed on large support arm on described rotating disk, rotate and be installed on the little support arm of described large support arm end and be installed on the manipulator of described little support arm end, described rotating disk, large support arm, little support arm are connected with the first motor, the second motor, the 3rd motor and the 4th motor respectively with manipulator.

2. feeding robot according to claim 1, it is characterized in that: described manipulator comprises bearing, rotate the first finger and the second finger be installed on described bearing, a grasping part is formed between described first finger and second finger, the end of described first finger and second finger is rotatably connected to first connecting rod and second connecting rod respectively, the end of described first connecting rod and second connecting rod is rotationally connected with a straight pin, described bearing offers a chute, described straight pin moves along described chute, described bearing is also rotatably connected to a ring flange, described ring flange is connected with described 4th motor, third connecting rod is connected with between described ring flange and straight pin, one end of described third connecting rod is rotationally connected with described straight pin, the other end of described third connecting rod is rotationally connected with the eccentric position of described ring flange.

3. feeding robot according to claim 2, it is characterized in that: described bearing comprises the main part of rectangle and convexedly stretches in the first extension and second extension of described main part both sides, described first finger and second finger are rotationally connected with on described first extension and the second extension respectively.

4. feeding robot according to claim 2, is characterized in that: be fixed with spring between described first finger and second finger.

5. feeding robot according to claim 2, is characterized in that: the opposite face of described first finger and second finger is fixed with liner respectively.