CN218619094U

CN218619094U - Manipulator high accuracy automatic feeding device

Info

Publication number: CN218619094U
Application number: CN202222635389.XU
Authority: CN
Inventors: 朱劲涛
Original assignee: Anfurui Suzhou Machinery Parts Co ltd
Current assignee: Anfurui Suzhou Machinery Parts Co ltd
Priority date: 2022-10-08
Filing date: 2022-10-08
Publication date: 2023-03-14
Anticipated expiration: 2032-10-08

Abstract

The utility model relates to an automatic change mechanical technical field, disclose a manipulator high accuracy automatic feeding device, including snatching mechanism, high accuracy automatic feeding mechanism and unloading mechanism. The part fixing seat and the pneumatic limiting block which are arranged on the stepping motor and the sliding block in the high-precision automatic feeding mechanism can accurately control the position of the part, the part is grabbed by the aid of the manipulator, the purpose of high-precision automatic feeding is achieved, production cost can be reduced, and production efficiency is improved. The pushing and lifting mechanism in the blanking mechanism is matched with the pressure sensor arranged at the lower end of the mechanical arm, so that the installation of fine parts can be completed, and the blanking mechanism has the advantages of high efficiency and convenience.

Description

Manipulator high accuracy automatic feeding device

Technical Field

The utility model relates to an automatic change mechanical technical field, concretely relates to manipulator high accuracy automatic feeding device.

Background

The automatic manipulator has the characteristics of high movement speed, wide related fields and the like, and is widely applied to the field of processing and manufacturing. The existing mechanical arm matched automatic feeding device is mostly used for carrying heavy materials or large parts of shapes, grabbing, transporting and assembling fine parts are mostly completed by manual operation, and therefore production cost is high, and production efficiency is low.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model discloses a following technical scheme: the utility model provides a manipulator high accuracy automatic feeding device, is including snatching mechanism, high accuracy automatic feeding mechanism and unloading mechanism. The high-precision automatic feeding mechanism comprises a transmission mechanism, a supporting seat, a limiting block, a pneumatic rod, a correcting and adjusting block and a first sensor. The transmission mechanism drives the synchronous belt to rotate by the stepping motor, the synchronous belt is connected with a plurality of sliding blocks at intervals through connectors, the bottom of each sliding block is provided with a sliding rail, and each sliding block can move along with the corresponding walking belt on the corresponding sliding rail. The upper surface of the slide block is provided with a fixed seat to limit the position of the transported part. The pneumatic rod is fixed to be set up on proofreading and correct the regulating block, stopper and pneumatic rod fixed connection and slide in order to inject the slider removal on proofreading and correct the regulating block under the flexible drive of pneumatic rod, proofreading and correct the regulating block and remove and pass through the bolt fastening through the spout that sets up on the supporting seat, the supporting seat sets up the both sides at the slide rail front end respectively. The first sensor is arranged on the right support seat and can sense the position of a part.

Preferably, the blanking mechanism comprises a conveyor belt mechanism and a pushing and lifting mechanism, and the pushing and lifting mechanism comprises an air cylinder, a guard plate, a fixed support plate, a telescopic rod and a supporting plate. The lower extreme of telescopic link is connected with the cylinder after passing fixed support plate, and the layer board setting is in the upper end of telescopic link, backplate and conveyor belt mechanism fixed connection, are equipped with the second sensor on the backplate. The pushing and lifting mechanism is arranged at the front end of the conveyor belt mechanism, and the height of the upper surface of the support plate is flush with the height of the conveyor belt in the conveyor belt mechanism when the support plate is lowered to the lowest position, so that parts on the conveyor belt can be pushed to the support plate.

Preferably, snatch the mechanism and include truss, manipulator and pneumatic telescopic link, the truss openly is equipped with two upper and lower parallel tracks, sets up the connecting plate on the track, and the connecting plate can slide on the track, and the truss bottom still is equipped with unable adjustment base. The manipulator is fixed on the connecting plate, and pneumatic telescopic link sets up at the truss back, and pneumatic telescopic link's flexible end and connecting plate fixed connection. And the two ends of the track are also provided with limiters for limiting the motion range of the manipulator on the connecting plate. And a pressure sensor is arranged at the end part of the arm of the manipulator, which is close to the paw.

Preferably, the upper surface of the supporting plate is provided with a protective pad.

Preferably, the clamping part on the inner side of the paw of the manipulator is provided with a buffering anti-skid pad.

Compared with the prior art, the utility model provides a pair of manipulator high accuracy automatic feeding device possesses following beneficial effect:

1. the utility model discloses a high accuracy automatic feeding mechanism drives the slider through step motor and carries out the position that accurate displacement, the fixing base on the slider can the accurate limit transported meticulous article, the spacing control of rethread stopper, and the cooperation manipulator high accuracy snatchs the part, and stopper wherein can lead to the alignment control piece fine setting accuse position, realizes high accuracy automatic feeding's purpose, can reduction in production cost, improves production efficiency.

2. The utility model discloses a manipulator transports required installation part to unloading mechanism top second sensor induction position after, the mechanism that rises that pushes away in the unloading mechanism will produce the part and push away to rise and with required installation part pressfitting, the pressure sensors of manipulator arm lower extreme receives the extrusion to transmission signal control manipulator paw is opened. The manipulator accomplishes the installation operation at the transportation part in-process, has simplified the operating procedure, and is high-efficient convenient.

Drawings

FIG. 1 is a schematic view of the overall appearance of the three-dimensional structure of the present invention;

fig. 2 is a schematic diagram of the right-side view structure of the present invention;

fig. 3 is a schematic rear view of the present invention;

FIG. 4 is a schematic view of a left front perspective structure of the present invention;

fig. 5 is a schematic view of a partially enlarged three-dimensional structure of the high-precision automatic feeding mechanism of the present invention;

FIG. 6 is a schematic view of a partially enlarged three-dimensional structure of the blanking mechanism of the present invention;

fig. 7 is an enlarged schematic view of a point a in fig. 5.

In the figure: 1-grabbing mechanism, 11-truss, 12-manipulator, 13-pneumatic telescopic rod, 14-fixed base, 15-connecting plate, 16-limit, 17-pressure sensor and 18-track; 2-high-precision automatic feeding mechanism, 21-transmission mechanism, 211-synchronous belt, 212-stepping motor, 213-connector, 214-sliding rail, 215-sliding block, 216-fixed seat, 22-limiting block, 23-pneumatic rod, 24-first sensor, 25-supporting seat, 26-correction adjusting block, 261-sliding groove and 262-bolt; 3-blanking mechanism, 31-conveyor mechanism, 32-pushing-lifting mechanism, 321-cylinder, 322-telescopic rod, 323-supporting plate, 324-second sensor, 325-guard plate, 326-fixed supporting plate and 327-limiting buffer.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the following description will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element to which the reference is made must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "disposed," "connected," and the like are used in a broad sense, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, or a connection between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The utility model discloses specific embodiment: as shown in fig. 1, 3, 4 and 5, the high-precision automatic feeding device for the manipulator comprises a grabbing mechanism 1, a high-precision automatic feeding mechanism 2 and a discharging mechanism 3. The high-precision automatic feeding mechanism 2 comprises a transmission mechanism 21, a supporting seat 25, a limiting block 22, a pneumatic rod 23, a correcting and adjusting block 26 and a first sensor 24. The transmission mechanism 21 is driven by a stepping motor 212 to rotate a timing belt 211, and the timing belt 211 is connected with a plurality of sliders 215 at intervals through a connector 213. The bottom of the sliding block 215 is provided with a sliding rail 214, and the sliding block 215 can move along the sliding rail 214. The upper surface of the slide 214 is provided with a fixing seat 216 to define the position of the transported part. The pneumatic rod 23 is fixedly arranged on the correcting and adjusting block 26, and the limiting block 22 is fixedly connected with the pneumatic rod 23 and slides on the correcting and adjusting block 26 under the telescopic driving of the pneumatic rod 23 to limit the movement of the sliding block 215. The correcting adjustment block 26 is moved by a slide groove 261 provided on the support base 25 and fixed by a bolt 262 for correcting the position of the stopper 22. The supporting seats 25 are respectively disposed at both sides of the front end of the slide rail 214. The first sensor 24 is arranged on the right support seat 25 and can sense the position of the part, and the part is grabbed by a manipulator through signal control.

As shown in fig. 6, the blanking mechanism 3 includes a conveyor belt mechanism 31 and a pushing-lifting mechanism 32, the pushing-lifting mechanism 32 includes a cylinder 321, a fixed support plate 326, an expansion link 322 and a supporting plate 323, a lower end of the expansion link 322 passes through the fixed support plate 326 and then is connected to the cylinder 321, the supporting plate 323 is disposed at an upper end of the expansion link 322, a guard plate 325 is fixedly connected to the conveyor belt mechanism 31, a second sensor 324 is disposed on the guard plate 325, the pushing-lifting mechanism 32 is disposed at a front end of the conveyor belt mechanism 31, and a height of an upper surface of the supporting plate 323 is flush with a height of a conveyor belt in the conveyor belt mechanism 31 when the supporting plate 323 is lowered to a lowest position, so that parts on the conveyor belt can be pushed to the supporting plate 323.

As shown in fig. 1-3, the grabbing mechanism 1 includes a truss 11, a manipulator 12 and a pneumatic telescopic rod 13, the front of the truss 11 is provided with an upper parallel track 18 and a lower parallel track 18, the tracks 18 are provided with a connecting plate 15, the connecting plate 15 can slide on the tracks 18, the bottom of the truss 11 is further provided with a fixing base 14, the manipulator 12 is fixed on the connecting plate 15, the pneumatic telescopic rod 13 is arranged on the back of the truss 11, the telescopic end of the pneumatic telescopic rod 13 is fixedly connected with the connecting plate 15, and two ends of the tracks 18 are further provided with stoppers 16 to limit the moving position of the connecting plate 15. The end part of the arm of the manipulator 12 close to the paw is provided with a pressure sensor 17, when the support plate 323 drives the part to press the part grabbed by the manipulator 12, the pressure sensor 17 transmits a signal to the controller, and the paw of the manipulator 12 is opened.

The upper surface of the supporting plate 323 can also be provided with an anti-skid protection pad to protect parts from deformation and damage during extrusion. The inner side of the gripper of the manipulator 12 can be provided with a buffer anti-slip pad, which is beneficial to protecting and preventing fine parts from slipping when being grabbed by the gripper of the manipulator 12.

The working principle is as follows: the stepping motor 212 of the high-precision automatic feeding mechanism 2 drives the synchronous belt 211 to rotate, the synchronous belt 211 drives the sliding block 215 to perform accurate displacement, and the fixed seat 216 on the sliding block 215 is provided with fine parts needing to be conveyed. When the first sensor 24 senses the part on the fixed seat 216, a signal is transmitted to the pneumatic rod 23, and the pneumatic rod 23 pushes the stopper 22 to prevent the slider 215 from moving and limit the position of the slider 215 to the position where the robot 12 can accurately grasp the part. When the position of the part on the fixed seat 216 deviates from the grabbing position of the mechanical arm 12, the position can be corrected only by finely adjusting and correcting the position of the adjusting block 26. The manipulator 12 grabs the part and then transports to the top of unloading mechanism 3, the first part of waiting to install on the conveyer belt of conveyer belt mechanism 31 is pushed to layer board 323 at this moment, second sensor 324 senses and reaches the mechanism 32 that pushes away in unloading mechanism 3 with the signal after manipulator 12 grabs the part after the signal, cylinder 321 promotes telescopic link 322 and drives layer board 323 to push up, and with the pressfitting of required installation part pressfitting, the pressure sensor 17 of manipulator 12 arm lower extreme receives transmission signal control manipulator 12 hand claw after the extrusion at this moment and opens, layer board 323 descends to the original position, the part of installing is pushed to next process by the last part of waiting to install of conveyer belt, this moment accomplish the material loading transportation and the installation of part.

The above description is only for the preferred embodiment of the present invention and should not be construed as limiting the present invention, and any modification, replacement and variation made by those skilled in the art without departing from the principle and spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a manipulator high accuracy automatic feeding device, is including snatching mechanism (1), high accuracy automatic feeding mechanism (2) and unloading mechanism (3), its characterized in that: the high-precision automatic feeding mechanism (2) comprises a transmission mechanism (21), a supporting seat (25), a limiting block (22), a pneumatic rod (23), a correcting and adjusting block (26) and a first sensor (24), the transmission mechanism (21) is driven by a stepping motor (212) to rotate a synchronous belt (211), the synchronous belt (211) is connected with a plurality of sliding blocks (215) through connectors (213) at intervals, a sliding rail (214) is arranged at the bottom of each sliding block (215), each sliding block (215) can move along with the corresponding walking belt on the corresponding sliding rail (214), a fixing seat (216) is arranged on the upper surface of each sliding block (215), the pneumatic rod (23) is fixedly arranged on the corresponding correcting and adjusting block (26), the limiting block (22) is fixedly connected with the pneumatic rod (23) and slides on the corresponding correcting and adjusting block (26) under the telescopic driving of the pneumatic rod (23), the correcting and adjusting block (26) moves through a sliding groove (261) arranged on the supporting seat (25) and is fixed through a bolt (262), the supporting seat (25) is respectively arranged on two sides of the front end of the sliding rail (214), and the first sensor (24) is arranged on the supporting seat (25) and can sense parts at the position of the supporting seat (24).

2. The manipulator high-precision automatic feeding device according to claim 1, characterized in that: the blanking mechanism (3) comprises a conveyor belt mechanism (31) and a pushing and lifting mechanism (32), the pushing and lifting mechanism (32) comprises a cylinder (321), a guard plate (325), a fixed support plate (326), an expansion rod (322) and a supporting plate (323), the lower end of the expansion rod (322) penetrates through the fixed support plate (326) and then is connected with the cylinder (321), the supporting plate (323) is arranged at the upper end of the expansion rod (322), the guard plate (325) is fixedly connected with the conveyor belt mechanism (31), a second sensor (324) is arranged on the guard plate (325), the pushing and lifting mechanism (32) is arranged at the front end of the conveyor belt mechanism (31), and the height of the upper surface is flush with the height of the conveyor belt in the conveyor belt mechanism (31) when the supporting plate (323) falls to the lowest position, so that parts on the conveyor belt can be pushed to the supporting plate (323).

3. The manipulator high-precision automatic feeding device according to claim 1, characterized in that: snatch mechanism (1) including truss (11), manipulator (12) and pneumatic telescopic link (13), truss (11) openly are equipped with two upper and lower parallel tracks (18), set up connecting plate (15) on track (18), and connecting plate (15) can slide on track (18), and truss (11) bottom still is equipped with unable adjustment base (14), manipulator (12) are fixed on connecting plate (15), and pneumatic telescopic link (13) set up at truss (11) back, and the flexible end and connecting plate (15) fixed connection of pneumatic telescopic link (13), track (18) both ends still are equipped with stopper (16) in order to inject connecting plate (15) shift position, and the tip that the arm of manipulator (12) is close to the hand claw is equipped with pressure sensor (17).

4. The manipulator high-precision automatic feeding device according to claim 2, characterized in that: the upper surface of the supporting plate (323) is provided with a protective pad.

5. The manipulator high-precision automatic feeding device according to claim 3, characterized in that: the clamping part at the inner side of the paw of the manipulator (12) is provided with a buffer anti-skid pad.