CN107097216A - Feeding manipulator - Google Patents

Abstract

The invention discloses a feeding manipulator, which includes a camshaft for transmitting power to the cam mechanism to drive the cam mechanism to rotate; the cam mechanism is driven by the camshaft, and the cam mechanism includes a vertically moving cam and a forward and backward moving cam; Manipulator claw; power arm mechanism, including front and rear moving arm and up and down moving arm, one end of said front and back moving arm is fixedly connected with said manipulator claw, and the other end is connected with said forward and backward moving cam through a first sliding head, said first sliding head It can slide along the contour of the forward and backward moving cam; one end of the up and down moving arm is fixedly connected with the mechanical claw, and the other end is connected with the up and down moving cam through a second slider, and the second slider can move along the up and down The profile of the moving cam slides; the invention provides a feeding manipulator, which can realize the mechanization and automation of feeding, simplify the structure, improve feeding efficiency, and reduce the danger of manual operation in the production process.

Description

Feeding manipulator

technical field

The invention relates to a feeding manipulator and belongs to the technical field of manipulators.

Background technique

In the field of mechanical processing, the production and processing of products requires multiple processes. In the process of entering the next process from one process to the next process, various transmission devices are required for transportation. How to quickly and accurately transport materials to the station is to improve work efficiency. And the key to processing quality and production safety. Up to now, some enterprises still adopt the production method of manual feeding, which has low efficiency of manual operation, unreliable product quality and high cost.

Contents of the invention

The technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art, to provide a feeding manipulator, which can realize the mechanization and automation of feeding, simplify the structure, improve the feeding efficiency, and reduce the danger of manual operation in the production process.

In order to solve the above technical problems, the technical solution of the present invention is: a feeding manipulator, which includes

The camshaft is used to transmit power to the cam mechanism to drive the cam mechanism to rotate;

A cam mechanism is driven by a camshaft, and the cam mechanism includes a cam that moves up and down and a cam that moves back and forth;

mechanical gripper;

The power arm mechanism includes a front and rear moving arm and an up and down moving arm. One end of the front and rear moving arm is fixedly connected to the mechanical claw, and the other end is connected to the front and rear moving cam through a first slider. The first slider can move along the The profile of the forward and backward moving cam slides; one end of the up and down moving arm is fixedly connected with the mechanical claw, and the other end is connected with the up and down moving cam through a second sliding head, and the second sliding head can move along the up and down moving cam contour slide.

Further, the feeding manipulator also includes a cam power gear, which is fixedly connected to one end of the camshaft and used to drive the camshaft to rotate.

Further, the feeding manipulator also includes a rotating disc, a rotating shaft and a rotating gear; the rotating gear is fixedly connected to one end of the rotating shaft, the other end of the rotating shaft is fixedly connected to the rotating disc, and the rotating gear drives the rotating shaft to rotate, And then drive the rotating disc to rotate.

Further, a cam bracket is fixed on the rotating disk, the cam bracket is supported on the camshaft, and the camshaft can rotate in the cam bracket.

Further, a power arm support mechanism is fixed on the rotating disk, and the power arm support mechanism is supported on the front and rear moving arms and the up and down moving arms.

Further, the power arm supporting mechanism includes a front and rear moving arm supporting frame and an up and down moving arm supporting frame, and the front and rear moving arm supporting frame and the up and down moving arm supporting frame have sliding structures on them, and the front and rear moving arms can be positioned on the The front and rear movable arm slides in the sliding structure of the supporting frame, and the up and down moving arm can slide in the sliding structure of the vertical moving arm supporting frame.

Further, the mechanical gripper includes a wrist, a fixed gripper, a movable gripper and a return spring, the fixed gripper is hinged to the movable gripper, and the return spring is connected between the movable gripper and the fixed gripper; The wrist is fixed at the end of the fixed claw, and the front and rear moving arms and the up and down moving arms are all fixedly connected with the wrist of the mechanical claw.

Adopting the above-mentioned technical scheme, when the present invention clamps materials, the motor provides power, and the cam mechanism transmits power through the cam axis to drive the cam mechanism to rotate, and the cam mechanism drives the front and rear moving arms and the up and down moving arms to slide in the sliding mechanism, Then it drives the wrist to move up and down and front and back, and the motor provides power, and the power is transmitted to the rotating shaft through the rotating gear to drive the rotating disk to rotate, completing the rotating motion of the feeding manipulator, which can make the manipulator claws move flexibly in all directions, replacing Manual operation realizes the mechanization and automation of feeding, simplifies the structure, improves feeding efficiency, and reduces the danger of manual operation in the production process.

Description of drawings

Fig. 1 is the schematic diagram of the three-dimensional structure of the feeding manipulator of the present invention;

Fig. 2 is a three-dimensional structural schematic diagram of another viewing angle of the feeding manipulator of the present invention;

Fig. 3 is the front view of the feeding manipulator of the present invention;

Fig. 4 is a schematic diagram of the three-dimensional structure of the feeding manipulator of the present invention from another perspective;

Fig. 5 is a schematic structural view of the robotic gripper of the present invention.

detailed description

In order to make the content of the present invention more clearly understood, the present invention will be further described in detail below based on specific embodiments and in conjunction with the accompanying drawings.

As shown in Figures 1 to 5, a feeding manipulator includes

The camshaft 6 is used to transmit power to the cam mechanism to drive the cam mechanism to rotate;

A cam mechanism is driven by a camshaft 6, and the cam mechanism includes a moving cam 3 up and down and a moving cam 4 forward and backward;

mechanical gripper 1;

The power arm mechanism includes a front and rear moving arm 8 and an up and down moving arm 13. One end of the front and rear moving arm 8 is fixedly connected with the mechanical claw, and the other end is connected with the front and rear moving cam 4 through the first slider. The slider can slide along the contour of the front and rear moving cam 4; one end of the up and down moving arm 13 is fixedly connected with the mechanical claw, and the other end is connected with the up and down moving cam 3 through the second slider, and the second slider can Sliding along the profile of the moving cam 3 up and down.

As shown in Figures 1 and 2, the feeding manipulator also includes a cam power gear 5, which is fixedly connected to one end of the camshaft for transmitting power and driving the camshaft 6 to rotate.

As shown in Figures 1, 2 and 3, the feeding manipulator also includes a rotating disk 10, a rotating shaft 11 and a rotating gear 12; the rotating gear 12 is fixedly connected to the lower end of the rotating shaft 11, and the upper end of the rotating shaft 11 Fixedly connected with the rotating disk 10, the rotating gear 12 drives the rotating shaft 11 to rotate, and then drives the rotating disk 10 to rotate.

As shown in FIGS. 1 and 2 , a cam bracket 7 is fixed on the rotating disk 10 , the cam bracket 7 is supported on the camshaft 6 , and the camshaft 6 can rotate in the cam bracket 7 .

As shown in FIGS. 1 and 2 , a power arm support mechanism is fixed on the rotating disk 10 , and the power arm support mechanism is supported on the front and rear moving arms 8 and the up and down moving arms 13 .

As shown in Figures 1, 2, and 4, the power arm supporting mechanism includes a front and rear moving arm supporting frame 9 and an up and down moving arm supporting frame 14, and the front and rear moving arm supporting frame 9 and the up and down moving arm supporting frame 14 all have Sliding structure, the front and rear moving arm 8 can slide in the sliding structure of the front and rear moving arm support frame 9, and the up and down moving arm 13 can slide in the sliding structure of the up and down moving arm support frame 14.

As shown in Figures 1, 2, and 5, the mechanical gripper includes a wrist 2, a fixed gripper 16, a movable gripper 15 and a return spring 17, the fixed gripper 16 is hinged to the movable gripper 15, and the return spring 17 is connected Between the movable claw 15 and the fixed claw 16; the wrist 2 is fixed at the end of the fixed claw 16, and the front and rear moving arms 8 and the up and down moving arms 13 are all connected with the wrist 2 of the mechanical claw .

The function of the return spring 17 is to return the movable claw 15 to the initial position. When the manipulator claw 1 grips the material, due to the principle of leverage, the rear end of the movable gripper 15 exerts pressure on the return spring 17, and the gripping of the material is realized under the action of the return spring 17. After the material is transported to the designated position, Unloading the material, the movable claw 15 realizes reset under the action of the reset spring 17 .

The working principle of the present invention is as follows:

When the feeding manipulator grips the material, the external power (such as the power provided by the motor) transmits the power to the camshaft 6 through the cam power gear 5, and the cam shaft 6 drives the cam 4 and the cam power gear 5 to rotate forward and backward. Through the cam mechanism, it drives The front and rear moving arm 8 and the up and down moving arm 13 slide in the sliding mechanism of the front and back moving arm supporting frame 9 and the up and down moving arm supporting frame 14, and then drive the wrist 2 to complete the movement up and down and in the front and rear directions; Rotating disk 10, rotating shaft 11 and rotating gear 12 are completed, and external power (such as motor power) transmits power to rotating shaft 11 through rotating gear 12, and rotating shaft 11 drives rotating disk 10 to rotate, and completes the rotary motion of feeding manipulator.

The specific embodiments described above have further described the technical problems, technical solutions and beneficial effects solved by the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (7)

1. a kind of feeding manipulator, it is characterised in that：It includes

Camshaft (6), for transmitting power to cam mechanism, to drive cam mechanism to rotate；

Cam mechanism, by camshaft actuated, the cam mechanism includes moving up and down cam (3) and movable cam (4)；

Mechanical paw (1)；

Power arm mechanism, including move forward and backward arm (8) and move up and down arm (13), one end of the movable arm (8) and institute State mechanical paw be connected, the other end by first it is foxy be connected with the movable cam (4), first slippery fellow can be along institute The profile for stating movable cam (4) is slided；Described one end for moving up and down arm (13) is connected with the mechanical paw, the other end By second it is foxy be connected with the cam (3) that moves up and down, second slippery fellow can move up and down cam (3) profile along described Slide.

2. feeding manipulator according to claim 1, it is characterised in that：Feeding manipulator also includes cam power gear (5), cam power gear (5) is fixedly connected on one end of camshaft (6), is rotated for drive cam shaft (6).

3. feeding manipulator according to claim 1, it is characterised in that：Feeding manipulator also includes rotating disk (10), rotation Rotating shaft (11) and swing pinion (12)；The swing pinion (12) is fixedly connected on one end of the rotary shaft (11), the rotation The other end of rotating shaft (11) is fixedly connected with rotating disk (10), and swing pinion (12) drives rotary shaft (11) to rotate, and then is driven Rotating disk (10) is rotated.

4. feeding manipulator according to claim 3, it is characterised in that：Cam rest is fixed with the rotating disk (10) (7), Cam rest (7) is supported on camshaft (6), and camshaft (6) can be rotated in Cam rest (7).

5. feeding manipulator according to claim 3, it is characterised in that：Power arm branch is fixed with the rotating disk (10) Mechanism is held, power arm supporting device is supported on movable arm (8) and moved up and down on arm (13).

6. feeding manipulator according to claim 5, it is characterised in that：The power arm supporting device includes movable Arm bearing support (9) and arm bearing support (14) is moved up and down, the movable arm support frame (9) and move up and down arm support frame (14) have slide construction thereon, the movable arm (8) can the movable arm support frame (9) slide construction Middle to slide, the arm (13) that moves up and down can be slided in the slide construction for moving up and down arm support frame (14).

7. feeding manipulator according to claim 5, it is characterised in that：The mechanical paw includes wrist (2), fixed hand Pawl (16), movable paw (15) and back-moving spring (17), the fixed paw (16) are hinged with movable paw (15), back-moving spring (17) it is connected between the movable paw (15) and fixed paw (16)；The wrist (2) is fixed on fixed paw (16) End, the movable arm (8) and moves up and down arm (13) and is connected with the wrist (2) of mechanical paw.