CN110238811A - Intelligent feeding robot - Google Patents
Intelligent feeding robot Download PDFInfo
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- CN110238811A CN110238811A CN201910516226.XA CN201910516226A CN110238811A CN 110238811 A CN110238811 A CN 110238811A CN 201910516226 A CN201910516226 A CN 201910516226A CN 110238811 A CN110238811 A CN 110238811A
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- supporting plate
- unit
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- clamping
- rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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- Specific Conveyance Elements (AREA)
Abstract
The present patent application belongs to technical field of industrial equipment, specifically disclose a kind of intelligent feeding robot, including clamping device and conveyer, the conveyer is equipped with adjusting bracket, the clamping device is set on adjusting bracket, the adjusting bracket is used to adjust the position of clamping device, and the conveyer is for moving clamping device.Compared with prior art, robot is not necessarily to hand fit, can be automatically performed the feeding process of workpiece, the time and efforts of worker is greatly saved, also avoid security risk existing for feeding process.
Description
Technical field
The invention belongs to technical field of industrial equipment, specifically disclose a kind of intelligent feeding robot.
Background technique
Increasingly developed with industrial processing equipment, matching used machinery associated therewith is more and more, in automation ratio
In higher process equipment, such as punching machine, milling machine, grinding machine, boring machine, drilling machine, planer, machining center etc., add to workpiece
Need to carry out feeding before work, workpiece is taken and be placed on designated position in machine table by feeding；Position of the workpiece in machine table
Limitation fixation can be carried out using moulds of industrial equipment etc. after determining by setting, and then started process equipment and processed to workpiece.Workpiece at present
It needs to be transported using another equipment before feeding, workpiece feeding process also has mostly by being accomplished manually and utilizes corollary equipment and people
Work cooperation is completed.
Feeding process is accomplished manually, and refers to that workpiece is taken from transporting equipment, and the process being placed in machine table by
Worker manually completes, this just makes the feeding process of workpiece more time-consuming；Workpiece is carried out after placing on the table by worker
Positioning, this process just need worker is more careful to be directed at workpiece with machine table, this, which just compares, expends worker's energy, and is easy
Because diverting one's attention to cause processing accident when worker operation.
Feeding process is completed by corollary equipment and hand fit, refer to workpiece is taken using corollary equipment and is placed on plus
On work platform, such as during producing workpiece in batches, workpiece is put to designated position, the corollary equipments such as manipulator are recycled
Completion is taken and is placed；It is subsequent to correct position of the workpiece in machine table manually by worker, still compare consuming time and efforts；
Since the elaboration power of process equipment is larger, worker is too close at the processing of process equipment, holds in process equipment maloperation
Easily there is security risk.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent feeding robots, and to solve, workpiece feeding process is time-consuming and laborious, deposits
The security risk the problem of.
In order to achieve the above object, base case of the invention are as follows: intelligent feeding robot, including clamping device and transport
Mechanism, the conveyer are equipped with adjusting bracket, and the clamping device is set on adjusting bracket, and the adjusting bracket is for adjusting folder
The position of mechanism is held, the conveyer is for moving clamping device；The clamping device includes supporting plate, rotor plate and multiple folders
Unit is held, the supporting plate is fixed with adjusting bracket, and the rotor plate is rotatably connected on supporting plate, and rotor plate is equipped with helicla flute；Institute
Stating clamping unit includes sliding block, telescopic block, pull rod and gripper jaw, and sliding block is located in helicla flute and is slidably connected with helicla flute, sliding
It is fixedly connected between block and supporting plate by telescopic block, pull rod one end is hinged on sliding block, and the pull rod other end is hinged on gripper jaw；
Gripper jaw one end is hinged on supporting plate, and the gripper jaw other end is used for clamping workpiece, and supporting plate is equipped with the drive of driving rotor plate rotation
Moving cell.
The working principle of this base case is: when being processed using process equipment to workpiece, using machine
People realizes the feeding process of workpiece, and the specific position for adjusting clamping device by adjusting bracket makes clamping device alignment pieces
Gripper jaw is respectively positioned on workpiece outer, recycles driving unit driving rotor plate rotation, and the helicla flute on rotor plate rotates with it；This
In the process, sliding block will move in helicla flute, and since telescopic block is to sliding block restriction effect, sliding block will not be rotated with helicla flute,
But sliding block is slided along helicla flute to the center of rotor plate.Pull rod one end is mobile to rotor plate center with sliding block during this, will
Will drive gripper jaw along and supporting plate hinged place rotate, make the one end of all gripper jaws far from supporting plate to drawing close at rotor plate center,
Gripper jaw can be by piece-holder at this time.
After robot clamps workpiece, clamping device is transported to designated position using conveyer, is passed through
Clamping device is moved in machine table by adjusting bracket, is then rotated backward using driving unit driving rotor plate, helicla flute rotation
By sliding block to movement at rotor plate outer, rotates the hinged place of gripper jaw edge and supporting plate under the action of pull rod, decontrol to work
The clamping of part is placed into workpiece in machine table and is processed.
The beneficial effect of this base case is:
1, feeding operation is carried out to workpiece using robot, workpiece is not necessarily to and worker exposure, and worker only needs to control machine
Device people's relevant action, and then reduce in worker's feeding process, worker make the processes such as take, transport, place of workpiece
The feeding process of workpiece is very time saving and energy saving.
2, feeding is carried out to workpiece using robot, in whole process, worker is not necessarily to mechanical with workpiece, process equipment etc.
Equipment contact, avoids in workpiece feeding process, existing security risk.
Compared with prior art, robot is not necessarily to hand fit, can be automatically performed the feeding process of workpiece, greatly save
The time and efforts of worker, also avoids security risk existing for feeding process.
Further, the driving unit is stepper motor, and the output shaft of the stepper motor passes through supporting plate and rotor plate
It is fixedly connected at center.
By controlling the positive and negative rotation of stepper motor, to control the positive and negative rotation of rotor plate, control sliding block is moved in or out,
And then clamping or relieving of the gripper jaw to workpiece are controlled, keep clamping device more convenient to the clamping of workpiece or relieving.
Further, the clamping unit is four, and four clamping units are separately positioned on the surrounding of supporting plate.
Four clamping units will clamp workpiece surrounding by four gripper jaws, Ji Keshi there are four gripper jaw
Clamping now more firm to workpiece.
Further, the gripper jaw includes rotation section and clamping part, and the rotation section length is greater than clamping part, the rotation
It in obtuse angle and is fixedly connected between portion and clamping part；The one end of the rotation section far from clamping part and supporting plate are hinged, the pull rod
The middle part of end and rotation section is hinged, and towards rotor plate center, the clamping part inside is equipped with rubber for clamping part and rotation section angle
Rubber mat.
When gripper jaw clamps workpiece, by clamping part with workpiece close to being clamped to workpiece, due to rotation section
Between clamping part in obtuse angle, when clamping part clamps workpiece, workpiece only can be mobile to rotation section, avoids because of workpiece table
The case where face is relatively smooth, and workpiece can be fallen when being clamped using clamping device to workpiece, rubber pad can avoid clamping
Pawl scratches workpiece.
Further, telescopic unit is equipped between the gripper jaw and supporting plate, the telescopic unit includes fixed with supporting plate
Cylinder body and the piston rod connecting with gripper jaw, the piston rod are slidably and sealingly connected in cylinder body, and the supporting plate is equipped with control
The driving portion of piston rod sliding.
Piston rod is controlled by driving portion and skids off cylinder body, to make gripper jaw far from supporting plate, then between each gripper jaw
Distance increases, and gripper jaw is formed by grasping part and becomes larger, convenient for clamping to large-size workpiece；It is controlled and is lived by driving portion
Stopper rod protrudes into cylinder body, to make gripper jaw close to supporting plate, then the distance between each gripper jaw reduces, and gripper jaw is formed by folder
It holds space to become smaller, convenient for clamping small size workpiece.The setting of telescopic unit enables the clamping device of robot to press from both sides
A greater variety of workpiece are held, and then so that robot is carried out feeding to various workpieces, and a pair of using column chamber and cylinder body one
It answers, it is consistent that gas shifts the length that piston rod can be made to stretch out therebetween.
Further, the driving portion includes the cavity block being fixed on supporting plate, and the cavity block is equipped with multiple column chambers, Duo Gezhu
Chamber is respectively corresponded by pipeline with multiple cylinder bodies and is connected to；Side in the cavity block far from supporting plate is equipped with screw rod, screw thread on screw rod
Be connected with nut, the screw rod between nut and cavity block on be equipped with pushing block with nut rotation connection, on the pushing block
Equipped with multiple plungers corresponding with column chamber, the plunger is slidably connected with column chamber.
When needing to protrude by driving portion control piston rod or skid off cylinder body, turning nut makes it along screw slide, in spiral shell
It drives pushing block to move along screw rod under the action of mother, slides plunger in column chamber, the air in column chamber and corresponding cylinder body passes through pipe
Road transfer, and then realize that piston rod is protruded into or skidded off in cylinder body.
It further, further include the discharge mechanism that position is adjusted by adjusting bracket, the discharge mechanism includes bracket, adjusts
Section ring and multiple locating rods, the bracket are fixed on adjustment frame, and the bracket is equipped with fixation hole, the locating rod camber
And be located in mounting hole, it is hinged with fixation hole in the middle part of the locating rod；The side of the locating rod evagination is towards in posting
At the heart, the side of the locating rod indent is equipped with sliding slot, and the adjustings ring is located at outside locating rod, the adjusting ring equipped with
The strut that sliding slot is slidably connected.
Then robot moves down adjusting in use, adjust discharge mechanism to above machine table by adjusting bracket
Ring makes strut slide downward in the sliding slot of locating rod, due to hinged with fixation hole in the middle part of locating rod, in strut under the action of institute
There is locating rod lower end that will draw close, locating rod lower end is aligned with set-down location needed for workpiece in machine table.Then clamping device is moved
It moves to the top of discharge mechanism, clamping device decontrols the clamping to workpiece, and workpiece will the positioning that falls of locating rod arcuately
Bar lower end, and then workpiece is made to be placed on position needed for machine table under the action of discharge mechanism.Pass through the effect of discharge mechanism, work
After part is placed on machine table, without repositioning alignment, it is further reduced the time and efforts expended needed for workpiece feeding process.
Further, the locating rod is four, and four locating rods are circumferentially uniformly distributed, and the fixation hole and adjusting ring are all in annulus
Shape, the locating rod lower end are equipped with guide rod.
Four locating rods are enough the position placed needed for determining workpiece, and guide rod is more conducive to adjusting unit and puts with needed for workpiece
The position alignment set.
Further, the adjusting bracket includes the first vertical telescopic unit, the second vertical telescopic unit, the first rotating block, the
Two rotating blocks, the first transversal stretching unit and the second transversal stretching unit, the first vertical telescopic unit and the second vertical flexible list
Member is fixed on conveyer；The first vertical telescopic unit upper end and the first rotating block are rotatablely connected, and described first laterally
Telescopic unit is fixedly connected with the first rotating block, and the discharge mechanism is fixed on the first transversal stretching unit far from the first rotating block
One end；The second vertical telescopic unit upper end and the second rotating block are rotatablely connected, the second transversal stretching unit and the
Two rotating blocks are fixedly connected, and the clamping device is fixed on second one end of transversal stretching unit far from the second rotating block.
By the first vertical telescopic unit, the first rotating block, the first transversal stretching unit, adjustable discharge mechanism transverse direction,
Longitudinal position cooperates it with machine table.By the second vertical telescopic unit, the second rotating block, the second transversal stretching unit,
The position of adjustable clamping device laterally, longitudinal, makes it easy to the clamping and placement of workpiece.
Further, the conveyer, including rack and driving walking unit.
Rack is convenient for the setting of adjusting bracket, clamping device, discharge mechanism, and driving walking unit is convenient for control robot
Shift position.
Detailed description of the invention
Fig. 1 is the schematic diagram of the intelligent feeding robotic embodiment of the present invention；
Schematic diagram when Fig. 2 is the blowing of intelligent feeding robotic embodiment of the invention；
Fig. 3 is the longitudinal sectional view of grasping mechanism；
Fig. 4 is the bottom view of rotor plate；
Fig. 5 is the schematic diagram of 2 grasping mechanism of embodiment.
Specific embodiment
It is further described below by specific embodiment:
Appended drawing reference in Figure of description includes: conveyer 10, rack 11, wheel 12, clamping device 20, supporting plate
21, stepper motor 22, rotor plate 23, helicla flute 231, clamping unit 24, gripper jaw 241, clamping part 2411, rubber pad 2412,
Rotation section 2413, sliding block 242, pull rod 243, telescopic block 244, telescopic unit 25, cylinder body 251, piston rod 252, driving portion 253,
Cavity block 2531, screw rod 2533, nut 2534, pushing block 2535, plunger 2536, discharge mechanism 30, bracket 31, is fixed column chamber 2532
Hole 32, adjust ring 33, strut 331, locating rod 34, sliding slot 341, guide rod 342, rotating turret 40, the first vertical telescopic unit 41,
Second vertical telescopic unit 42, the first rotating block 43, the second rotating block 44, the first transversal stretching unit 45, the second transversal stretching
Unit 46, machine table 50, workpiece 51.
Embodiment is as shown in Figure 1, intelligent feeding robot, including clamping device 20, grasping mechanism and conveyer 10, fortune
Sending mechanism 10 includes rack 11 and driving walking unit, wheel 12 is rotatably connected in rack 11, driving walking unit is for driving
Driving wheel 12 rotates, and then keeps robot mobile, and motor can be used in driving walking unit in the present embodiment, and electrical power drives
Robot is mobile when wheel 12 rotates.
Adjusting bracket is provided on conveyer 10, clamping device 20 and discharge mechanism 30 are set on adjusting bracket, adjusting bracket
For adjusting separately the position of clamping device 20 and discharge mechanism 30.Adjusting bracket is perpendicular including the first vertical telescopic unit 41, second
To telescopic unit 42, the first rotating block 43, the second rotating block 44, the first transversal stretching unit 45 and the second transversal stretching unit
46, the first vertical telescopic unit 41 is fixed in rack 11；First vertical 41 upper end of telescopic unit and the first rotating block 43 rotate
Connection, for the ease of the setting of adjusting bracket, the second vertical telescopic unit 42 is fixed on the upper end of the first rotating block 43, and first laterally
Telescopic unit 45 is fixedly connected with the first rotating block 43, and discharge mechanism 30 is fixed on the first transversal stretching unit 45 far from first turn
One end of motion block 43；Second vertical 42 upper end of telescopic unit and the second rotating block 44 are rotatablely connected, the second transversal stretching unit 46
It is fixedly connected with the second rotating block 44, clamping device 20 is fixed on one of the second transversal stretching unit 46 far from the second rotating block 44
End.Discharge mechanism can be arbitrarily adjusted by the first vertical telescopic unit 41, the first rotating block 43 and the first transversal stretching unit 45
30 are located at a certain range of spatial position, pass through the second vertical telescopic unit 42, the second rotating block 44 and the second transversal stretching
Unit 46 can arbitrarily adjust grasping mechanism and be located at a certain range of spatial position.First vertical telescopic unit in the present embodiment
41, the second vertical telescopic unit 42, the first transversal stretching unit 45 and the second transversal stretching unit 46 can be used existing hydraulic
Cylinder, cylinder or electric pushrod etc., related stretching structure is more existing, and details are not described herein.
As shown in figure 3, clamping device 20 includes supporting plate 21, rotor plate 23 and multiple clamping units 24, pressed from both sides in the present embodiment
It holds unit 24 and sets four, four clamping units 24 are circumferential uniformly distributed.Supporting plate 21 is fixed with adjusting bracket, and rotor plate 23 is rotatablely connected
On supporting plate 21, circular groove is provided in the present embodiment on supporting plate 21, rotor plate 23 engages and is rotatablely connected with circular groove.
As shown in figure 4, being provided with helicla flute 231 on rotor plate 23, the longitudinal section of helicla flute 231 is dovetail shaped in the present embodiment.Clamping
Unit 24 includes sliding block 242, telescopic block 244, pull rod 243 and gripper jaw 241, and sliding block 242 is located in helicla flute 231 and and spiral
Slot 231 is slidably connected, and the dovetail engaged with helicla flute 231 is provided on sliding block 242.By stretching between sliding block 242 and supporting plate 21
Contracting block 244 is fixedly connected, i.e., the both ends of telescopic block 244 are fixed with sliding block 242, supporting plate 21 respectively, and rotor plate 23 is sliding in rotation
Block 242 can rotate with it under without other restriction effects, and telescopic block 244 can limit sliding block 242 and rotate with rotor plate 23, make sliding block
242 can only move in helicla flute 231.Gripper jaw 241 includes rotation section 2413 and clamping part 2411, and 2413 length of rotation section is big
It in obtuse angle and is fixedly connected, rotation section 2413 in the present embodiment between clamping part 2411, rotation section 2413 and clamping part 2411
It is an integral structure with clamping part 2411；The one end of rotation section 2413 far from clamping part 2411 and supporting plate 21 are hinged, pull rod 243 1
End is hinged on sliding block 242, and 243 other end of pull rod and the middle part of rotation section 2413 are hinged, clamping part 2411 and rotation section 2413
Angle is provided with rubber pad 2412 towards 23 center of rotor plate on the inside of clamping part 2411.Driving rotor plate is provided on supporting plate 21
The driving units of 23 rotations, driving unit is stepper motor 22 in the present embodiment, and stepper motor 22 is embedded in the inside of supporting plate 21,
The output shaft of stepper motor 22 passes through to be fixedly connected at supporting plate 21 and the center of rotor plate 23, the output shaft and branch of stepper motor 22
Plate 21 does not contact, therefore output shaft rotation will not influence supporting plate 21.
Discharge mechanism 30 includes bracket 31, adjusts ring 33 and multiple locating rods 34, and locating rod 34 is four in the present embodiment,
Four locating rods 34 are circumferential uniformly distributed, and 34 lower end of locating rod is provided with guide rod 342；Bracket 31 is fixed on adjustment frame, bracket 31
Upper to be provided with fixation hole 32, fixation hole 32 and adjusting ring 33 are all in circular ring shape, and 34 camber of locating rod is simultaneously located in fixation hole 32,
34 middle part of locating rod and fixation hole 32 are hinged；The side of 34 evagination of locating rod is towards at the center of posting, 34 indent of locating rod
Side be provided with sliding slot 341, adjust ring 33 be located at outside locating rod 34, adjust ring 33 on be provided with and sliding slot 341 sliding company
The strut 331 connect, strut 331 is stretching structure in the present embodiment, and strut 331 is using being adjusted fixable telescopic Multi section bar
Shape structure.
Stepper motor 22, driving walking unit in robot, adjust the slide control mechanism and first of ring 33 vertically
The extension and contraction control of telescopic unit 41, the second vertical telescopic unit 42, the first transversal stretching unit 45, the second transversal stretching unit 46
Single-chip microcontroller can be used according to the movement rail of robot in the rotation controling mechanism of mechanism and the first rotating block 43, the second rotating block 44
Mark carries out automatically controlling (write-in program is realized in single-chip microcontroller according to the entire motion profile of robot), to realize machine
The automatic running of people, the setting about this part can be implemented by using the prior art, and details are not described herein.Robot is transported automatically
Row convenient for replacing worker completely using robot, and then reduces human cost, reduces security risk, be also convenient for robot
It applies in the environment of bad environments.
Specific implementation process is as follows: robot is moved near workpiece 51 by conveyer 10, it is perpendicular using second
Clamping device 20 is adjusted to telescopic unit 42, the second rotating block 44 and the second transversal stretching unit 46, clamping device 20 is aligned
Workpiece 51 makes gripper jaw 241 be respectively positioned on 51 outer of workpiece, and recycling to the energization of stepper motor 22 is that its output shaft drives rotor plate
23 rotate, and the helicla flute 231 on rotor plate 23 rotates with it, and sliding block 242 will move close to helicla flute in helicla flute 231
231 centers.243 one end of pull rod is mobile to 23 center of rotor plate with sliding block 242 during this, it will drive rotation section 2413 along with
The rotation of 21 hinged place of supporting plate, draws close all clamping parts 2411 to 23 center of rotor plate, clamps to workpiece 51.
Robot is moved near machine table 50 by conveyer 10, as shown in Fig. 2, vertical flexible by second
Unit 42, the second rotating block 44 and the second transversal stretching unit 46 adjustment discharge mechanism 30 are located above machine table 50, then to
Lower pusher collar 33, makes the slide downward in the sliding slot 341 of locating rod 34 of strut 331, and all 34 lower ends of locating rod will be leaned on
Hold together, 34 lower end of locating rod is aligned with set-down location needed for workpiece 51 in machine table 50, and guide rod 342 is with 34 lower end of locating rod and processing
The required position alignment for placing workpiece 51 on platform 50.Then clamping device 20 is moved to by the upper of discharge mechanism 30 by adjusting bracket
Side, control clamping device 20 decontrol clamping to workpiece 51, and workpiece 51 will the locating rod 34 that falls of locating rod 34 arcuately
Lower end, and then position needed for making workpiece 51 be placed on machine table 50 under the action of discharge mechanism 30.
Embodiment 2
The present embodiment difference from example 1 is that, as shown in figure 5, being provided between gripper jaw 241 and supporting plate 21
Telescopic unit 25, telescopic unit 25 include the cylinder body 251 fixed with supporting plate 21 and the piston rod 252 connecting with gripper jaw 241, are lived
Stopper rod 252 is slidably and sealingly connected in cylinder body 251, and the driving portion 253 that control piston rod 252 slides is provided on supporting plate 21.This
In embodiment, driving portion 253 includes the cavity block 2531 being fixed on supporting plate 21, is provided with four column chambers 2532 in cavity block 2531,
Four column chambers 2532 are respectively corresponded by pipeline with four cylinder bodies 251 and are connected to；Side in cavity block 2531 far from supporting plate 21 is arranged
Screw rod 2533, is threaded with nut 2534 on screw rod 2533, screw rod 2533 between nut 2534 and the cavity block 2531 on
It is equipped with the pushing block 2535 being rotatablely connected with nut 2534, is provided with four plungers corresponding with column chamber 2532 on pushing block 2535
2536, plunger 2536 is slidably connected with column chamber 2532.
When specifically used robot, if workpiece 51 is too big or too small, gripper jaw 241 can be adjusted by telescopic unit 25
The distance between, specifically turning nut 2534 slides it along screw rod 2533, drives pushing block under the action of nut 2534
2535 move along screw rod 2533, slide plunger 2536 in column chamber 2532, and the air in column chamber 2532 and corresponding cylinder body 251 is logical
Piping transfer, and then realize that piston rod 252 is protruded into or skidded off in cylinder body 251.Piston rod 252 skids off cylinder body 251, to make
Gripper jaw 241 is far from supporting plate 21, then the distance between each gripper jaw 241 increases, and gripper jaw 241 is formed by grasping part change
Greatly, convenient for being clamped to large-size workpiece 51；Piston rod 252 processed protrudes into cylinder body 251, to make gripper jaw 241 close to supporting plate
21, then the distance between each gripper jaw 241 reduces, and gripper jaw 241 is formed by grasping part and becomes smaller, convenient for small size work
Part 51 is clamped.
What has been described above is only an embodiment of the present invention, and the common sense such as well known specific structure and characteristic are not made herein in scheme
Excessive description.It, without departing from the structure of the invention, can be with it should be pointed out that for those skilled in the art
Several modifications and improvements are made, these also should be considered as protection scope of the present invention, these all will not influence what the present invention was implemented
Effect and patent practicability.
Claims (10)
1. intelligent feeding robot, it is characterised in that: including clamping device and conveyer, the conveyer, which is equipped with, to be adjusted
Frame, the clamping device are set on adjusting bracket, and the adjusting bracket is used to adjust the position of clamping device, and the conveyer is used
In mobile clamping device；The clamping device includes supporting plate, rotor plate and multiple clamping units, and the supporting plate and adjusting bracket are solid
Fixed, the rotor plate is rotatably connected on supporting plate, and rotor plate is equipped with helicla flute；The clamping unit include sliding block, telescopic block,
Pull rod and gripper jaw, sliding block are located in helicla flute and are slidably connected with helicla flute, fixed between sliding block and supporting plate by telescopic block
Connection, pull rod one end are hinged on sliding block, and the pull rod other end is hinged on gripper jaw；Gripper jaw one end is hinged on supporting plate, folder
The pawl other end is held for clamping workpiece, supporting plate is equipped with the driving unit of driving rotor plate rotation.
2. intelligence feeding robot according to claim 1, which is characterized in that the driving unit is stepper motor, institute
The output shaft for stating stepper motor passes through to be fixedly connected at supporting plate and the center of rotor plate.
3. intelligence feeding robot according to claim 1, which is characterized in that the clamping unit is four, four folders
Hold the surrounding that unit is separately positioned on supporting plate.
4. intelligence feeding robot according to claim 1, which is characterized in that the gripper jaw includes rotation section and clamping
Portion, the rotation section length are greater than clamping part, in obtuse angle and are fixedly connected between the rotation section and clamping part；The rotation section
One end and supporting plate far from clamping part are hinged, and the middle part of the tie rod end and rotation section is hinged, clamping part and rotation section angle
Towards rotor plate center, rubber pad is equipped on the inside of the clamping part.
5. intelligence feeding robot according to claim 1-4, which is characterized in that the gripper jaw and supporting plate it
Between be equipped with telescopic unit, the cylinder body that the telescopic unit includes and supporting plate is fixed and the piston rod connecting with gripper jaw, the work
Stopper rod is slidably and sealingly connected in cylinder body, and the supporting plate is equipped with the driving portion of control piston rod sliding.
6. intelligence feeding robot according to claim 5, which is characterized in that the driving portion includes being fixed on supporting plate
Cavity block, the cavity block be equipped with multiple column chambers, multiple column chambers, which are respectively corresponded with multiple cylinder bodies by pipeline, to be connected to；The cavity block
The upper side far from supporting plate is equipped with screw rod, and nut, the screw rod upper set between nut and cavity block are threaded on screw rod
It is equipped with the pushing block with nut rotation connection, the pushing block is equipped with multiple plungers corresponding with column chamber, and the plunger and column chamber are sliding
Dynamic connection.
7. intelligence feeding robot according to claim 6, which is characterized in that further include in place by adjusting bracket adjustment institute
The discharge mechanism set, the discharge mechanism include that bracket, adjusting ring and multiple locating rods, the bracket are fixed on adjustment frame,
The bracket is equipped with fixation hole, and the locating rod camber is simultaneously located in mounting hole, and cuts with scissors in the middle part of the locating rod with fixation hole
It connects；Towards at the center of posting, the side of the locating rod indent is equipped with sliding slot, the tune for the side of the locating rod evagination
Section ring is located at outside locating rod, and the ring that adjusts is equipped with the strut being slidably connected with sliding slot.
8. intelligence feeding robot according to claim 7, which is characterized in that the locating rod is four, four positioning
Bar is circumferentially uniformly distributed, and the fixation hole and adjusting ring are all in circular ring shape, and the locating rod lower end is equipped with guide rod.
9. intelligence feeding robot according to claim 7, which is characterized in that the adjusting bracket includes first vertical flexible
Unit, the second vertical telescopic unit, the first rotating block, the second rotating block, the first transversal stretching unit and the second transversal stretching list
Member, the first vertical telescopic unit and the second vertical telescopic unit are fixed on conveyer；On the first vertical telescopic unit
End is rotatablely connected with the first rotating block, and the first transversal stretching unit is fixedly connected with the first rotating block, the discharge mechanism
It is fixed on first one end of transversal stretching unit far from the first rotating block；The second vertical telescopic unit upper end and the second rotation
Block rotation connection, the second transversal stretching unit are fixedly connected with the second rotating block, and the clamping device is fixed on the second cross
One end to telescopic unit far from the second rotating block.
10. intelligence feeding robot according to claim 9, which is characterized in that the conveyer, including rack and drive
Dynamic walking unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910516226.XA CN110238811B (en) | 2019-06-14 | 2019-06-14 | Intelligent feeding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910516226.XA CN110238811B (en) | 2019-06-14 | 2019-06-14 | Intelligent feeding robot |
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| CN110238811A true CN110238811A (en) | 2019-09-17 |
| CN110238811B CN110238811B (en) | 2020-09-29 |
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| CN110238811B (en) | 2020-09-29 |
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