CN111805521A

CN111805521A - Gantry type feeding and discharging manipulator

Info

Publication number: CN111805521A
Application number: CN201910288169.4A
Authority: CN
Inventors: 李诗云
Original assignee: Jinjiang City Chaojun Machine Co ltd
Current assignee: Jinjiang City Chaojun Machine Co ltd
Priority date: 2019-04-11
Filing date: 2019-04-11
Publication date: 2020-10-23

Abstract

The invention discloses a gantry type feeding and discharging manipulator which comprises a supporting plate, wherein supporting frames are fixedly arranged on two sides of the top end of the supporting plate, the top ends of the two supporting frames are fixedly connected with two sides of the bottom end of a transverse plate respectively, sliding grooves are formed in two sides of the top end of the transverse plate, threaded rods are connected to two side groove walls of the two sliding grooves in an inserting mode through embedded bearings, and one ends of the two threaded rods are respectively connected with output shafts of two servo motors in a rotating mode. According to the gantry type feeding and discharging manipulator, the two mounting blocks mounted on one side of the mounting seat are connected with the mounting groove formed in one side of the feeding hole in an embedded mode, so that the manipulator is convenient to mount and dismount and convenient to overhaul at regular intervals, the manipulator is guaranteed to be firmly mounted through the adsorption of the electromagnet and the suction block and the embedding of the convex block and the arc-shaped groove, and the first finger and the second finger are guaranteed to be firm when clamping materials through the anti-slip patterns formed in the inner walls of the first finger and the second finger, so that the materials are prevented from loosening and affecting feeding.

Description

Gantry type feeding and discharging manipulator

Technical Field

The invention relates to a manipulator, in particular to a gantry type feeding and discharging manipulator.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot can replace the heavy labor of people to realize the mechanization and automation of production, can operate under the harmful environment to protect the personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

The existing manipulator is generally installed through screws in the using process, and the manipulator is inconvenient to overhaul at regular intervals, so that the work of the manipulator is influenced, and therefore a gantry type feeding and discharging manipulator needs to be designed.

Disclosure of Invention

The invention aims to provide a gantry type feeding and discharging manipulator, which aims to solve the problem that the conventional manipulator in the background art is generally installed through screws in the using process, so that the manipulator is inconvenient to overhaul regularly, and the work of the manipulator is influenced.

In order to achieve the purpose, the invention provides the following technical scheme: a gantry type feeding and discharging manipulator comprises a supporting plate, wherein supporting frames are fixedly mounted on two sides of the top end of the supporting plate, the top ends of the two supporting frames are fixedly connected with two sides of the bottom end of a transverse plate respectively, sliding grooves are formed in two sides of the top end of the transverse plate, threaded rods are connected to two side groove walls of the two sliding grooves in an inserting mode through embedded bearings, one ends of the two threaded rods are rotatably connected with output shafts of two servo motors respectively, the two servo motors are mounted on one side groove wall of the corresponding sliding groove respectively, sliding blocks are connected to the surfaces of the two threaded rods in a threaded mode, fixed blocks are fixedly mounted at the top ends of the two sliding blocks respectively, a manipulator fixing plate is fixedly mounted on one side of each fixed block, mounting grooves are formed in the top and the bottom of one side of, two the arc wall has all been seted up to the top cell wall and the bottom cell wall of mounting groove, two the inside of mounting groove all inlays and is equipped with the installation piece, two the equal fixed mounting in one side of installation piece inhales the piece, two inhale the piece and adsorb with the electro-magnet that corresponds the cell wall installation respectively and be connected, two the rectangular channel has all been seted up to the top and the bottom of installation piece, four the equal fixed mounting in inside of rectangular channel has the spacing spring of a plurality of, a plurality of the one end of spacing spring is respectively with one side fixed connection of four lugs, four the other end of lug inlays respectively with the arc wall that corresponds and establishes to be connected, two the manipulator is installed to the opposite side of installation piece.

As a preferred technical scheme of the invention, the manipulator comprises an installation seat, a limiting block, a buffer fixing seat, a rotary cylinder fixing plate, a rotary cylinder, a gas claw fixing plate, a finger cylinder, a first finger and a second finger, wherein two installation blocks are fixedly installed on one side of the installation seat, the two installation blocks are respectively embedded and connected with installation grooves, the bottom end of the installation seat is fixedly provided with the rotary cylinder fixing plate through bolts, the bottom end of the rotary cylinder fixing plate is fixedly provided with the rotary cylinder, the bottom end of the rotary cylinder is fixedly provided with the gas claw fixing plate, one side of the gas claw fixing plate is fixedly provided with the limiting block, one side of the limiting block is fixedly provided with the buffer fixing seat, one side of the buffer fixing seat is fixedly provided with the buffer, and the bottom end of the gas claw fixing plate is fixedly provided with the finger cylinder, the telescopic end of the finger cylinder is provided with a first finger and a second finger respectively, and the positions of the first finger and the second finger are aligned.

As a preferable technical scheme of the invention, the size of the two installation blocks is matched with the inner diameter of the installation groove.

As a preferable technical scheme of the invention, a plurality of anti-skid grains are equidistantly arranged on the inner walls of the first finger and the second finger.

As a preferable technical scheme of the invention, four corners of the bottom end of the supporting plate are fixedly provided with supporting legs, and the bottom ends of the four supporting legs are in threaded connection with foundation bolts.

As a preferred technical scheme of the invention, a switch panel is fixedly mounted on one side of the support plate, a servo motor control switch, an electromagnet control switch and a manipulator control switch are respectively mounted on the surface of the switch panel, and the servo motor, the electromagnet and the manipulator are respectively electrically connected with an external power supply through the servo motor control switch, the electromagnet control switch and the manipulator control switch.

Compared with the prior art, the invention has the following beneficial effects:

1. the screw rod is driven to rotate by the installed servo motor, the slide block is driven to reciprocate on the surface of the screw rod by the rotation of the screw rod, the fixed block is driven to reciprocate by the reciprocating motion of the slide block, and the manipulator is driven to reciprocate by the reciprocating motion of the fixed block, so that the loading and unloading of the manipulator are realized;

2. the two mounting blocks mounted on one side of the mounting seat are embedded and connected with the mounting groove formed in one side of the feeding hole, so that the mounting and dismounting of the manipulator are facilitated, the manipulator is convenient to overhaul at regular intervals, and the manipulator is guaranteed to be firmly mounted through the adsorption of the electromagnet and the suction block and the embedding of the convex block and the arc-shaped groove;

3. through the anti-skidding line that first finger and second finger inner wall were seted up, guarantee that first finger and second finger are firm when pressing from both sides the material, avoid the material pine to take off, influence the feeding.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the internal structure of the present invention;

FIG. 3 is a schematic view of a robot structure according to the present invention;

fig. 4 is a schematic view of the internal structure of the manipulator fixing plate according to the present invention.

In the figure: 1. a support plate; 2. a manipulator; 3. a mounting seat; 4. a limiting block; 5. a buffer; 6. a buffer fixing seat; 7. rotating the cylinder fixing plate; 8. a rotating cylinder; 9. a pneumatic claw fixing plate; 10. a finger cylinder; 11. a first finger; 12. a second finger; 13. mounting blocks; 14. mounting grooves; 15. an electromagnet; 16. an arc-shaped slot; 17. a rectangular groove; 18. sucking blocks; 19. a limiting spring; 20. a bump; 21. a manipulator fixing plate; 22. supporting legs; 23. a transverse plate; 24. a chute; 25. a threaded rod; 26. a slider; 27. a servo motor; 28. and (5) fixing blocks.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a gantry type loading and unloading manipulator, which comprises a support plate 1, wherein support frames are fixedly installed on both sides of the top end of the support plate 1, the top ends of the two support frames are respectively and fixedly connected with both sides of the bottom end of a transverse plate 23, both sides of the top end of the transverse plate 23 are provided with sliding grooves 24, both side groove walls of the two sliding grooves 24 are respectively and alternately connected with threaded rods 25 through embedded bearings, one ends of the two threaded rods 25 are respectively and rotatably connected with output shafts of two servo motors 27, the two servo motors 27 are respectively installed on one side groove wall of the corresponding sliding groove 24, the surfaces of the two threaded rods 25 are respectively and threadedly connected with sliding blocks 26, the top ends of the two sliding blocks 26 are respectively and fixedly installed with a fixed block 28, one side of the two fixed blocks, equal fixed mounting in one side cell wall of two mounting grooves 14 has electro-magnet 15, arc wall 16 has all been seted up to the top cell wall and the bottom cell wall of two mounting grooves 14, installation piece 13 has all been inlayed in the inside of two mounting grooves 14, the equal fixed mounting in one side of two installation pieces 13 has inhales piece 18, two inhale piece 18 and adsorb with the electro-magnet 15 that corresponds the cell wall installation respectively and be connected, rectangular channel 17 has all been seted up to the top and the bottom of two installation pieces 13, the equal fixed mounting in inside of four rectangular channel 17 has a plurality of limiting spring 19, the one end of a plurality of limiting spring 19 respectively with one side fixed connection of four lugs 20, the other end of four lugs 20 inlays respectively with the arc wall 16 that corresponds and establishes to be connected, manipulator 2 is installed to the opposite.

Preferably, the manipulator 2 comprises an installation seat 3, a limiting block 4, a buffer 5, a buffer fixing seat 6, a rotary cylinder fixing plate 7, a rotary cylinder 8, a gas claw fixing plate 9, a finger cylinder 10, a first finger 11 and a second finger 12, wherein two installation blocks 13 are fixedly installed on one side of the installation seat 3, the two installation blocks 13 are respectively embedded and connected with an installation groove 14, the rotary cylinder fixing plate 7 is fixedly installed at the bottom end of the installation seat 3 through bolts, the rotary cylinder 8 is fixedly installed at the bottom end of the rotary cylinder fixing plate 7, the gas claw fixing plate 9 is fixedly installed at the bottom end of the rotary cylinder 8, the limiting block 4 is fixedly installed on one side of the gas claw fixing plate 9, the buffer fixing seat 6 is fixedly installed on one side of the limiting block 4, the buffer 5 is fixedly installed on one side of the buffer fixing seat 6, and the finger cylinder 10 is fixedly installed at, the first finger 11 and the second finger 12 are respectively installed at the telescopic end of the finger cylinder 10, and the first finger 11 is aligned with the second finger 12, so that feeding and discharging are facilitated through the installed manipulator 2.

Preferably, the size of the two mounting blocks 13 matches the inner diameter of the mounting groove 14, and the mounting blocks 13 are conveniently inserted into the mounting groove 14 by matching the size of the mounting blocks 13 with the inner diameter of the mounting groove 14.

Preferably, the inner walls of the first finger 11 and the second finger 12 are equidistantly provided with a plurality of anti-slip lines, and the material is firmly clamped through the anti-slip lines arranged on the inner walls of the first finger 11 and the second finger 12.

Preferably, the equal fixed mounting in four edges of 1 bottom in backup pad has supporting leg 22, and the equal threaded connection in bottom of four supporting legs 22 has rag bolt, through the rag bolt of the installation of supporting leg 22 bottom, the supporting leg 22 of being convenient for is firmly fixed with ground.

Preferably, a switch panel is fixedly mounted on one side of the supporting plate 1, a servo motor control switch, an electromagnet control switch and a manipulator control switch are respectively mounted on the surface of the switch panel, and the servo motor 27, the electromagnet 15 and the manipulator 2 are respectively electrically connected with an external power supply through the servo motor control switch, the electromagnet control switch and the manipulator control switch.

When the gantry type feeding and discharging manipulator 2 is used, firstly, the support legs 22 are firmly fixed with the ground through the anchor bolts arranged at the bottom ends of the support legs 22, then the mounting blocks 13 mounted at the top and the bottom of one side of the mounting seat 3 are embedded into the mounting groove 14, the lugs 20 arranged at the top and the bottom of the mounting blocks 13 are aligned with the arc grooves 16 arranged at the top and the bottom of the mounting groove 14, one end of each lug 20 is pushed into each arc groove 16 through the limiting spring 19 arranged in the rectangular groove 17, then the electromagnet 15 is opened through the electromagnet control switch, the mounting blocks 13 are ensured to be firmly fixed in the mounting groove 14 through the adsorption connection of the electromagnet 15 and the suction block 18, so that the mounting of the manipulator 2 is completed, when the manipulator 2 works, firstly, the servo motor 27 with the model of RJ110-E05030-2A2 is opened through the servo motor control switch, the threaded rod 25 is driven to rotate through the servo motor 27, the slide block 26 on the surface of the threaded rod 25 is driven to reciprocate on the surface of the sliding groove 24 through the rotation of the threaded rod 25, the fixed block 28 is driven to reciprocate through the reciprocating motion of the slide block 26, the manipulator 2 is driven to reciprocate through the reciprocating motion of the fixed block 28, the reciprocating speed of the manipulator 2 is 7 seconds at the fastest, the maximum workpiece grabbing weight of the manipulator 2 is 10 kilograms, then the manipulator 2 with the model of HJ-601L is opened through the control switch of the manipulator 2, the first finger 11 and the second finger 12 are controlled to clamp materials through the rotary cylinder 8 and the finger cylinder 10 which are arranged inside the manipulator 2, the rotation angle of the rotary cylinder 8 is 0-180 degrees, loading and unloading are realized, when the manipulator 2 needs to be overhauled, the electromagnet 15 is turned off through the electromagnet control switch, so that, then, the mounting base 3 is manually pulled outward, the mounting block 13 provided on one side of the mounting base 3 is separated from the mounting groove 14, the manipulator 2 is detached, and then the manipulator 2 is overhauled.

In the description of the present invention, it is to be understood that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings and are only for convenience in describing the present invention and simplifying the description, but are not intended to indicate or imply that the indicated devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.

In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly attached, detachably attached, or integrated; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The gantry type feeding and discharging manipulator comprises a supporting plate (1) and is characterized in that supporting frames are fixedly mounted on two sides of the top end of the supporting plate (1), the top ends of the two supporting frames are fixedly connected with two sides of the bottom end of a transverse plate (23) respectively, sliding grooves (24) are formed in two sides of the top end of the transverse plate (23), threaded rods (25) are connected to two side groove walls of the sliding grooves (24) in an inserting mode through embedded bearings in an inserting mode, one ends of the two threaded rods (25) are rotatably connected with output shafts of two servo motors (27) respectively, the two servo motors (27) are mounted on one side groove wall of the corresponding sliding groove (24) respectively, sliding blocks (26) are connected to the surfaces of the two threaded rods (25) in a threaded mode, fixed blocks (28) are fixedly mounted on the top ends of the two sliding blocks (26), and manipulator fixing plates (21) are fixedly, the manipulator fixing plate is characterized in that mounting grooves (14) are formed in the top and the bottom of one side of the manipulator fixing plate (21), electromagnets (15) are fixedly mounted on one side wall of each of the two mounting grooves (14), arc-shaped grooves (16) are formed in the top wall and the bottom wall of each of the two mounting grooves (14), mounting blocks (13) are embedded in the two mounting grooves (14), suction blocks (18) are fixedly mounted on one sides of the two mounting blocks (13), the two suction blocks (18) are respectively connected with the electromagnets (15) mounted on the corresponding groove walls in an adsorption manner, rectangular grooves (17) are formed in the top and the bottom of the two mounting blocks (13), a plurality of limiting springs (19) are fixedly mounted in the four rectangular grooves (17), one ends of the limiting springs (19) are respectively fixedly connected with one sides of the four convex blocks (20), the other ends of the four convex blocks (20) are respectively embedded with the corresponding arc-shaped grooves (16) to be connected, and the manipulator (2) is installed on the other side of the two installation blocks (13).

2. The gantry type feeding and discharging manipulator as claimed in claim 1, wherein: the manipulator (2) comprises a mounting seat (3), a limiting block (4), a buffer (5), a buffer fixing seat (6), a rotary cylinder fixing plate (7), a rotary cylinder (8), a gas claw fixing plate (9), a finger cylinder (10), a first finger (11) and a second finger (12), wherein two mounting blocks (13) are fixedly mounted on one side of the mounting seat (3), the two mounting blocks (13) are respectively embedded and connected with a mounting groove (14), the rotary cylinder fixing plate (7) is fixedly mounted at the bottom end of the mounting seat (3) through bolts, the rotary cylinder (8) is fixedly mounted at the bottom end of the rotary cylinder fixing plate (7), the gas claw fixing plate (9) is fixedly mounted at the bottom end of the rotary cylinder (8), the limiting block (4) is fixedly mounted on one side of the gas claw fixing plate (9), the buffer fixing seat (6) is fixedly mounted on one side of the limiting block (4), one side fixed mounting of buffer fixing base (6) has buffer (5), the bottom fixed mounting of gas claw fixed plate (9) has finger cylinder (10), first finger (11) and second finger (12) are installed respectively to the flexible end of finger cylinder (10), just first finger (11) is adjusted well with the position of second finger (12).

3. The gantry type feeding and discharging manipulator as claimed in claim 2, wherein: the sizes of the two mounting blocks (13) are matched with the inner diameter of the mounting groove (14).

4. The gantry type feeding and discharging manipulator as claimed in claim 2, wherein: a plurality of anti-slip lines are arranged on the inner walls of the first finger (11) and the second finger (12) at equal intervals.

5. The gantry type feeding and discharging manipulator as claimed in claim 1, wherein: four equal fixed mounting in edge of backup pad (1) bottom have supporting leg (22), four the equal threaded connection in bottom of supporting leg (22) has rag bolt.

6. The gantry type feeding and discharging manipulator as claimed in claim 1, wherein: one side fixed mounting of backup pad (1) has flush mounting plate of switch, servo motor control switch, electro-magnet control switch and manipulator control switch are installed respectively to flush mounting plate of switch's surface, servo motor (27), electro-magnet (15) and manipulator (2) are respectively through servo motor control switch, electro-magnet control switch and manipulator control switch and external power supply electric connection.