CN111994620A

CN111994620A - Flexible feeding and discharging mechanism of bilateral drawer type robot

Info

Publication number: CN111994620A
Application number: CN202010800924.5A
Authority: CN
Inventors: 王世明; 王小军; 王小龙; 冯雷
Original assignee: Ningxia Feims Automation Technology Co ltd
Current assignee: Ningxia Feims Automation Technology Co ltd
Priority date: 2020-08-11
Filing date: 2020-08-11
Publication date: 2020-11-27

Abstract

The invention discloses a flexible loading and unloading mechanism of a bilateral drawer type robot, and relates to the field of loading and unloading of robots. The invention comprises a frame, a mounting plate is fixed in the frame, a base is arranged at the bottom of the frame, slide rails are arranged on both sides of the frame, when the clamp needs to be disassembled, a worker rotates the knob clockwise to rotate the bidirectional screw rod, the bidirectional screw rod rotates to enable the two groups of thread sleeves to move relatively, the two groups of limit hooks move, when the limit hooks move to a certain degree, namely, the insertion block is separated from the slot and the limit hook is separated from the limit groove, when the clamp is installed, a worker firstly inserts the insertion block into the slot and the limit hook into the limit groove, then the knob is rotated anticlockwise to further rotate the bidirectional screw rod, at the moment, the two groups of thread sleeves drive the limit hooks to move backwards, at this moment, the linkage box is fixed under the cooperation of the limiting hook and the limiting groove, the structure is simple, the disassembly is convenient, the time and the labor are saved, and the practicability of the device is improved.

Description

Flexible feeding and discharging mechanism of bilateral drawer type robot

Technical Field

The invention relates to the field of robot feeding and discharging, in particular to a flexible feeding and discharging mechanism of a bilateral drawer type robot.

Background

Along with the continuous promotion of industrial automation level, industrial robot has slowly replaced the manual work, draw and shift the work piece, industrial robot uses on the production line, but reduction in production cost, shorten production cycle, very considerable economic benefits has, the last unloading equipment that has the robot now, the robot is usually separated with base fixed form and material loading machine, the place that needs is great, simultaneously the safety class is low, the production security that workman and equipment could be guaranteed to equipment need additionally to add safety device, use cost is high. Moreover, the feeding machine has many defects, some of which have unstable structures, are inconvenient to use, have too high or too complex production, use and maintenance costs, and cannot meet the production requirements of manufacturers and the use requirements of users.

The prior art discloses an automatic loading and unloading device with a robot, which is disclosed by the application number of CN201721578020.2, and comprises a loading rack and the robot, wherein the robot is arranged on the loading rack, a clamp is arranged on the robot, a plurality of layers of loading drawers for placing workpieces are also arranged on the loading rack, and the loading drawers are positioned below the robot and are opened and closed on the loading rack in a bidirectional manner; the feeding drawer is manually opened towards one direction, and the feeding operation of the workpieces is manually completed when the feeding drawer is opened; the robot is opened towards another direction through anchor clamps effect material loading drawer, and the robot passes through the last unloading operation of anchor clamps completion work piece when the material loading drawer is opened. Through the improvement of the structure, the invention has the characteristics of simple and reasonable structure, excellent performance, convenient operation, low manufacturing cost, easy production, easy realization, full automation, intellectualization, high production efficiency, safety, reliability and the like, and has strong practicability, but the equipment has larger volume and is heavy, so the equipment is inconvenient to move, is carried by a user manually, can avoid accidents in the carrying process, can cause injury of the user or damage of the equipment, and reduces the applicability of the equipment, meanwhile, after the robot runs for a long time, the internal temperature is higher, the electronic elements in the main rod are easy to damage in a high-temperature environment, further the service life of the robot is influenced, different clamps are required to be used for clamping different articles in the working process, and the positions of the clamps are often required to be fixed by matching a flange with a plurality of bolts, when the fixing method is disassembled, not only an adaptive tool is needed, but also a plurality of bolts are needed to be screwed in sequence by a worker for disassembling, and the process is time-consuming and labor-consuming.

Disclosure of Invention

The invention aims to: in order to solve the problems of inconvenient movement, inconvenient heat dissipation and inconvenient replacement of a clamp, a flexible feeding and discharging mechanism of a drawer type robot with two sides is provided.

In order to achieve the purpose, the invention provides the following technical scheme: the flexible feeding and discharging mechanism of the double-side drawer type robot comprises a rack, wherein a mounting plate is fixed inside the rack, slide rails are arranged on two sides inside the rack, a feeding drawer is connected to the inner side of each slide rail in a sliding manner, a base is arranged at the bottom of the rack, rollers are arranged at four corners of the bottom of the base, a screw rod is arranged above the inner portion of the base, a threaded cylinder and a driven gear are respectively arranged on the outer surface of the screw rod, a friction plate is fixed at the bottom end of the threaded cylinder, guide rods are fixed on two sides of the top of the friction plate, a first servo motor is arranged below the inner portion of the base, the output end of the first servo motor is connected with a driving gear, the driving gear is meshed with the driven gear, a robot and a mounting frame are respectively arranged at the top of the mounting plate, an electric push rod is arranged on one side of the bottom of the fan, the bottom end of the electric push rod is connected with the mounting frame, a mounting seat is fixed at one end of the robot, a bidirectional screw rod is installed in the mounting seat, two groups of thread sleeves are sleeved on the outer surface of the bidirectional screw rod, limiting hooks are fixed at the bottoms of the two groups of thread sleeves, an inserting block is fixed in the middle of the bottom of the mounting seat, the outer surface of the inserting block is connected with a linkage box through an inserting groove, both sides of the top of the linkage box are provided with limit grooves, the bottom of the linkage box is penetrated with a movable opening, two groups of rotating shafts are arranged in the linkage box, sector gears are fixed on the outer surfaces of the two groups of rotating shafts, a second servo motor is arranged on the outer surface of the linkage box, and the output end of the second servo motor is connected with the rotating shaft, and the clamping jaw is installed at the bottom of the sector gear.

Preferably, the bottom of the friction plate is provided with a friction pad, and the friction pad is made of rubber.

Preferably, the outer surface and the back of material loading drawer all are fixed with the handle, and a set of the surface of handle has cup jointed the silica gel cover.

Preferably, a rotating button is fixed at one end of the bidirectional screw rod, and anti-skid grains are arranged on the outer surface of the rotating button.

Preferably, be provided with the observation window in the middle of the surface of frame, just the observation window adopts the transparent material preparation of ya keli to form.

Preferably, a control panel is installed on one side of the outer surface of the rack, and the control panel is respectively electrically connected with the robot, the first servo motor, the second servo motor, the fan and the electric push rod.

Preferably, the limiting hooks are arranged in two groups, and the two groups of limiting hooks are arranged in a mirror image mode by taking the longitudinal axis of the insertion block as the center.

Preferably, the number of the rollers is four, and the four rollers are universal wheels.

Preferably, the outer surface of the bidirectional screw rod is coated with lubricating oil.

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

1. the invention is provided with a roller, a first servo motor, a driving gear, a driven gear, a screw, a threaded cylinder, a friction plate, a guide rod and a friction pad, when the mechanism needs to move, a worker starts the first servo motor, the first servo motor rotates clockwise to enable the driving gear to rotate, the driving gear rotates to enable the driven gear to rotate, and further enable the screw to rotate, the screw is meshed with the inner wall of the threaded cylinder in the rotating process, the threaded cylinder can only move upwards under the limiting action of the guide rod, and further the friction plate is driven to move upwards, the friction pad does not contact with the ground due to the upward movement of the friction plate, so that the mechanism can move through the roller, after the mechanism moves to a designated place, the worker controls the first servo motor to rotate anticlockwise, further the driving gear drives the driven gear to rotate, and the driven gear drives the screw to rotate, at the moment, the threaded cylinder pushes the friction plate to move downwards, the friction plate moves downwards to enable the friction pad to be in contact with the ground, the braking effect is further achieved, the stability of the mechanism is enhanced, and compared with a braking structure arranged on the roller wheel, the pressure of the roller wheel is shared through the screw rod, the threaded cylinder and the support of the friction plate, and the service life of the roller wheel is prolonged;

2. the invention is provided with the rotating shaft, the electric push rod and the fan, when the robot works, a worker starts the fan and the electric push rod, the fan generates strong wind power to blow to the robot, at the moment, the electric push rod pushes one side of the fan to move up and down, and the fan swings up and down in a reciprocating manner to blow under the action of the connecting shaft, so that the heat dissipation is more uniform, the heat dissipation of the friction between the motor and the joint of each joint of the whole robot can be realized by only one heat dissipation device, a large amount of cost is saved, the robot can uniformly dissipate heat in the working process, and the service life of the robot is prolonged;

3. when the clamp needs to be disassembled, a worker rotates the rotating button clockwise to further enable the bidirectional screw rod to rotate, the two groups of threaded sleeves move relatively to further enable the two groups of limiting hooks to move, when the limiting hooks move to a certain degree, the insert block is separated from the insert groove, and the limiting hooks are separated from the limiting groove.

Drawings

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

FIG. 2 is a schematic view of the back structure of the stand according to the present invention;

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

FIG. 4 is a schematic view of a linkage box according to the present invention;

FIG. 5 is a side view of the mounting plate of the present invention;

FIG. 6 is a schematic cross-sectional view of the linkage box of the present invention;

FIG. 7 is a cross-sectional view of the base of the present invention.

In the figure: 1. a frame; 2. a base; 3. a robot; 4. a control panel; 5. an observation window; 6. a slide rail; 7. a feeding drawer; 8. a linkage box; 9. mounting a plate; 10. a mounting seat; 11. a bidirectional screw rod; 12. a threaded sleeve; 13. a limiting groove; 14. a limiting hook; 15. a slot; 16. inserting a block; 17. turning a button; 18. a rotating shaft; 19. a sector gear; 20. a movable opening; 21. a clamping jaw; 22. a mounting frame; 23. an electric push rod; 24. a fan; 25. a roller; 26. a first servo motor; 27. a driving gear; 28. a screw; 29. a driven gear; 30. a threaded barrel; 31. a friction plate; 32. a guide bar; 33. a second servo motor; 34. a handle; 35. a friction pad; 36. and (7) connecting the shafts.

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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" 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 otherwise explicitly specified or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. The following describes an embodiment of the present invention based on its overall structure.

Referring to fig. 1-7, a flexible loading and unloading mechanism of a double-sided drawer type robot includes a frame 1, a base 2, a robot 3, a control panel 4, an observation window 5, a slide rail 6, a loading drawer 7, a linkage box 8, a mounting plate 9, a mounting base 10, a bidirectional screw rod 11, a thread bushing 12, a limiting groove 13, a limiting hook 14, an insertion slot 15, an insertion block 16, a rotating button 17, a rotating shaft 18, a sector gear 19, a movable opening 20, a clamping jaw 21, a mounting frame 22, an electric push rod 23, a fan 24, a roller 25, a first servo motor 26, a driving gear 27, a screw 28, a driven gear 29, a thread cylinder 30, a friction plate 31, a guide rod 32, a second servo motor 33, a handle 34, a friction pad 35 and a connecting shaft 36, wherein the mounting plate 9 is fixed inside the frame 1, the base 2 is disposed at the bottom of the frame 1, the slide rail 6 is disposed on both sides of the frame 1, the, the bottom of the rack 1 is provided with a base 2, four corners of the bottom of the base 2 are provided with idler wheels 25, a screw 28 is arranged above the inside of the base 2, the outer surface of the screw 28 is provided with a thread cylinder 30 and a driven gear 29 respectively, the bottom end of the thread cylinder 30 is fixed with a friction plate 31, two sides of the top of the friction plate 31 are fixed with guide rods 32 respectively, a first servo motor 26 is arranged below the inside of the base 2, the output end of the first servo motor 26 is connected with a driving gear 27, the driving gear 27 is meshed with the driven gear 29, the top of the mounting plate 9 is provided with a robot 3 and a mounting rack 22 respectively, the inner side of the mounting rack 22 is provided with a fan 24 through a connecting shaft 36, the heat dissipation of the robot 3 is facilitated through the fan 24, the service life of the robot is prolonged, one side of the bottom of the fan 24 is, the cylinder cover electric push rod 23 enables the fan 24 to swing up and down in a reciprocating manner, so that heat dissipation is more uniform, one end of the robot is fixed with a mounting seat 10, a bidirectional screw rod 11 is installed inside the mounting seat 10, two groups of thread sleeves 12 are sleeved on the outer surface of the bidirectional screw rod 11, limiting hooks 14 are fixed at the bottoms of the two groups of thread sleeves 12, an insert block 16 is fixed in the middle of the bottom of the mounting seat 10, the outer surface of the insert block 16 is connected with a linkage box 8 through an insert slot 15, through the matching of the insert block 16 and the insert slot 15, a clamp is more stable, limiting slots 13 are respectively formed in two sides of the top of the linkage box 8, a movable opening 20 penetrates through the bottom of the linkage box 8, two groups of rotating shafts 18 are installed inside the linkage box 8, sector gears 19 are respectively fixed on the outer surfaces of the two groups of rotating shafts 18, through the meshing of the sector gears 19, clamping jaws 21 can be folded, and the output end of the second servo motor 33 is connected with a group of rotating shafts 18, and the bottom of the sector gear 19 is provided with a clamping jaw 21.

Please refer to fig. 1, 2 and 7, the friction pad 35 is disposed at the bottom of the friction plate 31, and the friction pad 35 is made of rubber, so that the friction force between the mechanism and the ground is increased, the mechanism is more stable during operation, and is not easy to deviate due to vibration, the handles 34 are fixed on the outer surface and the back of the feeding drawer 7, the silica gel sleeve is sleeved on the outer surface of the group of handles 34, the feeding drawer 7 is convenient for the robot 3 and the worker to pull through the handles 34, and the friction force is larger when the worker pulls the feeding drawer 7 through the silica gel sleeve, so that the hand feeling is better.

Please refer to fig. 1 and 6, a rotating button 17 is fixed at one end of the bidirectional screw rod 11, and anti-slip lines are arranged on the outer surface of the rotating button 17, so that the bidirectional screw rod 11 can be rotated conveniently, friction is increased, the sliding is not easy to occur during rotation, the operation is convenient, the observation window 5 is arranged in the middle of the outer surface of the frame 1, and the observation window 5 is made of acrylic transparent material, so that the working state of the robot 3 can be observed conveniently.

Please refer to fig. 1-7, a control panel 4 is installed on one side of the outer surface of the rack 1, the control panel 4 is electrically connected to the robot 3, the first servo motor 26, the second servo motor 33, the fan 24 and the electric push rod 23, the robot 3, the first servo motor 26, the second servo motor 33, the fan 24 and the electric push rod 23 are controlled conveniently by the control panel 4, two sets of limit hooks 14 are provided, the two sets of limit hooks 14 are arranged in a mirror image manner by taking the longitudinal axis of the insertion block 16 as the center, and the two sets of limit hooks 14 make the fixture more stable when fixed and not easy to shake and drop.

Please refer to fig. 1, 2 and 6, the four rollers 25 are provided, and the four rollers 25 are universal wheels, so that the mechanism is more convenient to move, labor-saving and safe through the rollers 25, the outer surface of the bidirectional screw rod 11 is coated with lubricating oil, so that the bidirectional screw rod 11 is more smooth and labor-saving when rotating, and the bidirectional screw rod 11 is not easy to rust through the lubricating oil.

The working principle is as follows: firstly, a worker moves the mechanism to a designated working place, when the worker needs to move, the worker starts a first servo motor 26, the first servo motor 26 rotates clockwise to enable a driving gear 27 to rotate, the driving gear 27 rotates to enable a driven gear 29 to rotate, and further enable a screw 28 to rotate, the screw 28 is meshed with the inner wall of a threaded barrel 30 in the rotating process, the threaded barrel 30 can only move upwards under the limiting action of a guide rod 32, and further drives a friction plate 31 to move upwards, the friction plate 31 moves upwards to enable a friction pad 35 not to be in contact with the ground, so that the mechanism can move through a roller 25, after the worker moves to the designated place, the worker controls the first servo motor 26 to rotate anticlockwise, further enables the driving gear 27 to drive the driven gear 29 to rotate, the driven gear 29 drives the screw 28 to rotate, and at the moment, the threaded barrel 30 pushes the friction plate 31 to move downwards, the friction plate 31 moves downwards to enable the friction pad 35 to contact the ground, so that the braking effect is achieved, the stability of the mechanism is enhanced, and compared with the braking structure installed on the roller 25, the pressure of the roller 25 is shared through the screw 28, the threaded cylinder 30 and the support of the friction plate 31, when the robot 3 works, the robot 3 drives the clamp to clamp a workpiece, when the workpiece is clamped, the second servo motor 33 drives the group of rotating shafts 18 to rotate, so that the two groups of sector gears 19 move in a meshed mode, at the moment, the two groups of clamping jaws 21 are folded to clamp the workpiece, when the robot 3 works, a worker starts the fan 24 and the electric push rod 23, the fan 24 generates strong wind force to blow to the robot 3, at the moment, the electric push rod 23 pushes one side of the fan 24 to move up and down, under the effect of the connecting shaft 36, the fan 24 swings up and down in a reciprocating mode to blow, so that the, when needing to dismantle anchor clamps, the staff clockwise rotates turn-button 17, and then make two-way lead screw 11 rotate, two-way lead screw 11 rotates and makes two sets of thread bush 12 relative movement, and then make two sets of spacing hook 14 remove, after spacing hook 14 removed the certain degree, even make inserted block 16 break away from with slot 15, spacing hook 14 breaks away from with spacing groove 13, when mounting fixture, the staff inserts in slot 15 with inserted block 16 earlier, spacing hook 14 inserts in the spacing groove 13, then anticlockwise rotation turn-button 17, and then make two-way lead screw 11 rotate, at this moment two sets of thread bush 12 then drive spacing hook 14 dorsad removal, make under the cooperation of spacing hook 14 and spacing groove 13 at this moment the linkage box 8 fix can.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. Two side drawer type robot flexibility go up unloading mechanism, including frame (1), its characterized in that: the improved feeding mechanism is characterized in that a mounting plate (9) is fixed inside the rack (1), slide rails (6) are installed on two sides inside the rack (1), a feeding drawer (7) is connected to the inner side of each slide rail (6) in a sliding mode, a base (2) is arranged at the bottom of the rack (1), rollers (25) are installed on four corners of the bottom of the base (2), a screw rod (28) is installed on the upper portion inside the base (2), a threaded cylinder (30) and a driven gear (29) are respectively arranged on the outer surface of the screw rod (28), a friction plate (31) is fixed at the bottom end of the threaded cylinder (30), guide rods (32) are fixed on two sides of the top of the friction plate (31), a first servo motor (26) is installed below the inside of the base (2), the output end of the first servo motor (26) is connected with a driving gear (27), and the driving gear (27) is meshed with the driven gear, the robot comprises a mounting plate (9), a robot (3) and a mounting rack (22) are mounted at the top of the mounting plate (9) respectively, a fan (24) is mounted on the inner side of the mounting rack (22) through a connecting shaft (36), an electric push rod (23) is mounted on one side of the bottom of the fan (24), the bottom end of the electric push rod (23) is connected with the mounting rack (22), a mounting seat (10) is fixed at one end of the robot, a bidirectional lead screw (11) is mounted inside the mounting seat (10), two groups of thread sleeves (12) are sleeved on the outer surface of the bidirectional lead screw (11), a limiting hook (14) is fixed at the bottom of each group of thread sleeves (12), an insert block (16) is fixed in the middle of the bottom of the mounting seat (10), the outer surface of the insert block (16) is connected with a linkage box (8) through an insert groove (15), and limiting grooves, the bottom of linkage box (8) is run through and is had running-on (20), the internally mounted of linkage box (8) has two sets of pivots (18), and two sets of the surface of pivot (18) all is fixed with sector gear (19), the surface mounting of linkage box (8) has second servo motor (33), just the output of second servo motor (33) with a set of pivot (18) are connected, clamping jaw (21) are installed to the bottom of sector gear (19).

2. The flexible loading and unloading mechanism of the double-sided drawer type robot as recited in claim 1, further comprising: the bottom of the friction plate (31) is provided with a friction pad (35), and the friction pad (35) is made of rubber.

3. The flexible loading and unloading mechanism of the double-sided drawer type robot as recited in claim 1, further comprising: the outer surface and the back of material loading drawer (7) all are fixed with handle (34), and a set of the surface of handle (34) has cup jointed the silica gel cover.

4. The flexible loading and unloading mechanism of the double-sided drawer type robot as recited in claim 1, further comprising: one end of the bidirectional screw rod (11) is fixed with a rotating button (17), and the outer surface of the rotating button (17) is provided with anti-skid grains.

5. The flexible loading and unloading mechanism of the double-sided drawer type robot as recited in claim 1, further comprising: the utility model discloses a visual inspection machine, including frame (1), be provided with observation window (5) in the middle of the surface of frame (1), just observation window (5) adopt the transparent material preparation of ya keli to form.

6. The flexible loading and unloading mechanism of the double-sided drawer type robot as recited in claim 1, further comprising: control panel (4) are installed to surface one side of frame (1), just control panel (4) respectively with robot (3), first servo motor (26), second servo motor (33), fan (24) and electric putter (23) electric connection.

7. The flexible loading and unloading mechanism of the double-sided drawer type robot as recited in claim 1, further comprising: the limiting hooks (14) are arranged in two groups, and the limiting hooks (14) are arranged in a mirror image mode by taking the longitudinal axis of the inserting block (16) as the center.

8. The flexible loading and unloading mechanism of the double-sided drawer type robot as recited in claim 1, further comprising: the four rolling wheels (25) are all universal wheels, and the number of the rolling wheels (25) is four.

9. The flexible loading and unloading mechanism of the double-sided drawer type robot as recited in claim 1, further comprising: the outer surface of the bidirectional screw rod (11) is coated with lubricating oil.