CN113548470B - Manipulator device for workpiece transfer and use method - Google Patents

Abstract

The application provides a manipulator device for workpiece moving and a using method, belongs to the field of manipulators, and comprises a driving mechanism and an emergency stop switch arranged on one side of the driving mechanism, wherein a connecting mechanism is arranged on the driving mechanism, a protective box is arranged on one side of the connecting mechanism, a plurality of sucker mechanisms are arranged on the protective box, and an adjusting and triggering mechanism is arranged inside the protective box. This application is through the third spring among the sucking disc mechanism that sets up, the third spring can support stay tube and rubber suction through the retaining ring, make the rubber suction in a plurality of sucking disc mechanisms be in the coplanar, when sucking disc mechanism and the contact of the work piece of top unevenness, the guard box continues to move down under actuating mechanism's drive, the actual conditions that highly can follow the work piece top of a plurality of sucking disc mechanism bottoms this moment changes, make partly sucking disc mechanism can contact with the concave of work piece, can improve the quantity that sucking disc mechanism and work piece contacted, and then improve the adsorption strength to the work piece.

Description

Manipulator device for workpiece transfer and use method

Technical Field

The invention relates to the field of mechanical arms, in particular to a miniature mechanical arm in a mechanical arm and relates to a mechanical arm device for workpiece transfer and a use method thereof.

Background

The manipulator is an automatic operating device which can imitate some action functions of human hand and arm, and can be used for gripping and conveying article or operating tool according to fixed program, and is characterized by that it can implement various expected operations by means of programming, and has the advantages of both human and manipulator machines in structure and performance.

The manipulator is often used as the device that moves the fortune work piece in work piece course of working, the manipulator is when moving the fortune work piece, hold the work piece through a plurality of vacuum chuck that set up on it, but the height of a plurality of vacuum chuck bottoms is mostly fixed, before processing into unified shape, the top surface of part work piece can have unevenness's the condition, and concave position has the difference, when adsorbing some top surface unevenness's work piece, part sucking disc can't contact with the work piece cave, thereby lead to the reduction of the adsorption strength to the work piece, the problem that the work piece drops appears easily in the course of moving.

Therefore, the invention provides a manipulator device for workpiece transfer and a use method.

Disclosure of Invention

The invention aims to solve the following problems: the bottom of the vacuum sucker is at the same height, and when some workpieces with uneven top surfaces are adsorbed, part of the suckers cannot be contacted with recesses of the workpieces, so that the adsorption strength of the workpieces is reduced, and the workpieces are easy to fall off in the moving and transporting process.

In order to achieve the above object, the present invention provides the following technical solutions to improve the above problems.

The present application is specifically such that:

a manipulator device for moving workpieces comprises a driving mechanism and an emergency stop switch arranged on one side of the driving mechanism;

the connecting mechanism is arranged on the driving mechanism, and a protective box is arranged on one side of the connecting mechanism;

the sucker mechanisms are arranged on the protective box;

the adjusting and triggering mechanism is arranged inside the protective box;

the fixing mechanisms are arranged on the adjusting and triggering mechanisms, and the adjusting and triggering mechanisms are used for controlling the fixing mechanisms to open and close;

the counting mechanism is arranged on the side surface of the protective box;

the protection unlocking mechanism for protecting the emergency stop switch is arranged on one side of the driving mechanism;

the fixing mechanism comprises a clamping part and a transmission part, the transmission part is arranged in the clamping part, the clamping part realizes that the clamping of the sucker mechanism is fixed through the transmission part, the clamping part comprises two clamping plates, and the clamping groove is formed in one surface, close to each other, of the clamping plates.

As the preferable technical scheme of the application, the adjusting and triggering mechanism is used for controlling the fixing mechanism to open and close and triggering the counting mechanism.

As the preferred technical scheme of this application, sucking disc mechanism has raising and lowering functions for laminate with the work piece shape when adsorbing the work piece, sucking disc mechanism includes the stay tube, the stay tube is connected with rubber suction, the retaining ring has been cup jointed to the stay tube, the stay tube is connected with the third spring.

As the preferred technical scheme of this application, transmission portion includes that four are seted up respectively two adjustment tank on the splint, four the adjustment tank all is connected with first spliced pole.

As the preferred technical scheme of this application, four first spliced pole all is equipped with the second connecting plate, four the second connecting plate has all cup jointed the second spliced pole, four the tip of second spliced pole all links to each other with the guard box through the bearing.

As the preferred technical scheme of this application, four the second spliced pole all overlaps and is equipped with fifth gear, four fifth gear equallys divide into two sets ofly, intermeshing between two fifth gears in every group.

As the preferred technical scheme of this application, the counting mechanism includes drive division and counting part, one side at the guard box is all installed to drive division and counting part, counting part is used for recording the number of times that the work piece moved, drive division is used for driving counting part to count.

As the preferred technical scheme of this application, protection unlocking mechanism includes protection portion and unblock portion, and unblock portion sets up in the protection portion, realizes being connected between protection and the release coupling mechanism and the guard box to scram switch protection.

As the preferable technical scheme of this application, coupling mechanism includes connecting portion and locking portion, connecting portion are used for connecting actuating mechanism and protective housing, locking portion sets up in connecting portion, and locking portion is used for locking connecting portion.

A method for using a manipulator device for workpiece transfer comprises the following steps:

s1, moving and transporting of workpieces: the protective box and the sucker mechanisms are driven to move through the driving mechanism, so that the sucker mechanisms are located above the workpiece, the driving mechanism drives the sucker mechanisms to descend to be in contact with the workpiece and adsorb the workpiece, the driving mechanism drives the sucker mechanisms to ascend and move, the workpiece is moved to a specified position through the sucker mechanisms, the sucker mechanisms are driven to descend through the driving mechanism, the sucker mechanisms are separated from the workpiece, and the movement and the transportation of the workpiece are completed;

s2, adjusting the fixing of the trigger mechanism and the fixing mechanism to the sucker mechanism: when the sucker mechanism is contacted with a workpiece, the fixing mechanism is driven by the adjusting trigger mechanism to be separated from the sucker mechanism, and after the sucker mechanism and the workpiece are adsorbed together, the fixing mechanism is driven by the adjusting trigger mechanism to fix the sucker mechanism;

s3, counting: the adjusting and triggering mechanism drives the components in the counting mechanism to rotate in the process of pushing the fixing mechanism, and the times of moving the workpieces are recorded.

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

in the scheme of the application:

1. through the third spring in the arranged sucker mechanisms, the third spring can support the supporting tube and the rubber sucker through the retaining ring, so that the rubber suckers in the plurality of sucker mechanisms are positioned on the same plane, when the sucker mechanisms are in contact with a workpiece with an uneven top, the protective box continues to move downwards under the driving of the driving mechanism, the heights of the bottoms of the plurality of sucker mechanisms can change along with the actual condition of the top of the workpiece, so that part of sucker mechanisms can be in contact with the concave part of the workpiece, the contact quantity of the sucker mechanisms and the workpiece can be increased, the adsorption strength of the workpiece is further increased, and the problems that in the prior art, part of suckers cannot be in contact with the concave part of the workpiece, the adsorption strength of the workpiece is reduced, and the workpiece is easy to fall off in the moving and transporting process are solved;

2. through the short-stroke cylinder in the adjusting trigger mechanism, before the sucker mechanisms are contacted with the workpiece, the transmission rod is pushed to approach the counting mechanism through the short-stroke cylinder, the clamping plate is driven to be separated from the supporting pipe through the transmission rod, the supporting pipe can move up and down at the moment, and before the workpiece is lifted by the manipulator device, the transmission rod is pulled to move towards the direction far away from the counting mechanism through the short-stroke cylinder, so that the clamping plate is contacted with the supporting pipe and clamps and fixes the supporting pipe, the supporting pipe can be prevented from sliding with the protective box in the lifting process of the protective box, a plurality of sucker mechanisms can provide upward traction force for the workpiece in the lifting process of the protective box, and the adsorption strength to the workpiece in the lifting process is further improved;

3. through the short-stroke cylinder in the adjusting trigger mechanism, the short-stroke cylinder can push the third support plate to move towards the direction far away from the protective box in the process of pushing the transmission rod to move towards the counting mechanism, at the moment, the second gear drives the third gear to rotate, the third gear drives the second gear to rotate, and the second gear drives the rotating rod of the counter to rotate, so that the counter counts, the number of times of moving workpieces by the manipulator device can be counted, and the short-stroke cylinder is convenient for workers to record and maintain according to the number of times of using the manipulator device;

4. through the short-stroke cylinder in the adjusting trigger mechanism, when the driving rod is driven by the short-stroke cylinder to move towards the counting mechanism, and the driving rod is in contact with the first stop lever, the third support plate continues to move towards the direction far away from the protective box, so that the cam can rotate under the action of the driving rod and the first stop lever, the cam drives the second rack to rotate through the second connecting rod and is separated from the third gear, the third support plate cannot be in contact with the third gear when moving towards the protective box, and the counting accuracy of the counter is ensured;

5. through the fourth spring in the counting mechanism, the acting force of the fourth spring pushes the positioning rod to be inserted into the positioning groove, so that the position of the cam can be fixed, and the stability of the cam when the second rack drives the third gear to rotate can be improved;

6. the emergency stop switch can be protected through the protection pipe in the protection unlocking mechanism, the situation that the mechanical arm device stops running due to misoperation caused by collision of the emergency stop switch in the using process can be reduced, the situation that the emergency stop switch is damaged due to collision is reduced, and the stability of the mechanical arm device in the using process is improved;

7. through the fender rod among the protection release mechanism who sets up, upwards promote the fender rod and make its bottom and the recess on the baffle separate to outside pulling fender rod make the top and the connector separation of fender rod, then rotate two L shape poles, and insert two L shape poles in the through-hole, make two L shape poles promote two fixture blocks and keep away from each other and separate with the spacing groove through promoting the protecting tube, promote the fender rod again this moment and can make the fender rod promote the push rod, promote the slide through the push rod and remove, the slide drives two inserted bars through two connection ropes and is close to each other and separate with the connecting hole, the pulling protective housing can take off the protective housing from coupling mechanism, and then be convenient for overhaul parts such as protective housing, sucking disc mechanism, adjust trigger mechanism and count mechanism.

Drawings

Fig. 1 is a schematic structural diagram of a robot apparatus for workpiece transfer according to the present application;

FIG. 2 is a schematic structural diagram of a drive mechanism provided herein;

FIG. 3 is a schematic structural diagram of a carriage provided herein;

FIG. 4 is a schematic view of a connecting slot structure provided herein;

FIG. 5 is a schematic top sectional view of the protective enclosure provided herein;

FIG. 6 is an enlarged view of the structure at A in FIG. 5;

FIG. 7 is an enlarged view of the structure at B in FIG. 4;

FIG. 8 is an enlarged view of the structure at C in FIG. 5;

FIG. 9 is a schematic structural view of a second support plate provided herein;

FIG. 10 is a schematic structural view of a cam provided herein;

fig. 11 is a schematic cross-sectional structural view of the connection socket provided in the present application;

FIG. 12 is a schematic structural view of a spacing groove provided herein;

fig. 13 is a schematic cross-sectional structural view of a connecting head provided in the present application;

FIG. 14 is a schematic cross-sectional structural view of a shielding tube provided herein;

fig. 15 is an enlarged schematic view of the structure at D in fig. 2.

The following are marked in the figure:

1. a drive mechanism; 101. a column; 102. a support bar; 103. a chute; 104. a first rack; 105. a slide rail; 106. a slide base; 107. a first support plate; 108. a motor; 109. a first gear; 110. a supporting seat; 111. a lifting cylinder; 2. a connecting mechanism; 201. a connecting seat; 202. connecting grooves; 203. a first connecting plate; 204. connecting holes; 205. a chamber; 206. a slide plate; 207. a push rod; 208. a through hole; 209. a limiting groove; 210. a first connecting rod; 211. connecting blocks; 212. a clamping block; 213. a first spring; 214. a drive plate; 215. inserting a rod; 216. a pulley; 217. connecting ropes; 218. a second spring; 3. a protective box; 4. a suction cup mechanism; 401. supporting a tube; 402. a rubber suction cup; 403. a retainer ring; 404. a third spring; 5. adjusting the trigger mechanism; 501. a short stroke cylinder; 502. a transmission rod; 503. a round bar; 6. a counting mechanism; 601. a second support plate; 602. a guide groove; 605. a first bar; 606. a second bar; 607. a guide block; 608. a third support plate; 609. a rotating shaft; 610. a cam; 611. positioning a groove; 612. a deflector rod; 613. a second connecting rod; 615. a second rack; 617. a counter; 618. a second gear; 619. a third gear; 620. an inner tank; 621. a fourth spring; 622. positioning a rod; 7. a scram switch; 8. a protective unlocking mechanism; 801. a side plate; 802. a first connecting shaft; 803. a connector; 804. a guard bar; 805. a slider; 806. a protective tube; 807. a fifth spring; 808. mounting grooves; 809. a second connecting shaft; 810. a fourth gear; 811. an L-shaped rod; 812. a baffle plate; 9. a fixing mechanism; 901. a splint; 902. an adjustment groove; 903. a first connecting column; 904. a second connecting column; 905. a second connecting plate; 906. and a fifth gear.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments.

Thus, the following detailed description of the embodiments of the invention is not intended to limit the scope of the invention as claimed, but is merely representative of some embodiments of the invention. 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.

It should be noted that the embodiments of the present invention and the features and technical solutions thereof may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", and the like refer to orientations or positional relationships based on those shown in the drawings, or orientations or positional relationships that are conventionally arranged when the products of the present invention are used, or orientations or positional relationships that are conventionally understood by those skilled in the art, and such terms are used for convenience of description and simplification of the description, and do not refer to or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

As shown in fig. 1, the present embodiment provides a manipulator device for moving a workpiece, which includes a driving mechanism 1 and an emergency stop switch 7 disposed on one side of the driving mechanism 1, wherein a connecting mechanism 2 is disposed on the driving mechanism 1, a protective box 3 is disposed on one side of the connecting mechanism 2, a plurality of sucker mechanisms 4 are disposed on the protective box 3, the workpiece can be sucked by the sucker mechanisms 4, the workpiece can be driven to move when the driving mechanism 1 drives the sucker mechanisms 4 to move, an adjusting trigger mechanism 5 is disposed inside the protective box 3, a plurality of fixing mechanisms 9 are disposed on the adjusting trigger mechanism 5, the adjusting trigger mechanism 5 is used for controlling the fixing mechanisms 9 to open and close, a counting mechanism 6 is disposed on a side surface of the protective box 3, the number of times that the manipulator device moves the workpiece can be counted by the counting mechanism 6, thereby facilitating the recording of a worker and the maintenance according to the number of times that the manipulator device is used, a protection unlocking mechanism 8 for protecting the emergency stop switch 7 is arranged on one side of the driving mechanism 1, and the protection unlocking mechanism 8 can reduce the condition that the emergency stop switch 7 is mistakenly triggered or damaged due to collision;

the adjusting and triggering mechanism 5 can also realize the function of driving and triggering the counting mechanism 6, and the triggering function is realized when the adjusting and triggering mechanism 5 controls the fixing mechanism 9; the protection unlocking mechanism 8 can also realize the function of removing the connection between the connecting mechanism 2 and the protective box 3, and the function of removing is realized by taking the protection unlocking mechanism 8 off the driving mechanism 1 and then loading the protection unlocking mechanism on the connecting mechanism 2 through structure conversion.

As shown in fig. 2 and fig. 3, as a preferred embodiment, on the basis of the above manner, further, the driving mechanism 1 includes a supporting rod 102, two sides of the bottom of the supporting rod 102 are both fixedly installed with upright columns 101, two upright columns 101 are both opened with a plurality of mounting holes, the mounting holes can fix the manipulator device to the ground or other equipment, the middle of the top end of the supporting rod 102 is opened with a sliding groove 103, the inner wall of one side of the sliding groove 103 is fixedly connected with a first rack 104, two sides of the supporting rod 102 are both fixedly connected with sliding rails 105, the outer surfaces of the two sliding rails 105 are both slidably connected with sliding seats 106, and the tops of the two sliding seats 106 are fixedly connected with the same first supporting plate 107;

top fixedly connected with motor 108 of first backup pad 107, the output shaft of motor 108 passes first backup pad 107 and extends to the inside of spout 103 and the first gear 109 of fixedly connected with, first gear 109 and the meshing of first rack 104, drive first gear 109 through motor 108 and rotate, can drive first backup pad 107 through mutually supporting of first gear 109 and first rack 104 and remove, the removal through first backup pad 107 can move the fortune to the work piece, one side fixedly connected with supporting seat 110 of one of them slide 106, the middle part fixedly connected with lift cylinder 111 of supporting seat 110.

As shown in fig. 4, 11 and 12, as a preferred embodiment, based on the above-mentioned manner, further, the connection mechanism 2 includes a connection portion and a locking portion, the connection portion is used for connecting the driving mechanism 1 and the protection box 3, the locking portion is disposed in the connection portion, and the locking portion is used for locking the connection portion, the connection portion includes a connection seat 201 fixedly connected to the telescopic end of the lifting cylinder 111, a cavity 205 and two connection grooves 202 respectively located at two sides of the cavity 205 are formed in the connection seat 201, a through hole 208 communicated with the outside of the connection seat 201 is formed in the inner wall of the cavity 205 at the side away from the protection box 3, a first connection plate 203 is penetratingly connected to the inside of each of the two connection grooves 202, connection holes 204 are formed in each of the two first connection plates 203, the protection box 3 can be connected to the connection mechanism 2 by inserting the first connection plate 203 into the connection grooves 202, after the first connecting plate 203 is separated from the connecting groove 202, the protective box 3 can be taken down from the connecting mechanism 2 by pulling the protective box 3, so that the protective box 3, the sucking disc mechanism 4, the adjusting and triggering mechanism 5, the counting mechanism 6 and other parts can be maintained conveniently;

the locking part comprises a sliding plate 206 which is connected in a cavity 205 in a sliding way, a push rod 207 is fixedly connected to the middle part of the sliding plate 206, one end of the push rod 207, which is far away from the sliding plate 206, extends into a through hole 208, both sides of the push rod 207 are respectively provided with a limiting groove 209, a first connecting rod 210 is fixedly connected to the inside of the cavity 205, two connecting blocks 211 and two transmission plates 214 are connected to the outer surface of the first connecting rod 210 in a sliding way, the two connecting blocks 211 are respectively positioned between the two transmission plates 214, clamping blocks 212 are fixedly connected to the back surfaces of the two connecting blocks 211, one sides, which are close to each other, of the two clamping blocks 212 are respectively matched and inserted with the two limiting grooves 209, the limitation can be removed by directly pushing one part in the prior connecting parts when in use, the connected parts can fall off due to mistaken touch in the use process, the safety is poor, and the problem can be solved through the design of the invention, specifically, insert the spacing inslot 209 through fixture block 212 and can fix push rod 207, push rod 207 can't be directly promoted this moment, can reduce push rod 207 and receive the mistake and touch and appear removing and lead to the condition that first connecting plate 203 and connecting groove 202 separate, the security when improving the use.

As shown in fig. 11, as a preferred embodiment, on the basis of the above-mentioned manner, further, an insertion rod 215 is fixedly connected to each of the surfaces of the two transmission plates 214 away from each other, each of the ends of the two insertion rods 215 away from each other passes through the cavity 205 and extends into the two connection slots 202 respectively, and is connected to the two connection holes 204 respectively, the insertion rod 215 is inserted into the connection hole 204 to fix the position of the first connection plate 203, so as to improve the stability of the connection between the first connection plate 203 and the connection slots 202, two pulleys 216 are fixedly installed in the cavity 205 and are located on both sides of the push rod 207 respectively, each of the surfaces of the two transmission plates 214 close to each other is fixedly connected to a connection rope 217, each of the ends of the two connection ropes 217 passes through the two pulleys 216 and is fixedly connected to the top of the sliding plate 206, the connection rope 217 can connect the transmission plates 214 and the sliding plate 206 together, so that the sliding plate 206 can drive the transmission plates 214 to move through the connection rope 217, thereby driving the inserted link 215 to separate from the connection hole 204;

two first springs 213 are arranged on the outer surface of the first connecting rod 210, the two first springs 213 are respectively located on one side where the two clamping blocks 212 are far away from each other and one side where the two driving plates 214 are close to each other, two ends of the first springs 213 are respectively fixedly connected with the clamping blocks 212 and the driving plates 214, one side of the sliding plate 206 far away from the push rod 207 is fixedly connected with a second spring 218, one end of the second spring 218 far away from the sliding plate 206 is fixedly connected with the cavity 205, and when the push rod 207 is loosened, the action force of the second spring 218 can reset the sliding plate 206 and the push rod 207.

As shown in fig. 1, 4, 5, and 8, as a preferred embodiment, based on the above-mentioned manner, the suction cup mechanism 4 further has a lifting function for fitting the shape of the workpiece when adsorbing the workpiece, the suction cup mechanism 4 includes a support tube 401 having an outer surface penetrating and connecting with the protective box 3, the top end of the support tube 401 is connected with an air exhaust through an external hose, the air exhaust is externally connected with a vacuum generator through a pipeline, the vacuum generator is externally connected with an electromagnetic valve externally connected with an air pump, the bottom end of the support tube 401 extends to the lower side of the protective box 3 and is fixedly connected with a rubber suction cup 402, the top end of the support tube 401 extends to the upper side of the protective box 3, a retaining ring 403 is fixedly sleeved on the outside of the top end of the support tube 401, a third spring 404 located between the retaining ring 403 and the protective box 3 is slidably connected to the outer surface of the support tube 401, both ends of the third spring 404 are respectively fixedly connected with the protective box 3 and the retaining ring 403, when the sucker mechanisms 4 are in contact with a workpiece with an uneven top, the protective box 3 continues to move downwards under the driving of the driving mechanism 1, and the heights of the bottoms of the sucker mechanisms 4 change along with the actual situation of the top of the workpiece, so that a part of the sucker mechanisms 4 can be in contact with the concave part of the workpiece, the contact quantity of the sucker mechanisms 4 and the workpiece can be increased, and the adsorption strength of the workpiece is further improved;

adjust trigger mechanism 5 including inlaying short stroke cylinder 501 of establishing on the lateral wall of protecting box 3, the flexible end fixedly connected with transfer line 502 of short stroke cylinder 501, transfer line 502 keeps away from the outside that short stroke cylinder 501's one end passed protecting box 3 and extended to protecting box 3, adjust trigger mechanism 5 still includes two settings at the inside round bar 503 of protecting box 3, two round bars 503 are located the both sides of transfer line 502 respectively, the both ends of round bar 503 respectively with the inner wall fixed connection of protecting box 3 both sides, can support fixed establishment 9 through setting up round bar 503, can improve fixed establishment 9's stability.

As shown in fig. 5 and fig. 6, as a preferred embodiment, on the basis of the above manner, further, the fixing mechanism 9 includes a clamping portion and a transmission portion, the transmission portion is disposed in the clamping portion, the clamping portion clamps and fixes the suction cup mechanism 4 via the transmission portion, the clamping portion is composed of two clamping plates 901, one side of the two clamping plates 901 close to each other is provided with a clamping slot, inner walls of the two clamping plates 901 are slidably connected with outer surfaces of the two round rods 503, a middle portion of one clamping plate 901 is fixedly connected with an outer surface of the transmission rod 502, a middle portion of the other clamping plate 901 is slidably connected with an outer surface of the transmission rod 502, the transmission portion includes four adjusting slots 902 respectively disposed at two sides of a top of the two clamping plates 901, inner portions of the four adjusting slots 902 are slidably connected with the first connecting columns 903, outer surfaces of the four first connecting columns 903 are respectively sleeved with the second connecting plates 905, one ends of the four second connecting plates 905 far away from the first connecting columns 903 are fixedly sleeved with the second connecting columns 904, the ends of the four second connecting columns 904 are connected with the protective box 3 through bearings, the outer surfaces of the four second connecting columns 904 are sleeved with fifth gears 906, the four fifth gears 906 are equally divided into two groups, the two fifth gears 906 in each group are meshed with each other, referring to the direction and the structural position of fig. 6, when the clamping plate 901 on the left side of the supporting tube 401 moves leftwards, the first connecting column 903 on the clamping plate 901 on the left side of the supporting tube 401 rotates clockwise around the second connecting column 904 connected with the first connecting column, the two fifth gears 906 rotate at the moment, the second connecting plate 905 on the right side of the supporting tube 401 rotates anticlockwise under the action of the two fifth gears 906, and therefore the adjusting groove 902 on the right side of the supporting tube 401 is driven to be far away from the supporting tube 401, namely the two clamping plates 901 can be synchronously far away from or close to the supporting tube 401.

As shown in fig. 5, 7, 8 and 9, as a preferred embodiment, based on the above-mentioned manner, further, the counting mechanism 6 includes a driving part and a counting part, the driving part and the counting part are both installed on one side of the protection box 3, the counting part is used for recording the number of times of moving and transporting the workpiece, the driving part is used for driving the counting part to count, the driving part includes a second support plate 601 fixedly installed on one side of the protection box 3 far away from the short stroke cylinder 501, a guide groove 602 is opened on the top of the second support plate 601, a first stop lever 605 and a second stop lever 606 positioned on one side of the guide groove 602 are fixedly installed on the top of the second support plate 601, the first stop lever 605 and the second stop lever 606 are positioned on the same straight line parallel to the guide groove 602, the first stop lever 605 is positioned on one side of the second stop lever 606 far away from the protection box 3, a guide block 607 is slidably connected in the guide groove 602, a third support plate 608 is fixedly connected on the top of the guide block 607, the moving track of the third support plate 608 can be limited by arranging the guide block 607 and the guide groove 602, the stability of the third support plate 608 during moving can be improved, one side of the third support plate 608 is fixedly connected with one end of the transmission rod 502 far away from the short-stroke cylinder 501, the bottom of the third support plate 608 is slidably connected with the top of the second support plate 601, the top of the third support plate 608 is connected with a rotating shaft 609 through a bearing, a cam 610 is fixedly sleeved on the outer surface of the rotating shaft 609, two positioning grooves 611 respectively located on two sides of a protruding end of the cam 610 are formed in the outer side of the cam 610, a shifting lever 612 and a second connecting rod 613 are fixedly connected to the outer side of the cam 610, the shifting lever 612 is located between the first blocking rod 605 and the second blocking rod 606, and a second rack 615 is fixedly connected to one end of the second connecting rod 613 far away from the cam 610.

As shown in fig. 5, 7, 8 and 10, as a preferred embodiment, in addition to the above-mentioned manner, the counting part includes a counter 617 fixedly connected to the protection box 3 and located at the right side of the second support plate 601, the counter 617 is a JZ115 counter, a second gear 618 is fixedly connected to a rotating rod of the counter 617, a third gear 619 located between the second rack 615 and the second gear 618 is installed at the top of the counter 617, the third gear 619 is engaged with the second gear 618 and the second rack 615, an inner groove 620 is formed at one end of the transmission rod 502 away from the short stroke cylinder 501, a positioning rod 622 is slidably connected in the inner groove 620, one end of the positioning rod 622 passes through the inner groove 620 and is engaged with one of the positioning grooves 611, a fourth spring 621 is fixedly connected to one end of the positioning rod 622 away from the cam 610, one end of the fourth spring 621 away from the positioning rod 620 is fixedly connected to the inner groove 620, the short stroke cylinder 501 pushes the third support plate 608 to move away from the protection box 3 in the process of pushing the transmission rod 502 to move towards the counting mechanism 6, at this time, the second rack 615 drives the third gear 619 to rotate, the second gear 618 is driven to rotate by the third gear 619, the rotating rod of the counter 617 is driven to rotate by the second gear 618, so that the counter 617 counts, the number of times of moving workpieces by the manipulator device can be counted, the worker can record and maintain according to the number of times of using the manipulator device, the short stroke cylinder 501 drives the transmission rod 502 to move towards the counting mechanism 6, when the shift lever 612 contacts with the first stop lever 605, the second rack 615 is separated from the third gear 619, the third support plate 608 continues to move away from the protection box 3, so that the cam 610 rotates under the action of the shift lever 612 and the first stop lever 605, the cam 610 drives the second rack 615 to rotate through the second connecting rod 613 and is separated from the third gear 619, at the moment, the state of the second rack 615 is as shown in fig. 10, so that the third supporting plate 608 does not contact with the third gear 619 when moving towards the direction of the protective box 3, the counting accuracy of the counter 617 is guaranteed, the counter 617 is arranged on the protective box 3 and can lift along with the lifting of the protective box 3, the counter 617 can fall to a height convenient for a worker to check, and the worker can record conveniently.

As shown in fig. 11, 13, 14 and 15, as a preferred embodiment, on the basis of the above manner, further, the protective unlocking mechanism 8 includes a protective part and an unlocking part, and the unlocking part is disposed in the protective part, so as to achieve the functions of protecting the emergency stop switch 7 and unlocking the connection between the connection mechanism 2 and the protective box 3, the protective part includes two side plates 801 and a baffle 812 with a groove at the top, the baffle 812, the emergency stop switch 7 and the two side plates 801 are all fixedly connected to one side of one of the pillars 101, the emergency stop switch 7 is located below the two side plates 801, the baffle 812 is located below the emergency stop switch 7, the inner walls of the two side plates 801 are all fixedly connected with first connection shafts 802, the same connector 803 is connected between the two first connection shafts 802 through a bearing, the inner wall of the connector 803 is penetratingly connected with a protective rod 804, the bottom end of the protective rod 804 passes through the connector 803 and extends to the lower side of the connector 803 and is matched with the groove at the top of the baffle 812, when the protection rod 804 is taken down from the connector 803 and needs to be installed back between the connector 803 and the baffle 812 again, the connector 803 is rotated first, then one end of the protection rod 804 is inserted into the connector 803, then the connector 803 is reset, the bottom end of the protection rod 804 is aligned to the groove on the baffle 812, and the protection rod 804 is pulled downwards to enable the bottom end of the protection rod 804 to be inserted into the groove;

a sliding block 805 is fixedly sleeved on the outer surface of the protective rod 804, a protective tube 806 is connected on the outer surface of the sliding block 805 in a sliding manner, a fifth spring 807 positioned in the protective tube 806 is connected on the outer surface of the protective rod 804 in a sliding manner, two ends of the fifth spring 807 are respectively and fixedly connected with the protective tube 806 and the sliding block 805, an unlocking part comprises a mounting groove 808 arranged at the bottom end of the protective tube 806, two second connecting shafts 809 are fixedly mounted in the mounting groove 808, fourth gears 810 are sleeved on the outer surfaces of the two second connecting shafts 809 through bearings, the two fourth gears 810 are mutually meshed, L-shaped rods 811 are fixedly connected on the outer sides of the two fourth gears 810, the protective rod 804 is pushed upwards to separate the bottom end of the protective rod 804 from a groove on the baffle 812 and then the protective rod 804 is pulled outwards to separate the top end of the protective rod 804 from the connector 803, then the two L-shaped rods 811 are rotated and inserted into the through hole 208, make two L shape poles 811 promote two fixture blocks 212 and keep away from each other and separate with spacing groove 209 through promoting protective tube 806, promote protective rod 804 again this moment and can make protective rod 804 promote push rod 207, promote slide 206 through push rod 207 and remove, slide 206 drives two inserted bars 215 through two connection ropes 217 and is close to each other and separate with connecting hole 204, and the pulling protective housing 3 can be taken off protective housing 3 from coupling mechanism 2.

Specifically, the manipulator device for workpiece transfer and the use method are as follows:

s1, moving and transporting of workpieces: the protective box 3 and the plurality of sucker mechanisms 4 are driven to move by the driving mechanism 1, so that the sucker mechanisms 4 are positioned above a workpiece, the sucker mechanisms 4 are driven to descend by the driving mechanism 1 to be contacted with the workpiece and adsorb the workpiece, the sucker mechanisms 4 are driven to ascend by the driving mechanism 1, the workpiece is transported to a specified position by the sucker mechanisms 4, the sucker mechanisms 4 are driven to descend by the driving mechanism 1, the sucker mechanisms 4 are separated from the workpiece, and the transporting of the workpiece is completed, specifically, the first gear 109 is driven to rotate by the motor 108, the lifting cylinder 111 is driven to move along the supporting rod 102 by the matching of the first gear 109 and the first rack 104, when the lifting cylinder 111 moves above the workpiece, the motor 108 stops rotating, the lifting cylinder 111 pushes the connecting seat 201 to move downwards, and when the rubber sucker 402 is contacted with the top of the workpiece, the lifting cylinder 111 continues to push the protective box 3 to descend, when the rubber suction cup 402 is in contact with the concave part of the workpiece, the lifting cylinder 111 is stopped, and the rubber suction cup 402 is adsorbed on the workpiece, the adsorption of the rubber suction cup 402 is the prior art, and is not repeated here, then the lifting cylinder 111 drives the connecting mechanism 2 and the protective box 3 to ascend, the protective box 3 drives the workpiece to ascend through the suction cup mechanism 4, the motor 108 drives the first gear 109 to rotate, the lifting cylinder 111 is driven to move along the support rod 102 through the matching of the first gear 109 and the first rack 104, and the workpiece is moved to a designated position;

s2, adjusting the triggering mechanism 5 and the fixing mechanism 9 to fix the sucker mechanism 4: between the contact of the sucker mechanism 4 and the workpiece, the fixing mechanism 9 is driven by adjusting the trigger mechanism 5 to separate from the sucker mechanism 4, after the sucker mechanism 4 and the workpiece are adsorbed together, the fixing mechanism 9 is driven by adjusting the trigger mechanism 5 to fix the sucker mechanism 4, specifically, in S1, the motor 108 stops rotating, and before the lifting cylinder 111 does not push the connecting seat 201 to move downwards, the driving rod 502 pushes the driving rod 502 to move towards the counting mechanism 6 by the short stroke cylinder 501, at this time, the driving rod 502 drives the clamping plates 901 fixedly connected with the driving rod 502 in the plurality of fixing mechanisms 9 to move, and separate from the supporting pipe 401, the clamping plates 901 fixed with the driving rod 502 drive the clamping plates 901 slidably connected with the driving rod 502 to move away from the supporting pipe 401 under the coordination of the adjusting groove 902, the first connecting column 903, the second connecting column 904, the second connecting plate 905 and the fifth gear 906, at this time, the up-and-down movement of the supporting pipe 401 is not affected by the fixing mechanism 9, in S1, after the retainer 403 is adsorbed on the workpiece, the short stroke cylinder 501 pulls the transmission rod 502 to move away from the counting mechanism 6, so that the clamping plate 901 contacts the support pipe 401 and clamps and fixes the support pipe 401;

s3, counting: the adjusting and triggering mechanism 5 drives the components in the counting mechanism 6 to rotate in the process of pushing the fixing mechanism 9, and records the number of times of moving and transporting the workpiece, specifically, the short stroke cylinder 501 pushes the third support plate 608 to move in the direction away from the protection box 3 in the process of pushing the transmission rod 502 to move to the counting mechanism 6, at this time, the second rack 615 drives the third gear 619 to rotate, the third gear 618 is driven to rotate by the third gear 619, the rotating rod of the counter 617 is driven to rotate by the second gear 618, so that the counter 617 counts, the short stroke cylinder 501 drives the transmission rod 502 to move to the counting mechanism 6, when the shift lever 612 is in contact with the first stop lever 605, the third support plate 608 continues to move in the direction away from the protection box 3, so that the cam 610 rotates under the action of the shift lever 612 and the first stop lever 605, the cam 610 drives the second rack 615 to rotate and separate from the third gear 619 by the second connecting rod 613, when the shift lever 612 contacts the second gear 606, the third support plate 608 continues to move toward the protection box 3 such that the second gear 606 rotates and resets the cam 610 driven by the second lever 606 via the shift lever 612, and at this time, the cam 610 resets the second gear 615 via the second connecting rod 613 and contacts the third gear 619.

The above embodiments are only used for illustrating the invention and not for limiting the technical solutions described in the invention, and although the present invention has been described in detail in the present specification with reference to the above embodiments, the present invention is not limited to the above embodiments, and therefore, any modification or equivalent replacement of the present invention is made; all such modifications and variations are intended to be included herein within the scope of this disclosure and the appended claims.

Claims (9)

1. A manipulator device for moving a workpiece is characterized by comprising a driving mechanism and an emergency stop switch arranged on one side of the driving mechanism;

the connecting mechanism is arranged on the driving mechanism, and a protective box is arranged on one side of the connecting mechanism;

the sucker mechanisms are arranged on the protective box;

the adjusting and triggering mechanism is arranged inside the protective box;

the adjusting and triggering mechanism comprises a short-stroke cylinder embedded on the side wall of the protective box, a transmission rod is fixedly connected with the telescopic end of the short-stroke cylinder, and one end of the transmission rod, far away from the short-stroke cylinder, penetrates through the protective box and extends to the outside of the protective box;

the adjusting and triggering mechanism further comprises two round rods arranged inside the protective box, the two round rods are respectively positioned on two sides of the transmission rod, and two ends of each round rod are respectively fixedly connected with the inner walls of two sides of the protective box;

the fixing mechanisms are arranged on the adjusting and triggering mechanisms, and the adjusting and triggering mechanisms are used for controlling the fixing mechanisms to open and close;

the counting mechanism is arranged on the side surface of the protective box;

the protection unlocking mechanism for protecting the emergency stop switch is arranged on one side of the driving mechanism;

the fixing mechanism comprises a clamping part and a transmission part, the transmission part is arranged in the clamping part, the clamping part clamps and fixes the sucker mechanism through the transmission part, the clamping part consists of two clamping plates, and one surfaces, close to each other, of the two clamping plates are both provided with a clamping groove;

the inner walls of the two clamping plates are in sliding connection with the outer surfaces of the two round rods, the middle of one clamping plate is fixedly connected with the outer surface of the transmission rod, and the middle of the other clamping plate is in sliding connection with the outer surface of the transmission rod;

the transmission part comprises four adjusting grooves which are respectively formed in two sides of the top of the two clamping plates, first connecting columns are slidably connected inside the four adjusting grooves, second connecting plates are sleeved on the outer surfaces of the four first connecting columns, one ends, far away from the first connecting columns, of the four second connecting plates are fixedly sleeved with the second connecting columns, the end parts of the four second connecting columns are connected with the protective box through bearings, fifth gears are sleeved on the outer surfaces of the four second connecting columns, the four fifth gears are equally divided into two groups, and the two fifth gears in each group are meshed with each other;

the protection unlocking mechanism comprises a protection part and an unlocking part, the protection part comprises two side plates and a baffle plate, the top of the baffle plate is provided with a groove, the inner walls of the two side plates are fixedly connected with first connecting shafts, a connector is connected between the two first connecting shafts through a bearing, a protection rod is inserted and connected with the inner wall of the connector, the bottom end of the protection rod penetrates through the connector and extends to the lower part of the connector, and the bottom end of the protection rod is matched and inserted with the groove in the top of the baffle plate, a sliding block is fixedly sleeved on the outer surface of the protection rod, a protection pipe is connected on the outer surface of the sliding block in a sliding mode, and a fifth spring located in the protection pipe is connected on the outer surface of the protection rod in a sliding mode;

the unlocking part comprises a mounting groove formed in the bottom end of the protective pipe, two second connecting shafts are fixedly mounted in the mounting groove, fourth gears are sleeved on the outer surfaces of the two second connecting shafts through bearings, the two fourth gears are meshed with each other, and L-shaped rods are fixedly connected to the outer sides of the two fourth gears;

the connecting mechanism comprises a connecting part and a locking part, the connecting part is used for connecting the driving mechanism and the protective box, the locking part is arranged in the connecting part, and the locking part is used for locking the connecting part;

the connecting part comprises a connecting seat, a cavity and two connecting grooves respectively positioned at two sides of the cavity are formed in the connecting seat, a through hole communicated with the outside of the connecting seat is formed in the inner wall of the cavity, which is far away from one side of the protective box, the insides of the two connecting grooves are respectively connected with a first connecting plate in an inserting manner, and connecting holes are formed in the two first connecting plates;

the locking part comprises a sliding plate which is connected in the cavity in a sliding manner, a push rod is fixedly connected to the middle of the sliding plate, one end, far away from the sliding plate, of the push rod extends into the through hole, limiting grooves are formed in two sides of the push rod, a first connecting rod is fixedly connected to the inside of the cavity, two connecting blocks and two transmission plates are connected to the outer surface of the first connecting rod in a sliding manner, clamping blocks are fixedly connected to the back surfaces of the two connecting blocks, and one sides, close to each other, of the two clamping blocks are respectively matched and spliced with the two limiting grooves;

two the equal fixedly connected with inserted bar in one side that the driving plate kept away from each other, two the one end that the inserted bar was kept away from each other all passes the cavity and extends to the inside of two spread grooves respectively and be connected with two connecting holes interlude respectively, and fixed mounting has two pulleys that are located the push rod both sides respectively in the cavity the equal fixedly connected with in one side that the driving plate is close to each other connects the rope, two one end of connecting the rope respectively through two pulleys after with the top fixed connection of slide.

2. The manipulator device for workpiece transfer as claimed in claim 1, wherein the adjusting and triggering mechanism is used for controlling the fixing mechanism to open and close and triggering the counting mechanism.

3. The manipulator device for workpiece transfer according to claim 2, wherein the suction cup mechanism has a lifting function for fitting the shape of the workpiece when sucking the workpiece, and the suction cup mechanism comprises a support tube connected with a rubber suction cup, the support tube is sleeved with a retainer ring, and the support tube is connected with a third spring.

4. The manipulator device for workpiece transfer according to claim 3, wherein the transmission portion includes four adjustment grooves formed in the two clamping plates, and the four adjustment grooves are connected to the first connecting column.

5. The manipulator device for workpiece transfer according to claim 4, wherein four first connecting columns are sleeved with second connecting plates, four second connecting columns are sleeved with second connecting columns, and the ends of the four second connecting columns are connected with the protective box through bearings.

6. The manipulator device for workpiece transfer as claimed in claim 5, wherein four of the second connecting columns are provided with fifth gears, four of the fifth gears are equally divided into two groups, and the two fifth gears in each group are meshed with each other.

7. The robot apparatus for transferring workpieces according to claim 6, wherein the counting mechanism includes a driving unit and a counting unit, the driving unit and the counting unit are both mounted on one side of the protection box, the counting unit is configured to record the number of times the workpiece is transferred, and the driving unit is configured to drive the counting unit to count.

8. The manipulator device for workpiece transfer according to claim 7, wherein the protection unlocking mechanism comprises a protection part and an unlocking part, and the unlocking part is arranged in the protection part to protect the emergency stop switch and release the connection between the connection mechanism and the protection box.

9. A method of using a robot apparatus for workpiece transfer according to claim 8, comprising the steps of:

s1, moving and transporting of workpieces: the protective box and the sucker mechanisms are driven to move through the driving mechanism, so that the sucker mechanisms are located above the workpiece, the driving mechanism drives the sucker mechanisms to descend to be in contact with the workpiece and adsorb the workpiece, the driving mechanism drives the sucker mechanisms to ascend and move, the workpiece is moved to a specified position through the sucker mechanisms, the sucker mechanisms are driven to descend through the driving mechanism, the sucker mechanisms are separated from the workpiece, and the movement and the transportation of the workpiece are completed;

s2, adjusting the fixing of the trigger mechanism and the fixing mechanism to the sucker mechanism: when the sucker mechanism is contacted with a workpiece, the fixing mechanism is driven by the adjusting trigger mechanism to be separated from the sucker mechanism, and after the sucker mechanism and the workpiece are adsorbed together, the fixing mechanism is driven by the adjusting trigger mechanism to fix the sucker mechanism;

s3, counting: the adjusting and triggering mechanism drives the components in the counting mechanism to rotate in the process of pushing the fixing mechanism, and the times of moving the workpieces are recorded.

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