CN118927282A

CN118927282A - An intelligent manipulator for mechanical processing

Info

Publication number: CN118927282A
Application number: CN202411170201.6A
Authority: CN
Inventors: 高建香
Original assignee: Jiangsu Chengcasting Machinery Technology Co ltd
Current assignee: Jiangsu Chengcasting Machinery Technology Co ltd
Priority date: 2024-08-26
Filing date: 2024-08-26
Publication date: 2024-11-12
Anticipated expiration: 2044-08-26
Also published as: CN118927282B

Abstract

The present invention belongs to the technical field related to robots, and specifically discloses an intelligent robot for mechanical processing, including a base, a robot body, a conveyor, and a disc plow body. The robot body is located on the upper surface of the base, and a mounting seat is installed at the execution unit of the robot body. A cross bar is fixedly installed on the outer side of the mounting seat, and a guide unit is arranged at one end of the cross bar. An L-shaped rod is fixedly installed on the lower surface of the cross bar, and a rotating shaft is connected to the lower surface of the L-shaped rod through a driving unit. A reinforcement cylinder is sleeved on the outer side of the rotating shaft, and a cylinder seat is fixedly installed on the upper surface of the reinforcement cylinder. Disc stacking units are arranged at equal distances along the circumferential direction on the outer side of the cylinder seat. The conveyor is arranged at the front end of the robot body. The present invention can lift up a plurality of disc plows and then transfer them.

Description

Intelligent manipulator that machining used

Technical Field

The invention belongs to the technical field of manipulators, and particularly discloses an intelligent manipulator for machining.

Background

The disc plow refers to a tillage machine which takes a disc plow body as a working part. The disc is usually part of a hollow sphere with edges sharpened for grass cutting and soil penetration, the disc being supported solely on bearings on the plow standard, the disc faces being at an angle to the forward direction and to the vertical, respectively, referred to as the declination angle α and the declination angle β. On a general standard disc plow, 3-6 disc plow bodies are arranged, when in operation, a unit advances, the disc rolls and cuts into soil, and upturned soil is lifted along the concave surface of the disc and is turned over and broken by the cooperation of a scraping plate. The disc plow is suitable for the soil with heavy weight, dry and hard, multiple stones and multiple roots, does not need frequent sharpening and replacement, has low maintenance cost and does not form a solid trench bottom. Although the covering of the stubbles is not complete, the method is favorable for preventing the water loss of arid lands and the salt returning of saline-alkali lands;

After the existing disc plow is manufactured, the existing disc plow is conveyed by adopting a conveying belt and then assembled on a box body or a carrying device, but the existing workers have lower assembly work efficiency, a plurality of workers are needed to be present in the carrying process, and the economic cost of the workers is high, so that the improvement is needed.

Disclosure of Invention

The invention aims to solve the problems in the background art and provides an intelligent manipulator for machining.

In order to achieve the above purpose, the invention discloses an intelligent manipulator for machining, which comprises a base, a manipulator main body, a conveyor and a disc plow main body, wherein the manipulator main body is positioned on the upper surface of the base, a mounting seat is arranged at an execution unit of the manipulator main body, a cross rod is fixedly arranged on the outer side of the mounting seat, a guide unit is arranged at one end of the cross rod, an L-shaped rod is fixedly arranged on the lower surface of the cross rod, the lower surface of the L-shaped rod is connected with a rotating shaft through a driving unit, a reinforcing cylinder is sleeved on the outer side of the rotating shaft, a cylinder seat is fixedly arranged on the upper surface of the reinforcing cylinder, disc stacking units are equidistantly arranged on the outer side of the cylinder seat along the circumferential direction, and the conveyor is arranged at the front end of the manipulator main body.

Preferably, the guide unit comprises a frame beam fixedly installed at the outer side of one end of the cross rod, a first air cylinder is fixedly installed above two ends of the frame beam respectively, guide rods are fixedly installed at the telescopic ends of the first air cylinders respectively, guide frames are fixedly installed at the outer sides of one ends of the guide rods respectively, two groups of guide frames are correspondingly connected with slide rods through arranged electric push rods at the outer sides of one ends of the guide frames, and guide cylinders are rotatably installed inside one side, close to each other, of each slide rod.

Preferably, the driving unit comprises a motor fixedly arranged on the lower surface of the L-shaped rod, and the output end of the motor is connected with one end of the rotating shaft.

Preferably, the disc stack unit comprises a clamping seat fixedly arranged on the outer side of the cylinder seat, one end of the clamping seat is rotatably provided with a U-shaped seat, one end, far away from the clamping seat, of the U-shaped seat is fixedly provided with a movable supporting rod, and the outer side of the movable supporting rod is slidably provided with a pressing unit.

Preferably, the pressing unit comprises a sliding block sleeved on the outer side of the movable supporting rod in a sliding mode, an inclined rod is fixedly connected to the outer wall of one side of the sliding block, a guide rod is connected to the lower end of the inner side of the inclined rod in a rotating mode through a fixedly installed connecting seat, a second air cylinder is fixedly arranged at the bottom end of the guide rod, and a clamping block is fixedly installed below the outer side of the second air cylinder.

Preferably, triangular rods are mounted on the outer sides of the guide rods jointly, a turntable is mounted on the bottom ends of the clamping blocks jointly, and the turntable is fixedly sleeved at the lower portion of the outer sides of the rotating shafts.

Preferably, the outside of the cylinder seat is provided with inclined frames in a rotating way along the circumferential direction at equal intervals, the inner sides of the inclined frames are provided with a plurality of multi-section rotary cylinders in a rotating way, the upper surface of the inclined frames, which is close to one end of the cylinder seat, is fixedly provided with a base, the outer sides of the base are fixedly provided with rubber blocks, and the lower surface of one end of the inclined frames is contacted with the upper surface of the movable supporting rod.

Preferably, the L-shaped rod is fixedly provided with a supporting rod on the inner surface of one side, which is close to the turntable, of the L-shaped rod, the outer side of the supporting rod is rotatably provided with a positioning disc, and the positioning disc is in rotary fit with the turntable.

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

1. The disc plow body can be automatically conveyed to the front end through the arranged conveyor, so that the manipulator body at the front end can be used for stacking discs.

2. Through the inclined frame and the multiple multisection rotary drums that set up, can conveniently carry the disc plow body that the conveyer carried to the seat department of keeping out automatically, then stretch into under the guiding tube, can carry the disc plow body that the second carried to the back end and rise gradually, make the second disc plow body pile up in the first disc plow body outside, then drive through the rotation of motor, let the inclined frame of opposite side rotate to the terminal of conveyer, and so on, can let the manipulator main part transport a plurality of disc plow main parts in same batch.

3. Through the telescopic mode of the second cylinder that sets up, make structures such as guide arm, diagonal bar, slider remove towards the rear end of activity vaulting pole, and then let the activity vaulting pole turn over downwards, the bezel can be with a plurality of disc plow bodies unloading this moment, through multisection rotary drum, let the disc plow body automatic whereabouts, and then the disc plow body of transporting fast.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

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

FIG. 3 is a schematic diagram of a connection structure between a bevel frame and a cylinder base according to the present invention;

FIG. 4 is a schematic diagram of a connection structure between an inclined frame and a pressing unit according to the present invention;

FIG. 5 is a schematic view of a connection structure of a guide unit according to the present invention;

FIG. 6 is a schematic diagram of a connection structure between a turntable and a positioning disk according to the present invention;

fig. 7 is a schematic diagram of a connection structure between a movable stay bar and a pressing unit according to the present invention.

In the figure: 1. a base; 2. a robot body; 3. a conveyor; 4. a mounting base; 5. a cross bar; 6. erecting a beam; 7. a first cylinder; 8. an L-shaped rod; 9. a motor; 10. a turntable; 11. a guide rod; 12. a rotating shaft; 13. a support rod; 14. a cylinder seat; 15. a movable stay bar; 16. a plurality of sections of drums; 17. an inclined frame; 18. a base; 19. a slide block; 20. a diagonal rod; 21. a second cylinder; 22. a rubber block; 23. a guide rod; 24. a triangular bar; 25. a disc plow body; 26. a guide frame; 27. an electric push rod; 28. a guide cylinder; 29. a slide bar; 30. a positioning plate; 31. a U-shaped seat; 32. a clamping seat; 33. a connecting seat; 34. a reinforcement cylinder; 35. and (5) clamping blocks.

Detailed Description

In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than as described herein, and therefore the present invention is not limited to the specific embodiments disclosed below.

The intelligent manipulator for machining shown in fig. 1-7 comprises a base 1, a manipulator main body 2, a conveyor 3 and a disc plow main body 25, wherein the manipulator main body 2 is positioned on the upper surface of the base 1, a mounting seat 4 is installed at an execution unit of the manipulator main body 2, a cross rod 5 is fixedly installed on the outer side of the mounting seat 4, a guide unit is arranged at one end of the cross rod 5, an L-shaped rod 8 is fixedly installed on the lower surface of the cross rod 5, a rotating shaft 12 is connected with the lower surface of the L-shaped rod 8 through a driving unit, a reinforcing cylinder 34 is sleeved on the outer side of the rotating shaft 12, a cylinder seat 14 is fixedly installed on the upper surface of the reinforcing cylinder 34, disc stacking units are arranged on the outer side of the cylinder seat 14 at equal intervals along the circumferential direction, and the conveyor 3 is arranged at the front end of the manipulator main body 2.

The guide unit comprises a frame beam 6 fixedly arranged at the outer side of one end of a cross rod 5, first air cylinders 7 are fixedly arranged above two ends of the frame beam 6 respectively, guide rods 11 are fixedly arranged at the telescopic ends of the two first air cylinders 7, guide frames 26 are fixedly arranged at the outer sides of one ends of the two guide rods 11, the first air cylinders 7 can drive the guide rods 11 and the guide frames 26 to guide and convey at the tail end of a conveyor 3 in the use process, the disc plow main body 25 can slide to the outer side of an inclined frame 17, the manipulator main body 2 is convenient to transfer, guide cylinders 28 are rotatably arranged at the outer sides of one ends of the two groups of the guide frames 26 through arranged electric push rods 27 correspondingly connected with slide rods 29, one sides of the two slide rods 29 close to each other, and the second disc plow main body 25 is subjected to ascending conveying after the position of the first disc plow main body 25 is determined under the telescopic use of the electric push rods 27.

The driving unit comprises a motor 9 fixedly arranged on the lower surface of the L-shaped rod 8, the output end of the motor 9 is connected with one end of a rotating shaft 12, and the rotating shaft 12 can drive a cylinder seat 14 and a reinforcing cylinder 34 at the upper end to rotate under the driving of the motor 9.

The disk stack unit comprises a clamping seat 32 fixedly arranged on the outer side of the cylinder seat 14, a U-shaped seat 31 is rotatably arranged at one end of the clamping seat 32, the clamping seat 32 is in rotary fit with the U-shaped seat 31, later unloading can be facilitated, a movable supporting rod 15 is fixedly arranged at one end of the U-shaped seat 31 away from the clamping seat 32, a pressing unit is slidably arranged on the outer side of the movable supporting rod 15, and the movable supporting rod 15 can flexibly rotate under the setting of the pressing unit.

The pressing unit comprises a sliding block 19 which is sleeved on the outer side of the movable supporting rod 15 in a sliding manner, an inclined rod 20 is fixedly connected to the outer wall of one side of the sliding block 19, a guide rod 23 is rotatably connected to the lower end of the inner side of the inclined rod 20 through a fixedly-installed connecting seat 33, a second air cylinder 21 is fixedly arranged at the bottom end of the guide rod 23, and a clamping block 35 is fixedly installed below the outer side of the second air cylinder 21;

The outer sides of the guide rods 23 are provided with triangular rods 24 together, the bottom ends of the plurality of groups of clamping blocks 35 are provided with a rotary table 10 together, the rotary table 10 is fixedly sleeved below the outer sides of the rotating shafts 12, the triangular rods 24 can be matched with the second air cylinders 21 for use, and further the sliding blocks 19 at the upper ends are driven to move through the telescopic driving of the second air cylinders 21, so that the operation of supporting and discharging is performed in the use process;

The fixture block 35 may be reinforced at the outer side of the second cylinder 21 so that the second cylinder 21 is more stably mounted on the turntable 10 when the turntable 10 rotates.

The outside of the cylinder seat 14 is provided with an inclined frame 17 in a rotating way along the circumferential direction, the inner side of the inclined frame 17 is provided with a plurality of multi-section rotary cylinders 16 in a rotating way, the multi-section rotary cylinders 16 facilitate the disc plow body 25 to roll on the surface, the upper surface of one end of the inclined frame 17 close to the cylinder seat 14 is fixedly provided with a retaining seat 18, the outer side of the retaining seat 18 is fixedly provided with a rubber block 22, and during feeding, one side of the disc plow body 25 is attached to the rubber block 22 at the retaining seat 18, so that positioning is performed in the conveying process, the lower surface of one end of the inclined frame 17 is contacted with the upper surface of the movable supporting rod 15, and the movable supporting rod 15 can support the lower part of one end of the inclined frame 17 during feeding of the inclined frame 17.

The inner surface of one side of the L-shaped rod 8, which is close to the turntable 10, is fixedly provided with a supporting rod 13, a positioning disc 30 is rotatably arranged on the outer side of the supporting rod 13, the positioning disc 30 is in rotary fit with the turntable 10, and the supporting rod 13 is convenient for installing the positioning disc 30 on the L-shaped rod 8 so as to be in rotary fit with the turntable 10, so that the stability of continuous rotation of the turntable 10 is improved.

It should be noted that the conveying speed of the conveyor 3, the driving of the first cylinder 7, the second cylinder 21 and the electric push rod 27 can be automatically controlled by an external PLC controller, and an external position sensor is further added at the execution unit of the manipulator main body 2, so that the conveyor 3 conveys the disc plow main body 25 to the tail end for automatic adjustment, and the above prior art can realize operation, which will not be repeated here.

Working principle: when the automatic disc plow is used, the disc plow body 25 can be automatically conveyed to the tail end through the conveying of the conveyor 3, then the manipulator body 2 positioned at the tail end of the conveyor 3 is used for disc buttress, the inclined frame 17 and the plurality of multi-section drums 16 are obliquely arranged, the disc plow body 25 conveyed from the conveyor 3 can be automatically conveyed to the end part of the inclined frame 17, the disc plow body 25 can be pressed against the rubber block 22 of the abutting seat 18, after the disc plow body 25 is piled up, the slide rod 29 and the guide cylinder 28 on the outer side of the guide frame 26 are driven by the electric push rod 27 to extend above the inclined frame 17, then the disc plow body 25 conveyed by the second conveyor can be conveyed from the surface of the guide cylinder 28 under the pushing of the conveyor 3, one side of the second disc plow body 25 is attached to the outer surface of the first disc plow body 25 and then the disc plow body 25 is progressively stacked, at this time, the other side of the disc plow body 25 is driven by the rotation of the motor 9, the inclined frame 17 is rotated to the tail end of the conveyor 3, and the same mechanical body 2 can be conveyed, the plurality of guide rods 21 can be quickly moved down from the inclined frame 17 to the movable frame 25 through the inclined frame 17, the movable guide rods 19 can be quickly detached from the inclined frame 25, and the like.

The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined by the appended claims.

Claims

1. An intelligent manipulator for mechanical processing, comprising a base (1), a manipulator body (2), a conveyor (3), and a disc plow body (25), characterized in that: the manipulator body (2) is located on the upper surface of the base (1), a mounting seat (4) is installed at the execution unit of the manipulator body (2), a cross bar (5) is fixedly installed on the outer side of the mounting seat (4), a guide unit is arranged at one end of the cross bar (5), an L-shaped rod (8) is fixedly installed on the lower surface of the cross bar (5), the lower surface of the L-shaped rod (8) is connected to a rotating shaft (12) through a driving unit, a reinforcement cylinder (34) is sleeved on the outer side of the rotating shaft (12), a cylinder seat (14) is fixedly installed on the upper surface of the reinforcement cylinder (34), and disc stacking units are arranged at equal distances on the outer side of the cylinder seat (14) along the circumferential direction, and the conveyor (3) is arranged at the front end of the manipulator body (2).

2. An intelligent manipulator for mechanical processing according to claim 1, characterized in that: the guiding unit comprises a frame beam (6) fixedly mounted on the outside of one end of a cross bar (5), a first cylinder (7) is fixedly mounted above both ends of the frame beam (6), a guiding rod (11) is fixedly mounted on the telescopic ends of the two first cylinders (7), a guide frame (26) is fixedly mounted on the outside of one end of the two guiding rods (11), a sliding rod (29) is correspondingly connected to the outside of one end of the two groups of the guide frames (26) through an electric push rod (27), and a guiding cylinder (28) is rotatably mounted inside the side of the two sliding rods (29) that are close to each other.

3. An intelligent manipulator for mechanical processing according to claim 1, characterized in that: the driving unit comprises a motor (9) fixedly mounted on the lower surface of the L-shaped rod (8), and the output end of the motor (9) is connected to one end of the rotating shaft (12).

4. An intelligent manipulator for mechanical processing according to claim 1, characterized in that: the disc stacking unit includes a holder (32) fixedly mounted on the outside of the cylinder seat (14), a U-shaped seat (31) is rotatably mounted on one end of the holder (32), a movable support rod (15) is fixedly mounted on the end of the U-shaped seat (31) away from the holder (32), and a pressing unit is slidably arranged on the outside of the movable support rod (15).

5. An intelligent manipulator for mechanical processing according to claim 4, characterized in that: the pressing unit comprises a slider (19) slidably mounted on the outside of the movable support rod (15), an outer wall of one side of the slider (19) is fixedly connected to an inclined rod (20), the inner lower end of the inclined rod (20) is rotatably connected to a guide rod (23) through a fixedly installed connecting seat (33), a second cylinder (21) is fixedly installed at the bottom end of the guide rod (23), and a clamping block (35) is fixedly installed at the lower outer side of the second cylinder (21).

6. An intelligent manipulator for mechanical processing according to claim 5, characterized in that: a triangular rod (24) is commonly installed on the outer side of the plurality of guide rods (23), a turntable (10) is commonly installed on the bottom end of the plurality of groups of clamping blocks (35), and the turntable (10) is fixedly sleeved on the outer side and lower side of the rotating shaft (12).

7. An intelligent manipulator for mechanical processing according to claim 1, characterized in that: an inclined frame (17) is rotatably installed at equal intervals on the outer side of the cylinder seat (14) along the circumferential direction, and a plurality of multi-section rotating cylinders (16) are rotatably installed on the inner side of the inclined frame (17), and a stopper (18) is fixedly installed on the upper surface of one end of the inclined frame (17) close to the cylinder seat (14), and a rubber block (22) is fixedly installed on the outer side of the stopper (18), and the lower surface of one end of the inclined frame (17) is in contact with the upper surface of the movable support rod (15).

8. An intelligent manipulator for mechanical processing according to claim 6, characterized in that: a support rod (13) is fixedly installed on the inner surface of one side of the L-shaped rod (8) close to the turntable (10), and a positioning plate (30) is rotatably installed on the outer side of the support rod (13), and the positioning plate (30) and the turntable (10) are rotatably matched.