CN221021010U

CN221021010U - Feeding manipulator

Info

Publication number: CN221021010U
Application number: CN202322735910.1U
Authority: CN
Inventors: 唐振越; 陈志明
Original assignee: Hangzhou Tenglonghua Intelligent Technology Co ltd
Current assignee: Hangzhou Tenglonghua Intelligent Technology Co ltd
Priority date: 2023-10-11
Filing date: 2023-10-11
Publication date: 2024-05-28
Anticipated expiration: 2033-10-11

Abstract

The utility model discloses a feeding manipulator which comprises a first connecting rod, wherein a second connecting rod is hinged to one side of the first connecting rod, a support is hinged to the end part of the second connecting rod, a third connecting rod is hinged to one side of the support, a fourth connecting rod is hinged to one side of the third connecting rod, and the feeding manipulator is characterized by further comprising a rotating matched gear, a front side sector gear is meshed with one side of the matched gear, a pushing rod is hinged to one side of the front side sector gear, an outer side angle block is hinged to the end part of the pushing rod, the outer side angle block is hinged to one side of the rotating rod, the rotating rod is arranged at a hinged position between the third connecting rod and the fourth connecting rod, a first matched rod is hinged to the inner side of the outer side angle block, a connecting block is hinged to one end of the first matched rod, the connecting block is fixed with the support, and a claw is arranged at the end part of the support and is driven by a driving device to open and close.

Description

Feeding manipulator

Technical Field

The utility model relates to the technical field of feeding mechanical arm equipment, in particular to a feeding mechanical arm.

Background

The feeding manipulator is often used in automatic production, in the process of automatic processing of cosmetics, a container for loading the cosmetics needs to be clamped and then moved to a next position from a vertical upward state and is in a horizontal state, in the process, the existing equipment cannot be controlled freely to turn the container when the container is turned over, so that the equipment is troublesome to debug, and a great deal of researches are carried out on the equipment;

For example, chinese patent document CN201920463100.6, a packaging container collating system, includes a bottle-feeding conveyor belt for conveying containers before collation; the bottle outlet conveyor belt is used for conveying the sorted containers; the bottle overturning conveyor belt is used for arranging and standing the fallen containers and conveying the containers to the bottle discharging conveyor belt; a vision system module; the device is used for detecting the state information of the container on the bottle feeding conveyor belt; a control device, which is in communication connection with the vision system module and is used for receiving the state information of the container; a manipulator; the control device is in communication connection with the control device, and controls the manipulator to grasp the container on the bottle feeding conveyor belt onto the bottle turning conveyor belt according to the state of the container. The bottle arranging machine has the characteristics that the disordered containers can be automatically and orderly arranged, the container openings are upward, the bottle arranging machine is fully automatic, manual intervention is not needed, and the filling efficiency is improved.

Therefore, in the prior art, the equipment cannot overturn the bottle at any position, is troublesome in installation and debugging, and is low in precision and poor in efficiency in working.

Disclosure of utility model

The utility model aims to solve the technical problem of providing a feeding manipulator which can solve the problems in the prior art.

The utility model is realized by the following technical scheme: the utility model relates to a feeding manipulator which comprises a first connecting rod, wherein one side of the first connecting rod is hinged with a second connecting rod, the end part of the second connecting rod is hinged with a bracket, one side of the bracket is hinged with a third connecting rod, one side of the third connecting rod is hinged with a fourth connecting rod.

Further technical scheme still includes driving motor, driving motor set up in casing one side, driving motor's output shaft and cooperation gear power connection set up.

Further technical scheme still includes first motor and second motor, first motor drives first connecting rod rotation, the second motor drives the fourth connecting rod rotation.

According to a further technical scheme, the front side sector gear is in rotary fit connection with an output shaft of the second motor.

Further technical scheme, the jack catch including set up in two rotating turret on the support, be provided with the rotating lever in the rotating turret, the rotating lever with support normal running fit is connected, rotating lever surface fixed is provided with the swinging arms, the internal pivoted of swinging arms is provided with the articulated connecting rod, articulated connecting rod one side pivoted is provided with the rotating connecting rod, rotating connecting rod other side with middle turning block normal running fit is connected.

Further technical scheme, drive arrangement includes the third motor, the output shaft surface of third motor is provided with the driving gear, driving gear one side meshing is provided with the sector gear, sector gear pivoted sets up in second motor output shaft surface, be provided with a plurality of holes on the sector gear, one of them downthehole pivoted is provided with the second cooperation pole, the pivoted of dwang surface is provided with and is located the inboard corner block of third connecting rod both sides, inboard corner block with second cooperation pole normal running fit is connected, inboard corner block one side articulates and is provided with the third cooperation pole, inside pivot surface is provided with two fork blocks, fork block with third cooperation pole normal running fit is connected, fork block other one end with middle dwang articulates the setting.

According to the further technical scheme, the outer side corner block and the inner side corner block are identical parts, and are identical in structure and size.

The beneficial effects of the utility model are as follows:

1. The device can drive the container to clamp and then move upwards, then can turn over the container to swing from a vertical state to a horizontal state and move downwards for a certain distance, and can realize the turning process of the container by controlling the connecting rod structure to move independently through the motor.

2. Adopt a plurality of motors to cooperate the reduction gear, can accurately realize pressing from both sides under the effect of connecting rod and get the container and carry out accurate removal to the precision is higher when reciprocating motion, can realize the accurate material loading process of many times.

Drawings

For ease of illustration, the utility model is described in detail by the following specific examples and figures.

FIG. 1 is a schematic diagram of the overall structure of a feeding manipulator according to the present utility model;

FIG. 2 is a schematic three-dimensional structure of the apparatus of FIG. 1;

FIG. 3 is a schematic diagram of FIG. 2 at A;

FIG. 4 is a schematic diagram at B in FIG. 2;

FIG. 5 is a schematic view of the apparatus of FIG. 1 in cross-section;

FIG. 6 is an enlarged schematic view of a portion of the apparatus of FIG. 5;

FIG. 7 is a schematic diagram at C in FIG. 6;

FIG. 8 is a schematic diagram of the apparatus in a front cut-away state;

FIG. 9 is a schematic view of one of the movement trajectories of the container of FIG. 8;

In the figure, a housing 11, a first motor 12, a third motor 13, a second motor 14, a first link 21, a drive gear 22, a sector gear 23, a second link 24, an outside corner block 25, a first engagement lever 26, a connection block 27, a bracket 28, a third link 29, a claw holder 31, a rotating frame 32, a rotating lever 34, a holding block 36, a fork-shaped block 37, a third engagement lever 38, an inner rotating shaft 39, a fourth link 51, a second engagement lever 52, an inside corner block 53, a rotating lever 54, a drive motor 61, an engagement gear 62, a push lever 63, a front sector gear 64, an intermediate rotating block 71, a rotating link 72, and a hinge link 73.

Detailed Description

The present utility model will be described in detail with reference to fig. 1 to 9, and for convenience of description, the following orientations will be defined as follows: the feeding manipulator disclosed by the utility model comprises a shell 11, wherein the rear side of the shell 11 is provided with a first motor 12, a third motor 13 and a second motor 14, the end part of an output shaft of the first motor 12 is provided with a first connecting rod 21, the first connecting rod 21 is internally hinged with a second connecting rod 24, the feeding manipulator further comprises a bracket 28, an internal rotating shaft 39 is rotatably arranged in the bracket 28, the second connecting rod 24 is in rotating fit connection with the internal rotating shaft 39, the end part of an output shaft of the second motor 14 is provided with a fourth connecting rod 51, the end part of the fourth connecting rod 51 is rotatably provided with a rotating rod 54, one side of the fourth connecting rod 51 is concentrically hinged with the third connecting rod 29 through the rotating rod 54, the third connecting rod 29 is concentrically hinged with the bracket 28 through the internal rotating shaft 39, the hinged joint of the third connecting rod 29 and the second connecting rod 24 can have the movement capacity of a plurality of positions by respectively driving the first connecting rod 21 and the fourth connecting rod 51 to swing, and the first connecting rod 21 can be respectively controlled by the first motor 12 and the second motor 14.

Advantageously, the outer surface of the output shaft of the third motor 13 is provided with a driving gear 22, one side of the driving gear 22 is meshed with a sector gear 23, the sector gear 23 is rotationally arranged on the outer surface of the output shaft of the second motor 14, a plurality of holes are formed in the sector gear 23, a second matching rod 52 is rotationally arranged in one hole, inner side corner blocks 53 positioned on two sides of the third connecting rod 29 are rotationally arranged on the outer surface of a rotating rod 54, round rods are arranged in the inner side corner blocks 53 and are in rotationally matched connection with the second matching rod 52, one side of each inner side corner block 53 is hinged with a third matching rod 38, two fork blocks 37 are rotationally matched with the third matching rod 38 on the outer surface of an inner rotating shaft 39, a middle rotating block 71 is rotationally arranged between the fork blocks 37 on two sides, and a claw is arranged on one side of the driving support 28.

The claw comprises two rotating frames 32 arranged on the support 28, a claw frame 31 is arranged on one side of each rotating frame 32, a clamping block 36 is arranged at the upper end and the lower end of each claw frame 31, a rotating rod 34 is arranged in each rotating frame 32, each rotating rod 34 is connected with the corresponding support 28 in a rotating fit mode, a swinging rod 33 is fixedly arranged on the outer surface of each rotating rod 34, a hinged connecting rod 73 is arranged in each swinging rod 33 in a rotating mode, a rotating connecting rod 72 is arranged on one side of each hinged connecting rod 73 in a rotating mode, the other side of each rotating connecting rod 72 is connected with the corresponding middle rotating block 71 in a rotating fit mode, after the rotating connecting rod 72 moves relative to the fourth connecting rod 51, the inner side corner block 53 can be pulled to swing, the inner side corner block 53 can drive the corresponding fork block 37 to swing through the corresponding third matching rod 38, the middle rotating block 71 can drive the rotating connecting rod 72 and the hinged connecting rods 73 to rotate after the fork block 37 swings, and then the rotating rods 34 drive the rotating frames 32, the claw frames 31 and the clamping blocks 36 to open and close the container to clamp or release the container.

The driving motor 61 is further arranged on one side of the shell 11, the matching gear 62 is arranged on one side of an output shaft of the driving motor 61, the front side sector gear 64 is meshed with one side of the matching gear 62, the front side sector gear 64 is arranged on the outer surface of the output shaft of the 14 in a rotating mode, a plurality of round holes are formed in the front side sector gear 64, a pushing rod 63 is arranged in one round hole in a rotating mode, an outer side corner block 25 is hinged to the outer surface of the rotating rod 54, one end of the outer side corner block 25 is connected with the pushing rod 63 in a rotating mode, a first matching rod 26 is arranged at the other end of the outer side corner block 25 in a rotating mode, a connecting block 27 is arranged at one end of the first matching rod 26 in a rotating mode, the connecting block 27 is fixedly connected with the support 28 in a matching mode, the matching gear 62 is driven to rotate through the driving motor 61, the matching gear 62 is driven to rotate, the front side sector gear 64 is driven to rotate, the pushing rod 63 is driven to rotate, the connecting block 27 and the support 28 can rotate around the inner rotating shaft 39 under the connecting effect of the 26, the jaw 28 is driven to rotate, and the container is driven to rotate from a vertical state to a horizontal state, and the reversing function is achieved.

Advantageously, the outside corner block 25 and the inside corner block 53 are identical parts, both in structure and in size.

When the device works, the container can be clamped firstly and then moved upwards, then the container is inclined rightwards and then is in a container horizontal state in the process of gradually moving leftwards, and then the container is moved downwards, so that the function of moving the container from a vertical state to a horizontal state after clamping the container is realized.

This is achieved by the second motor 14 and the first motor 12 cooperating when the container is being held for movement.

In the first stage, after the container is clamped, the container moves vertically upwards, the second motor 14 drives the second matching rod 52 to swing upwards, then the first motor 12 drives the first connecting rod 21 to swing leftwards, then the second connecting rod 24 swings upwards, and the combined movement of the three swing arms can enable the container to move vertically upwards to the highest point.

In the second stage, the container can tilt from the right lower side to the horizontal state in the process of moving leftwards, in this process, the container can be driven to turn by the following process at any time, namely, the driving motor 61 drives the matching gear 62 to rotate clockwise, so that the matching gear 62 rotates and then drives the front side sector gear 64 to rotate anticlockwise, the front side sector gear 64 rotates and then drives the push rod 63 to move so that the connecting block 27 and the bracket 28 can rotate anticlockwise around the internal rotating shaft 39, the claw on one side of the bracket 28 drives the container to rotate clockwise and then switches the container from the vertical state to the horizontal state, the second motor 14 drives the second matching rod 52 to swing downwards gradually, then the first motor 12 continues to drive the first connecting rod 21 to swing leftwards, in this process, the relative position of the inner side angle block 53 and the fourth connecting rod 51 needs to be kept unchanged, otherwise, in this process, the second motor 14 is required to synchronously drive the sector gear 23 to rotate anticlockwise after working, so that the fourth connecting rod 51 swings downwards, in the process of rotating downwards, the second motor 14 drives the sector gear 23 to rotate clockwise, so that the fourth connecting rod 51 rotates clockwise through the rotating frame 32 and the rotating block 23 and the fourth connecting rod 25 to rotate clockwise, and the second motor 14 moves clockwise, and the corresponding to the inner side angle block 25 rotates clockwise, and the second connecting rod 25 moves clockwise, and the inner side of the connecting rod 25 rotates clockwise, and the second connecting rod 25 correspondingly, and the second motor is required to rotate the fourth motor 25, and the inner side of the fourth connecting rod, and the fourth connecting rod is required to rotate.

In the third stage, after the jaw moves the container to the leftmost position, the first link 21 swings counterclockwise, and the fourth link 51 rotates clockwise, so that the lower connecting block 27 and the bracket 28 and the jaw and the container maintain horizontal downward vertical movement.

When releasing the container, the third motor 13 drives the driving gear 22 to rotate, so that the driving gear 22 drives the sector gear 23 to rotate, the second matching rod 52 moves towards the sector gear 23 and pulls the inner corner block 53 to move anticlockwise, so that the third matching rod 38 drives the fork block 37 to swing anticlockwise, the middle rotating block 71 between the fork blocks 37 is driven to rotate, the rotating connecting rod 72 is pulled to pull the rotating connecting rod 73 to rotate the swinging rod 33, the swinging rod 33 drives the rotating rod 34, the rotating frame 32 and the clamping jaw frame 31 to swing, and the rotating rod 34, the rotating frame 32 and the clamping jaw frame 31 are opened to release the container after being turned towards the front side and the rear side.

The above is merely a specific embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any changes or substitutions that do not undergo the inventive work should be covered in the scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the protection scope defined by the claims.

Claims

1. The utility model provides a material loading manipulator, includes first connecting rod (21), first connecting rod (21) one side articulates and is provided with second connecting rod (24), second connecting rod (24) tip articulates and is provided with support (28), support (28) one side articulates and is provided with third connecting rod (29), third connecting rod (29) one side articulates and is provided with fourth connecting rod (51), a serial communication port, still include pivoted mating gear (62), mating gear (62) one side meshing is provided with front side sector gear (64), front side sector gear (64) one side articulates and is provided with push rod (63), push rod (63) tip articulates and is provided with outside angle block ((25)), outside angle block (25) articulates and is provided with in dwang (54) one side, dwang (54) set up in articulated department between third connecting rod (29) and fourth connecting rod (51), articulated first mating rod (26) that is provided with in outside angle block (25), first mating rod (26) one end articulates and is provided with (27), support (27) and support (28) are provided with drive block (28), drive jaw (28) are closed by the tip.

2. The feeding manipulator of claim 1, wherein: the motor driving device is characterized by further comprising a driving motor (61) and a shell (11), wherein the driving motor (61) is arranged on one side of the shell (11), and an output shaft of the driving motor (61) is in power connection with a matched gear (62).

3. The feeding manipulator of claim 1, wherein: the novel electric motor further comprises a first motor (12) and a second motor (14), wherein the first motor (12) drives the first connecting rod (21) to rotate, and the second motor (14) drives the fourth connecting rod (51) to rotate.

4. A loading manipulator according to claim 3, wherein: the front sector gear (64) is connected with the output shaft of the second motor (14) in a rotating fit manner.

5. The feeding manipulator of claim 1, wherein: the jack catch including set up in two rotating turret (32) on support (28), be provided with rotating rod (34) in rotating turret (32), rotating rod (34) with support (28) normal running fit is connected, rotating rod (34) external surface fixed is provided with swinging arms (33), pivoted in swinging arms (33) is provided with articulated connecting rod (73), articulated connecting rod (73) one side pivoted is provided with rotating connecting rod (72), rotating connecting rod (72) other one side is connected with middle turning block (71) normal running fit.

6. The feeding manipulator of claim 5, wherein: the driving device comprises a third motor (13), a driving gear (22) is arranged on the outer surface of an output shaft of the third motor (13), a sector gear (23) is arranged on one side of the driving gear (22) in a meshed mode, the sector gear (23) is arranged on the outer surface of an output shaft of the second motor (14) in a rotating mode, a plurality of holes are formed in the sector gear (23), a second matching rod (52) is arranged in one hole in the rotating mode, an inner corner block (53) is arranged on two sides of the third connecting rod (29) in a rotating mode, the inner corner block (53) is connected with the second matching rod (52) in a rotating mode, a third matching rod (38) is hinged to one side of the inner corner block (53), an inner rotating shaft (39) is arranged in the support (28), two fork blocks (37) are arranged on the outer surface of the inner rotating shaft (39), the fork blocks (37) are connected with the third matching rod (38) in a rotating mode, and one ends of the fork blocks (37) are hinged to the middle rotating block (71).

7. The feeding manipulator of claim 4, wherein: the outside corner block (25) and the inside corner block (53) are the same parts, and the structures and the sizes are the same.