CN110238811B - Intelligent feeding robot - Google Patents
Intelligent feeding robot Download PDFInfo
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- CN110238811B CN110238811B CN201910516226.XA CN201910516226A CN110238811B CN 110238811 B CN110238811 B CN 110238811B CN 201910516226 A CN201910516226 A CN 201910516226A CN 110238811 B CN110238811 B CN 110238811B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
The invention belongs to the technical field of industrial equipment, and particularly discloses an intelligent feeding robot which comprises a clamping mechanism and a conveying mechanism, wherein an adjusting frame is arranged on the conveying mechanism, the clamping mechanism is arranged on the adjusting frame, the adjusting frame is used for adjusting the position of the clamping mechanism, and the conveying mechanism is used for moving the clamping mechanism. Compared with the prior art, the robot does not need manual cooperation, can automatically complete the feeding process of workpieces, greatly saves time and energy of workers, and also avoids potential safety hazards in the feeding process.
Description
Technical Field
The invention belongs to the technical field of industrial equipment, and particularly discloses an intelligent feeding robot.
Background
With the increasing development of industrial processing equipment, more and more machines are used in cooperation with the industrial processing equipment, and in processing equipment with higher automation, such as a punch press, a milling machine, a grinding machine, a boring machine, a drilling machine, a planer, a processing center and the like, feeding is needed before processing a workpiece, namely, the workpiece is taken and placed at a designated position on a processing table; after the position of the workpiece on the processing table is determined, the workpiece is limited and fixed by a tool die and the like, and then processing equipment is started to process the workpiece. At present, another device is needed for transportation before workpiece feeding, the workpiece feeding process is mostly completed manually, and the workpiece feeding process is also completed by matching of a matched device and the manual work.
The feeding process is manually finished, namely the process of taking the workpiece from the conveying equipment and placing the workpiece on the processing table is manually finished by workers, so that the feeding process of the workpiece is time-consuming and labor-consuming; the positioning of the workpiece by the worker after the workpiece is placed on the worktable requires the worker to carefully align the workpiece with the machining table, which is labor-intensive and prone to machining accidents caused by the worker's operation.
The feeding process is completed by matching of matched equipment and manual work, namely, the matched equipment is utilized to take and place the workpiece on a processing table, for example, in the process of batch production of the workpiece, the workpiece is placed at a specified position, and then the mechanical arm and other matched equipment are utilized to finish taking and placing; the subsequent manual correction of the position of the workpiece on the processing table by workers still consumes time and energy; because the processing effort of processing equipment is great, the workman is too close by the processing department of processing equipment, appears the potential safety hazard easily when processing equipment maloperation.
Disclosure of Invention
The invention aims to provide an intelligent feeding robot to solve the problems that a workpiece feeding process wastes time and labor and potential safety hazards exist.
In order to achieve the purpose, the basic scheme of the invention is as follows: the intelligent feeding robot comprises a clamping mechanism and a conveying mechanism, wherein an adjusting frame is arranged on the conveying mechanism, the clamping mechanism is arranged on the adjusting frame, the adjusting frame is used for adjusting the position of the clamping mechanism, and the conveying mechanism is used for moving the clamping mechanism; the clamping mechanism comprises a support plate, a rotating plate and a plurality of clamping units, the support plate is fixed with the adjusting frame, the rotating plate is rotatably connected to the support plate, and a spiral groove is formed in the rotating plate; the clamping unit comprises a sliding block, a telescopic block, a pull rod and a clamping claw, the sliding block is positioned in the spiral groove and is in sliding connection with the spiral groove, the sliding block is fixedly connected with the support plate through the telescopic block, one end of the pull rod is hinged to the sliding block, and the other end of the pull rod is hinged to the clamping claw; one end of the clamping claw is hinged to the support plate, the other end of the clamping claw is used for clamping a workpiece, and the support plate is provided with a driving unit for driving the rotating plate to rotate.
The working principle of the basic scheme is as follows: when a workpiece is machined by using machining equipment, the robot can be used for realizing the feeding process of the workpiece, specifically, the position of the clamping mechanism is adjusted by the adjusting frame, the clamping mechanism is aligned to the workpiece, the clamping claws are all positioned on the outer edge of the workpiece, the driving unit is used for driving the rotating plate to rotate, and the spiral groove on the rotating plate rotates along with the rotating plate; in the process, the sliding block can move in the spiral groove, and due to the limiting effect of the telescopic block on the sliding block, the sliding block cannot rotate along with the spiral groove, but slides towards the center of the rotating plate along the spiral groove. In the process, one end of the pull rod moves towards the center of the rotating plate along with the slide block, the clamping claws are driven to rotate along the hinged positions of the supporting plates, so that one ends of all the clamping claws, far away from the supporting plates, approach to the center of the rotating plate, and the clamping claws can clamp the workpiece.
After the robot clamps a workpiece, the clamping mechanism is conveyed to a designated position by the conveying mechanism, the clamping mechanism is moved to a processing table through the adjusting frame, then the rotating plate is driven to rotate in the reverse direction by the driving unit, the sliding block is moved to the outer edge of the rotating plate by the rotation of the spiral groove, the clamping claw is rotated along the hinged position of the supporting plate under the action of the pull rod, the workpiece is released from clamping, and the workpiece is placed on the processing table for processing.
The beneficial effect of this basic scheme lies in:
1. the robot is used for feeding workpieces, the workpieces do not need to contact workers, and the workers only need to control the robot to do relevant actions, so that the processes of taking, conveying, placing and the like of the workpieces by the workers in the feeding process of the workers are reduced, and the feeding process of the workpieces is very time-saving and labor-saving.
2. The robot is used for feeding workpieces, workers do not need to be in contact with mechanical equipment such as the workpieces and processing equipment in the whole process, and potential safety hazards in the workpiece feeding process are avoided.
Compared with the prior art, the robot does not need manual cooperation, can automatically complete the feeding process of workpieces, greatly saves time and energy of workers, and also avoids potential safety hazards in the feeding process.
Further, the driving unit is a stepping motor, and an output shaft of the stepping motor penetrates through the center of the support plate and the center of the rotating plate to be fixedly connected.
The positive and negative rotation of the rotating plate is controlled by controlling the positive and negative rotation of the stepping motor, the sliding block is controlled to move inwards or outwards, and then the clamping claw is controlled to clamp or release the workpiece, so that the workpiece is clamped or released more conveniently by the clamping mechanism.
Furthermore, the number of the clamping units is four, and the four clamping units are respectively arranged on the periphery of the support plate.
Four clamping units will have four clamping jaws, and the workpiece is clamped all around through the four clamping jaws, so that the workpiece can be clamped stably.
Further, the clamping jaw comprises a rotating part and a clamping part, the length of the rotating part is greater than that of the clamping part, and the rotating part and the clamping part form an obtuse angle and are fixedly connected; the one end that the clamping part was kept away from to the rotating part is articulated with the extension board, the pull rod tip is articulated with the middle part of rotating part, and clamping part and rotating part contained angle are towards the rotating plate center, the clamping part inboard is equipped with the rubber pad.
When the clamping jaw clamps a workpiece, the clamping part and the workpiece are close to clamp the workpiece, and because the obtuse angle is formed between the rotating part and the clamping part, when the clamping part clamps the workpiece, the workpiece only moves towards the rotating part, so that the situation that the workpiece drops when the clamping mechanism is used for clamping the workpiece due to the fact that the surface of the workpiece is smooth is avoided, and the rubber pad can prevent the clamping jaw from scratching the workpiece.
Further, a telescopic unit is arranged between the clamping claw and the support plate, the telescopic unit comprises a cylinder body fixed with the support plate and a piston rod connected with the clamping claw, the piston rod is connected in the cylinder body in a sliding and sealing mode, and a driving portion for controlling the piston rod to slide is arranged on the support plate.
The piston rod is controlled by the driving part to slide out of the cylinder body, so that the clamping claws are far away from the support plate, the distance between every two clamping claws is increased, the clamping space formed by the clamping claws is enlarged, and a large-size workpiece can be clamped conveniently; the piston rod is controlled to extend into the cylinder body through the driving part, so that the clamping claws are close to the support plate, the distance between each clamping claw is reduced, the clamping space formed by the clamping claws is reduced, and small-size workpieces can be clamped conveniently. The telescopic unit is arranged, so that the clamping mechanism of the robot can clamp more various workpieces, the robot can feed the workpieces, the column cavities and the cylinder bodies are in one-to-one correspondence, and the gas is transferred between the two to enable the piston rods to extend out in the same length.
Further, the driving part comprises a cavity block fixed on the support plate, a plurality of column cavities are arranged on the cavity block, and the column cavities are respectively and correspondingly communicated with the cylinder bodies through pipelines; the cavity block is provided with a screw rod on one side far away from the support plate, the screw rod is in threaded connection with a nut, a push block rotationally connected with the nut is sleeved on the screw rod between the nut and the cavity block, the push block is provided with a plurality of plungers corresponding to the column cavity, and the plungers are in sliding connection with the column cavity.
When the piston rod needs to be controlled to stretch into or slide out of the cylinder body through the driving portion, the nut is screwed to enable the piston rod to slide along the screw rod, the push block is driven to move along the screw rod under the action of the nut, the plunger is enabled to slide in the column cavity, the column cavity and air in the corresponding cylinder body are transferred through the pipeline, and then the piston rod is stretched into or slide out of the cylinder body.
The discharging mechanism comprises a support, an adjusting ring and a plurality of positioning rods, the support is fixed on the adjusting frame, fixing holes are formed in the support, the positioning rods are arc-shaped and are positioned in the fixing holes, and the middle parts of the positioning rods are hinged to the fixing holes; one side of locating lever evagination is located towards the center of locating frame, one side of locating lever indent is equipped with the spout, the adjustable ring is located the locating lever outside, be equipped with on the adjustable ring with spout sliding connection's branch.
When the robot is used, the discharging mechanism is adjusted to the upper part of the processing table through the adjusting frame, then the adjusting ring is moved downwards, so that the support rod slides downwards in the chute of the support rod, the middle part of the support rod is hinged with the fixing hole, the lower ends of all the support rods are drawn close under the action of the support rod, and the lower ends of the support rods are aligned with the positions, required to be placed, of workpieces on the processing table. Then the clamping mechanism is moved to the upper part of the discharging mechanism, the clamping mechanism releases the clamping of the workpiece, the workpiece falls down along the lower end of the arc-shaped positioning rod, and the workpiece is placed at the position required by the processing table under the action of the discharging mechanism. Through the effect of drop feed mechanism, the work piece is placed behind the processing platform, need not to fix a position once more and aims at, further reduces the time and the energy that the work piece pay-off process need consume.
Furthermore, the locating lever is four, four locating levers circumference equipartitions, fixed orifices and adjustable ring all are the ring shape, the locating lever lower extreme is equipped with the guide bar.
Four positioning rods are sufficient to determine the position where the workpiece needs to be placed, and the guide rods facilitate alignment of the adjustment unit with the position where the workpiece needs to be placed.
Further, the adjusting frame comprises a first vertical telescopic unit, a second vertical telescopic unit, a first rotating block, a second rotating block, a first transverse telescopic unit and a second transverse telescopic unit, and the first vertical telescopic unit and the second vertical telescopic unit are fixed on the conveying mechanism; the upper end of the first vertical telescopic unit is rotatably connected with the first rotating block, the first transverse telescopic unit is fixedly connected with the first rotating block, and the discharging mechanism is fixed at one end, far away from the first rotating block, of the first transverse telescopic unit; the upper end of the second vertical telescopic unit is rotatably connected with the second rotating block, the second transverse telescopic unit is fixedly connected with the second rotating block, and the clamping mechanism is fixed at one end, far away from the second rotating block, of the second transverse telescopic unit.
Through first vertical telescopic unit, first turning block, first horizontal telescopic unit, adjustable drop feed mechanism is horizontal, vertical position, makes it and processing platform cooperation. Through the second vertical telescopic unit, the second rotating block and the second transverse telescopic unit, the transverse and longitudinal positions of the clamping mechanism can be adjusted, so that the clamping mechanism is convenient for clamping and placing workpieces.
Further, the conveying mechanism comprises a rack and a driving walking unit.
The frame is convenient for the setting of alignment jig, fixture, drop feed mechanism, and the drive walking unit is convenient for control this robot's mobile position.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an intelligent feeding robot of the present invention;
FIG. 2 is a schematic diagram of an embodiment of the intelligent feeding robot during feeding;
FIG. 3 is a longitudinal cross-sectional view of the grasping mechanism;
FIG. 4 is a bottom view of the rotating plate;
fig. 5 is a schematic view of a grasping mechanism of embodiment 2.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: the device comprises a conveying mechanism 10, a frame 11, wheels 12, a clamping mechanism 20, a support plate 21, a stepping motor 22, a rotating plate 23, a spiral groove 231, a clamping unit 24, a clamping claw 241, a clamping part 2411, a rubber pad 2412, a rotating part 2413, a slide block 242, a pull rod 243, a telescopic block 244, a telescopic unit 25, a cylinder 251, a piston rod 252, a driving part 253, a cavity block 2531, a column cavity 2532, a screw 2533, a nut 2534, a push block 2535, a plunger 2536, a discharging mechanism 30, a support 31, a fixed hole 32, an adjusting ring 33, a support rod 331, a positioning rod 34, a sliding groove 341, a guide rod 342, a rotating frame 40, a first vertical telescopic unit 41, a second vertical telescopic unit 42, a first rotating block 43, a second rotating block 44, a first transverse telescopic unit 45, a second transverse telescopic unit 46, a machining table 50 and a workpiece 51.
Embodiment is shown in fig. 1, an intelligent feeding robot, including fixture 20, snatch mechanism and transport mechanism 10, transport mechanism 10 includes frame 11 and drive walking unit, rotates on frame 11 and is connected with wheel 12, and drive walking unit is used for driving wheel 12 to rotate, and then makes this robot remove, and drive walking unit can adopt the motor in this embodiment, and this robot removes when the motor circular telegram drives wheel 12 and rotates.
The conveying mechanism 10 is provided with an adjusting frame, the clamping mechanism 20 and the discharging mechanism 30 are arranged on the adjusting frame, and the adjusting frame is used for adjusting the positions of the clamping mechanism 20 and the discharging mechanism 30 respectively. The adjusting frame comprises a first vertical telescopic unit 41, a second vertical telescopic unit 42, a first rotating block 43, a second rotating block 44, a first transverse telescopic unit 45 and a second transverse telescopic unit 46, and the first vertical telescopic unit 41 is fixed on the rack 11; the upper end of the first vertical telescopic unit 41 is rotatably connected with the first rotating block 43, in order to facilitate the arrangement of the adjusting bracket, the second vertical telescopic unit 42 is fixed at the upper end of the first rotating block 43, the first transverse telescopic unit 45 is fixedly connected with the first rotating block 43, and the material discharging mechanism 30 is fixed at one end of the first transverse telescopic unit 45, which is far away from the first rotating block 43; the upper end of the second vertical telescopic unit 42 is rotatably connected with the second rotating block 44, the second transverse telescopic unit 46 is fixedly connected with the second rotating block 44, and the clamping mechanism 20 is fixed at one end of the second transverse telescopic unit 46 far away from the second rotating block 44. The spatial position of the discharging mechanism 30 in a certain range can be adjusted at will through the first vertical telescopic unit 41, the first rotating block 43 and the first transverse telescopic unit 45, and the spatial position of the grabbing mechanism in a certain range can be adjusted at will through the second vertical telescopic unit 42, the second rotating block 44 and the second transverse telescopic unit 46. In this embodiment, the first vertical telescopic unit 41, the second vertical telescopic unit 42, the first horizontal telescopic unit 45, and the second horizontal telescopic unit 46 may adopt an existing hydraulic cylinder, an existing air cylinder, an existing electric push rod, and the like, and the related telescopic structures are relatively existing and are not described herein again.
As shown in fig. 3, the clamping mechanism 20 includes a support plate 21, a rotating plate 23, and a plurality of clamping units 24, in this embodiment, four clamping units 24 are provided, and four clamping units 24 are circumferentially and evenly distributed. The support plate 21 is fixed with the adjusting bracket, the rotating plate 23 is rotatably connected to the support plate 21, in this embodiment, a circular groove is formed in the support plate 21, and the rotating plate 23 is clamped with the circular groove and is rotatably connected with the circular groove. As shown in fig. 4, the rotating plate 23 is provided with a spiral groove 231, and the spiral groove 231 has a dovetail-shaped longitudinal section in this embodiment. The clamping unit 24 includes a slider 242, a telescopic block 244, a pull rod 243, and a clamping claw 241, wherein the slider 242 is located in the spiral groove 231 and slidably connected to the spiral groove 231, and the slider 242 is provided with a dovetail engaged with the spiral groove 231. The sliding block 242 and the support plate 21 are fixedly connected through a telescopic block 244, that is, two ends of the telescopic block 244 are respectively fixed with the sliding block 242 and the support plate 21, when the rotating plate 23 rotates, the sliding block 242 rotates along with the rotating plate 23 without other limiting effects, and the telescopic block 244 can limit the sliding block 242 to rotate along with the rotating plate 23, so that the sliding block 242 can only move in the spiral groove 231. The clamping claw 241 comprises a rotating part 2413 and a clamping part 2411, the length of the rotating part 2413 is greater than that of the clamping part 2411, an obtuse angle is formed between the rotating part 2413 and the clamping part 2411, and the rotating part 2413 and the clamping part 2411 are fixedly connected, and in the embodiment, the rotating part 2413 and the clamping part 2411 are of an integrated structure; one end of the rotating portion 2413, which is far away from the clamping portion 2411, is hinged to the support plate 21, one end of the pull rod 243 is hinged to the sliding block 242, the other end of the pull rod 243 is hinged to the middle of the rotating portion 2413, an included angle between the clamping portion 2411 and the rotating portion 2413 faces to the center of the rotating plate 23, and a rubber pad 2412 is arranged on the inner side of the clamping portion 2411. The support plate 21 is provided with a driving unit for driving the rotating plate 23 to rotate, the driving unit is a stepping motor 22 in the embodiment, the stepping motor 22 is embedded inside the support plate 21, an output shaft of the stepping motor 22 penetrates through the center of the support plate 21 and the center of the rotating plate 23 to be fixedly connected, and the output shaft of the stepping motor 22 is not in contact with the support plate 21, so that the rotation of the output shaft does not affect the support plate 21.
The discharging mechanism 30 comprises a bracket 31, an adjusting ring 33 and a plurality of positioning rods 34, in the embodiment, four positioning rods 34 are provided, four positioning rods 34 are circumferentially and uniformly distributed, and the lower ends of the positioning rods 34 are provided with guide rods 342; the bracket 31 is fixed on the adjusting bracket, the bracket 31 is provided with a fixing hole 32, the fixing hole 32 and the adjusting ring 33 are both in a circular ring shape, the positioning rod 34 is in an arc shape and is positioned in the fixing hole 32, and the middle part of the positioning rod 34 is hinged with the fixing hole 32; the convex side of the positioning rod 34 faces the center of the positioning frame, the concave side of the positioning rod 34 is provided with a sliding groove 341, the adjusting ring 33 is positioned outside the positioning rod 34, the adjusting ring 33 is provided with a supporting rod 331 which is slidably connected with the sliding groove 341, in this embodiment, the supporting rod 331 is a telescopic structure, and the supporting rod 331 is of a telescopic multi-section rod-shaped structure which can be adjusted and fixed.
The robot comprises a stepping motor 22, a driving walking unit, a sliding control mechanism of an adjusting ring 33, a first vertical telescopic unit 41, a second vertical telescopic unit 42, a first horizontal telescopic unit 45, a telescopic control mechanism of a second horizontal telescopic unit 46, a rotating control mechanism of a first rotating block 43 and a second rotating block 44, a single chip microcomputer can be adopted to carry out automatic control according to the motion track of the robot (program writing is carried out in the single chip microcomputer according to the whole motion track of the robot), so that the automatic operation of the robot is realized, the setting of the part can be realized by adopting the prior art, and the description is omitted. This robot automatic operation is convenient for utilize this robot to replace the workman completely, and then reduces the human cost, reduces safe risk, and the application of this robot of also being convenient for is under the abominable environment of environment.
The specific implementation process is as follows: the robot is moved to the vicinity of a workpiece 51 through the conveying mechanism 10, the clamping mechanism 20 is adjusted by using the second vertical telescopic unit 42, the second rotating block 44 and the second horizontal telescopic unit 46, the clamping mechanism 20 is aligned to the workpiece 51, the clamping claws 241 are all positioned at the outer edge of the workpiece 51, the output shaft of the stepping motor 22 is electrified to drive the rotating plate 23 to rotate, the spiral groove 231 on the rotating plate 23 rotates along with the rotating plate, and the slider 242 moves in the spiral groove 231 and is close to the center of the spiral groove 231. In the process, one end of the pull rod 243 moves towards the center of the rotating plate 23 along with the slide block 242, and the rotating part 2413 is driven to rotate along the hinged part with the support plate 21, so that all the clamping parts 2411 are close to the center of the rotating plate 23, and the workpiece 51 is clamped.
The robot is moved to the vicinity of the processing table 50 by the conveying mechanism 10, as shown in fig. 2, the discharge mechanism 30 is adjusted to be located above the processing table 50 by the second vertical telescopic unit 42, the second rotating block 44 and the second horizontal telescopic unit 46, and then the adjusting ring 33 is moved downward, so that the supporting rod 331 slides downward in the sliding slot 341 of the positioning rod 34, the lower ends of all the positioning rods 34 will be closed, the lower ends of the positioning rods 34 are aligned with the positions of the processing table 50 where the workpieces 51 are to be placed, and the guide rods 342 are aligned with the lower ends of the positioning rods 34 and the positions of the processing table 50 where the workpieces 51 are to be placed. Then, the clamping mechanism 20 is moved to the upper side of the discharge mechanism 30 through the adjusting bracket, the clamping mechanism 20 is controlled to release the clamping of the workpiece 51, the workpiece 51 falls along the arc-shaped positioning rod 34 at the lower end of the positioning rod 34, and the workpiece 51 is placed at the required position of the processing table 50 under the action of the discharge mechanism 30.
Example 2
The present embodiment is different from embodiment 1 in that, as shown in fig. 5, a telescopic unit 25 is provided between the clamping claw 241 and the stay 21, the telescopic unit 25 includes a cylinder 251 fixed to the stay 21 and a piston rod 252 connected to the clamping claw 241, the piston rod 252 is slidably and sealingly connected in the cylinder 251, and the stay 21 is provided with a driving portion 253 for controlling the sliding of the piston rod 252. In this embodiment, the driving portion 253 includes a cavity block 2531 fixed on the support plate 21, four column cavities 2532 are disposed on the cavity block 2531, and the four column cavities 2532 are respectively and correspondingly communicated with the four cylinder blocks 251 through pipelines; a screw 2533 is arranged on one side of the cavity block 2531, which is far away from the support plate 21, a nut 2534 is connected onto the screw 2533 in a threaded manner, a push block 2535 rotationally connected with the nut 2534 is sleeved on the screw 2533, which is positioned between the nut 2534 and the cavity block 2531, four plungers 2536 corresponding to the column cavities 2532 are arranged on the push block 2535, and the plungers 2536 are slidably connected with the column cavities 2532.
When the robot is used, if the workpiece 51 is too large or too small, the distance between the clamping claws 241 can be adjusted through the telescopic unit 25, the nut 2534 is screwed to slide along the screw 2533, the push block 2535 is driven to move along the screw 2533 under the action of the nut 2534, the plunger 2536 slides in the column cavity 2532, air in the column cavity 2532 and the corresponding cylinder 251 is transferred through the pipeline, and the piston rod 252 can extend into or slide out of the cylinder 251. The piston rod 252 slides out of the cylinder 251, so that the clamping claws 241 are far away from the support plate 21, the distance between each clamping claw 241 is increased, the clamping space formed by the clamping claws 241 is enlarged, and the clamping of the large-size workpiece 51 is facilitated; the piston rod 252 is extended into the cylinder 251 so that the clamping claws 241 are close to the support plate 21, the distance between each clamping claw 241 is reduced, the clamping space formed by the clamping claws 241 becomes small, and the clamping of the small-sized workpiece 51 is facilitated.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent.
Claims (5)
1. Intelligent feeding robot, its characterized in that: the device comprises a clamping mechanism and a conveying mechanism, wherein an adjusting frame is arranged on the conveying mechanism, the clamping mechanism is arranged on the adjusting frame, the adjusting frame is used for adjusting the position of the clamping mechanism, and the conveying mechanism is used for moving the clamping mechanism; the clamping mechanism comprises a support plate, a rotating plate and a plurality of clamping units, the support plate is fixed with the adjusting frame, the rotating plate is rotatably connected to the support plate, and a spiral groove is formed in the rotating plate; the clamping unit comprises a sliding block, a telescopic block, a pull rod and a clamping claw, the sliding block is positioned in the spiral groove and is in sliding connection with the spiral groove, the sliding block is fixedly connected with the support plate through the telescopic block, one end of the pull rod is hinged to the sliding block, and the other end of the pull rod is hinged to the clamping claw; one end of the clamping claw is hinged to the support plate, the other end of the clamping claw is used for clamping a workpiece, and the support plate is provided with a driving unit for driving the rotating plate to rotate;
the driving unit is a stepping motor, and an output shaft of the stepping motor penetrates through the support plate and is fixedly connected with the center of the rotating plate;
the number of the clamping units is four, and the four clamping units are respectively arranged on the periphery of the support plate;
the clamping jaw comprises a rotating part and a clamping part, the length of the rotating part is greater than that of the clamping part, and the rotating part and the clamping part form an obtuse angle and are fixedly connected; one end, far away from the clamping part, of the rotating part is hinged with the support plate, the end part of the pull rod is hinged with the middle part of the rotating part, an included angle between the clamping part and the rotating part faces to the center of the rotating plate, and a rubber pad is arranged on the inner side of the clamping part;
a telescopic unit is arranged between the clamping claw and the support plate, the telescopic unit comprises a cylinder body fixed with the support plate and a piston rod connected with the clamping claw, the piston rod is connected in the cylinder body in a sliding and sealing mode, and a driving portion for controlling the piston rod to slide is arranged on the support plate;
the driving part comprises a cavity block fixed on the support plate, a plurality of column cavities are arranged on the cavity block, and the column cavities are respectively and correspondingly communicated with the cylinder bodies through pipelines; the cavity block is provided with a screw rod on one side far away from the support plate, the screw rod is in threaded connection with a nut, a push block rotationally connected with the nut is sleeved on the screw rod between the nut and the cavity block, the push block is provided with a plurality of plungers corresponding to the column cavity, and the plungers are in sliding connection with the column cavity.
2. The intelligent feeding robot as claimed in claim 1, further comprising a discharging mechanism for adjusting the position of the discharging mechanism through an adjusting frame, wherein the discharging mechanism comprises a bracket, an adjusting ring and a plurality of positioning rods, the bracket is fixed on the adjusting frame, the bracket is provided with fixing holes, the positioning rods are arc-shaped and are positioned in the fixing holes, and the middle parts of the positioning rods are hinged to the fixing holes; one side of locating lever evagination is located towards the center of locating frame, one side of locating lever indent is equipped with the spout, the adjustable ring is located the locating lever outside, be equipped with on the adjustable ring with spout sliding connection's branch.
3. The intelligent feeding robot as claimed in claim 2, wherein the number of the positioning rods is four, four positioning rods are uniformly distributed in the circumferential direction, the fixing holes and the adjusting ring are all in a circular ring shape, and guide rods are arranged at the lower ends of the positioning rods.
4. The intelligent feeding robot as claimed in claim 2, wherein the adjusting frame comprises a first vertical telescopic unit, a second vertical telescopic unit, a first rotating block, a second rotating block, a first transverse telescopic unit and a second transverse telescopic unit, and the first vertical telescopic unit and the second vertical telescopic unit are fixed on the conveying mechanism; the upper end of the first vertical telescopic unit is rotatably connected with the first rotating block, the first transverse telescopic unit is fixedly connected with the first rotating block, and the discharging mechanism is fixed at one end, far away from the first rotating block, of the first transverse telescopic unit; the upper end of the second vertical telescopic unit is rotatably connected with the second rotating block, the second transverse telescopic unit is fixedly connected with the second rotating block, and the clamping mechanism is fixed at one end, far away from the second rotating block, of the second transverse telescopic unit.
5. The smart feeding robot according to claim 4, wherein the conveying mechanism comprises a frame and a walking drive unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910516226.XA CN110238811B (en) | 2019-06-14 | 2019-06-14 | Intelligent feeding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910516226.XA CN110238811B (en) | 2019-06-14 | 2019-06-14 | Intelligent feeding robot |
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| CN110238811A CN110238811A (en) | 2019-09-17 |
| CN110238811B true CN110238811B (en) | 2020-09-29 |
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| CN201910516226.XA Active CN110238811B (en) | 2019-06-14 | 2019-06-14 | Intelligent feeding robot |
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