CN105619436A - T-shaped manipulator - Google Patents
T-shaped manipulator Download PDFInfo
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- CN105619436A CN105619436A CN201610224478.1A CN201610224478A CN105619436A CN 105619436 A CN105619436 A CN 105619436A CN 201610224478 A CN201610224478 A CN 201610224478A CN 105619436 A CN105619436 A CN 105619436A
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- 239000000243 solution Substances 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000002708 enhancing effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010923 batch production Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
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Abstract
Description
技术领域 technical field
本发明涉及机械手技术领域，特别是涉及一种T型机械手。 The invention relates to the technical field of manipulators, in particular to a T-shaped manipulator.
背景技术 Background technique
机械手是一种能代替人工作业的繁琐重复劳动以实现生产的机械全自动化，能在各种的环境下高速运作，并且还能确保人身安全的自动机械。 The manipulator is a kind of automatic machine that can replace the tedious and repetitive labor of manual work to realize the full automation of production, can operate at high speed in various environments, and can also ensure personal safety.
随着注塑成型工业的发展，机械手用于将注塑成型的制品从模具中取出并传送至指定地点或下一个生产工序中，机械手代替了人工劳动，避免了人体在高温、高压、有毒气的环境下工作，确保了人身安全。然而，现有技术中能够前后左右运动的机械手，一般设计为L字型机械手。 With the development of the injection molding industry, the manipulator is used to take out the injection molded product from the mold and transfer it to the designated place or the next production process. work to ensure personal safety. However, the manipulators capable of moving back and forth, left and right in the prior art are generally designed as L-shaped manipulators.
L字型机械手仅能在一侧放置产品，限制了机械手的灵活性；此外，由于L字型机械手的轨道只伸向机械手本体的一侧，容易导致机械手失去平衡甚至侧翻，不利于机械手稳定地运行作业，影响工作效率。 The L-shaped manipulator can only place products on one side, which limits the flexibility of the manipulator; in addition, because the track of the L-shaped manipulator only extends to one side of the manipulator body, it is easy to cause the manipulator to lose balance or even roll over, which is not conducive to the stability of the manipulator running jobs indefinitely, affecting work efficiency.
发明内容 Contents of the invention
本发明的目的在于针对现有技术中的不足之处而提供一种T型机械手，该T型机械手具有较好灵活适应性、抗测力性和稳定性，并能提高工作效率的优点。 The object of the present invention is to provide a T-shaped manipulator to address the deficiencies in the prior art. The T-shaped manipulator has the advantages of good flexibility, adaptability, force resistance and stability, and can improve work efficiency.
为达到上述目的，本发明通过以下技术方案来实现。 In order to achieve the above object, the present invention is achieved through the following technical solutions.
提供一种T型机械手，包括电机、与电机驱动连接主滑轨，所述主滑轨设有安装座，所述主滑轨还设有驱动所述安装座沿所述主滑轨运动的x轴驱动器； A T-shaped manipulator is provided, including a motor, and a main slide rail connected to the motor drive, the main slide rail is provided with a mounting seat, and the main slide rail is also provided with a x for driving the mounting seat to move along the main slide rail shaft drive;
所述安装座设有与所述主滑轨相互垂直的副滑轨，且所述主滑轨与所述副滑轨相互之间构成T型设置； The mounting seat is provided with an auxiliary slide rail perpendicular to the main slide rail, and the main slide rail and the auxiliary slide rail form a T-shaped arrangement with each other;
所述副滑轨设有移动板，所述副滑轨还设有用于驱动所述移动板沿所述副滑轨运动的y轴驱动器； The auxiliary slide rail is provided with a moving plate, and the auxiliary slide rail is also provided with a y-axis driver for driving the moving plate to move along the auxiliary slide rail;
所述移动板的一侧安装有与所述副滑轨相互垂直的移动臂，所述移动板还设有用于驱动所述移动臂上下运动的z轴驱动器； One side of the moving plate is equipped with a moving arm perpendicular to the auxiliary slide rail, and the moving plate is also provided with a z-axis driver for driving the moving arm to move up and down;
所述移动臂的下端部连接有夹具。 A clamp is connected to the lower end of the moving arm.
所述移动板包括第一移动板和第二移动板，所述第一移动板和第二移动板分别设于所述副滑轨的两侧部； The moving plate includes a first moving plate and a second moving plate, and the first moving plate and the second moving plate are respectively arranged on both sides of the auxiliary slide rail;
所述y轴驱动器包括用于驱动所述第一移动板沿所述副滑轨运动的第一y轴驱动器和用于驱动所述第二移动板沿所述副滑轨运动的第二y轴驱动器。 The y-axis driver includes a first y-axis driver for driving the first moving plate to move along the auxiliary slide rail and a second y-axis driver for driving the second moving plate to move along the auxiliary slide rail driver.
所述移动臂包括主移动臂和副移动臂； The moving arm includes a main moving arm and an auxiliary moving arm;
所述主移动臂垂直安装于所述第一移动板的一侧，所述副移动臂垂直安装于所述第二移动板的一侧； The main moving arm is vertically installed on one side of the first moving plate, and the auxiliary moving arm is vertically installed on one side of the second moving plate;
所述z轴驱动器包括用于驱动所述主移动臂上下运动的第一z轴驱动器和用于驱动所述主移动臂上下运动的第二z轴驱动器。 The z-axis driver includes a first z-axis driver for driving the main movable arm to move up and down and a second z-axis driver for driving the main movable arm to move up and down.
所述夹具包括产品真空吸盘和水口夹钳； The clamps include product vacuum suction cups and nozzle clamps;
所述产品真空吸盘设于所述主移动臂的下端部，所述水口夹钳设于所述副移动臂的下端部。 The product vacuum suction cup is arranged at the lower end of the main movable arm, and the nozzle clamp is arranged at the lower end of the auxiliary movable arm.
所述产品真空吸盘包括依次连接的气缸、翻转轮和真空吸盘，所述气缸安装于所述主移动臂的下端部。 The product vacuum suction cup includes a cylinder, a turning wheel and a vacuum suction cup connected in sequence, and the cylinder is installed on the lower end of the main moving arm.
所述主滑轨包括两组相互平行设置的线性主滑轨，所述副滑轨包括两组相互平行设置的线性副滑轨。 The main slide rails include two sets of linear main slide rails arranged parallel to each other, and the auxiliary slide rails include two sets of linear auxiliary slide rails arranged parallel to each other.
所述主滑轨的底部固定安装有底座。 A base is fixedly installed on the bottom of the main slide rail.
本发明的有益效果： Beneficial effects of the present invention:
（1）本发明提供的一种T型机械手，其包括电机、与电机驱动连接主滑轨，主滑轨设有安装座，主滑轨还设有驱动安装座沿主滑轨运动的x轴驱动器；安装座设有与主滑轨相互垂直的副滑轨，且主滑轨与副滑轨相互之间构成T型设置；副滑轨设有移动板，副滑轨还设有用于驱动移动板沿副滑轨运动的y轴驱动器；移动板的一侧安装有与副滑轨相互垂直的移动臂，移动板还设有用于驱动移动臂上下运动的z轴驱动器；移动臂的下端部连接有夹具。由于该T型机械手设有相互垂直的主滑轨和副滑轨，且主滑轨和副滑轨相互之间构成T型设置；因此，使得主滑轨能够相对于副滑轨对称置于该T型机械手的两侧，从而使得该T型机械手能平稳置于地面，防止其侧翻，确保了该T型机械手的稳定性。 (1) A T-shaped manipulator provided by the present invention, which includes a motor and a main slide rail connected to the motor drive, the main slide rail is provided with a mounting seat, and the main slide rail is also provided with an x-axis that drives the mounting seat to move along the main slide rail Driver; the mounting seat is provided with an auxiliary slide rail perpendicular to the main slide rail, and the main slide rail and the auxiliary slide rail form a T-shaped arrangement with each other; the auxiliary slide rail is provided with a moving plate, and the auxiliary slide rail is also provided with a drive for moving The y-axis driver for the plate to move along the auxiliary slide rail; a moving arm perpendicular to the auxiliary slide rail is installed on one side of the moving plate, and a z-axis driver for driving the moving arm to move up and down; the lower end of the moving arm is connected to There are fixtures. Since the T-shaped manipulator is provided with a main slide rail and an auxiliary slide rail perpendicular to each other, and the main slide rail and the auxiliary slide rail form a T-shaped arrangement with each other; therefore, the main slide rail can be placed symmetrically with respect to the auxiliary slide rail The two sides of the T-shaped manipulator, so that the T-shaped manipulator can be placed on the ground stably, preventing its rollover, and ensuring the stability of the T-shaped manipulator.
（2）本发明提供的一种T型机械手，副滑轨沿主滑轨的长度方向作左右运动，从而使得机械手能将抓取的物件置于主滑轨的左右两侧，增强了机械手放置制品的灵活性，有利于扩大机械手的使用范围。 (2) In the T-shaped manipulator provided by the present invention, the auxiliary slide rail moves left and right along the length direction of the main slide rail, so that the manipulator can place the grasped objects on the left and right sides of the main slide rail, which enhances the placement of the manipulator. The flexibility of the product is conducive to expanding the scope of use of the manipulator.
（3）本发明提供的一种T型机械手，具有结构简单，生产成本低，且适用于大规模批量生产的特点。 (3) The T-shaped manipulator provided by the present invention has the characteristics of simple structure, low production cost, and is suitable for large-scale batch production.
附图说明 Description of drawings
图1是本发明的一种T型机械手的结构示意图。 Fig. 1 is a schematic structural view of a T-shaped manipulator of the present invention.
图2是本发明的一种T型机械手的第二视角结构示意图。 Fig. 2 is a schematic structural diagram of a T-shaped manipulator of the present invention in a second viewing angle.
图3是本发明的一种T型机械手的第三视角结构示意图。 Fig. 3 is a schematic structural diagram of a T-shaped manipulator of the present invention in a third viewing angle.
图4是本发明的一种T型机械手的第四视角结构示意图。 Fig. 4 is a schematic structural diagram of a fourth viewing angle of a T-shaped manipulator of the present invention.
在图1至图4中包括有： In Figures 1 to 4 include:
电机1； motor 1;
主滑轨2； main rail 2;
安装座3； mount 3;
x轴驱动器4； x-axis drive 4;
副滑轨5； Auxiliary slide rail 5;
移动板6、第一移动板61、第二移动板62； Moving plate 6, first moving plate 61, second moving plate 62;
y轴驱动器7、第一y轴驱动器71、第二y轴驱动器72； y-axis driver 7, first y-axis driver 71, second y-axis driver 72;
移动臂8、主移动臂81、副移动臂82； Moving arm 8, main moving arm 81, secondary moving arm 82;
z轴驱动器9、第一z轴驱动器91、第二z轴驱动器92； z-axis driver 9, a first z-axis driver 91, a second z-axis driver 92;
产品真空吸盘10、气缸11、翻转轮12、真空吸盘13； Product vacuum sucker 10, cylinder 11, turning wheel 12, vacuum sucker 13;
水口夹钳14； Nozzle clamp 14;
线性主滑轨15； Linear main slide rail 15;
线性副滑轨16； Linear auxiliary slide rail 16;
底座17。 Base17.
具体实施方式 detailed description
为了使本发明所解决的技术问题、技术方案及有益效果更加清楚明白，以下结合实施例和附图，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。 In order to make the technical problems, technical solutions and beneficial effects solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the embodiments and accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
本实施例的一种T型机械手，如图1至图4所示，包括电机1、与电机驱动连接主滑轨2，主滑轨2设有安装座3，主滑轨2还设有驱动安装座3沿主滑轨2运动的x轴驱动器4；安装座3设有与主滑轨相互垂直的副滑轨5，且主滑轨2与副滑轨5相互之间构成T型设置；副滑轨5驱动设有移动板6，副滑轨5还设有用于驱动移动板6沿副滑轨5运动的y轴驱动器7；移动板6的一侧安装有与副滑轨5相互垂直的移动臂8，移动板6还设有用于驱动移动臂8上下运动的z轴驱动器9；移动臂8的下端部接有夹具，由于该T型机械手设有相互垂直的主滑轨2和副滑轨5，且主滑轨2和副滑轨5为T型设置；因此，主滑轨2的本体能够对称置于机械手装置的两侧，从而使得机械手平稳置于地面，防止机械手侧翻，确保了机械手的稳定性；此外，副滑轨5能沿主滑轨2的左右运动，从而使得机械手能将抓取的物件置于主滑轨的左右两侧，进一步增强了机械手放置制品的灵活性，有利于扩大机械手的使用范围。 A T-shaped manipulator of the present embodiment, as shown in Figures 1 to 4, includes a motor 1 and a main slide rail 2 connected to the motor drive, the main slide rail 2 is provided with a mounting seat 3, and the main slide rail 2 is also provided with a drive The x-axis driver 4 that the mounting base 3 moves along the main slide rail 2; the mounting base 3 is provided with an auxiliary slide rail 5 perpendicular to the main slide rail, and the main slide rail 2 and the auxiliary slide rail 5 form a T-shaped arrangement with each other; Auxiliary slide rail 5 drives and is provided with mobile plate 6, and auxiliary slide rail 5 is also provided with the y-axis driver 7 that is used to drive mobile plate 6 to move along auxiliary slide rail 5; The mobile arm 8, the mobile plate 6 is also provided with a z-axis driver 9 for driving the mobile arm 8 to move up and down; The slide rail 5, and the main slide rail 2 and the auxiliary slide rail 5 are T-shaped settings; therefore, the body of the main slide rail 2 can be symmetrically placed on both sides of the manipulator device, so that the manipulator can be placed on the ground stably to prevent the manipulator from turning over. The stability of the manipulator is ensured; in addition, the auxiliary slide rail 5 can move left and right along the main slide rail 2, so that the manipulator can place the grasped objects on the left and right sides of the main slide rail, further enhancing the flexibility of the manipulator to place products It is beneficial to expand the scope of use of the manipulator.
本实施例中，移动板6包括第一移动板61和第二移动板62，第一移动板61和第二移动板62分别设于副滑轨5的两侧部；所述y轴驱动器包括用于驱动第一移动板61沿副滑轨5运动的第一y轴驱动器71和用于驱动第二移动板61沿副滑轨5运动的第二y轴驱动器72，设置两个移动板从而便于在两个移动板上安装所需部件。 In this embodiment, the moving plate 6 includes a first moving plate 61 and a second moving plate 62, and the first moving plate 61 and the second moving plate 62 are respectively arranged on both sides of the secondary slide rail 5; the y-axis driver includes The first y-axis driver 71 for driving the first moving plate 61 to move along the auxiliary slide rail 5 and the second y-axis driver 72 for driving the second moving plate 61 to move along the auxiliary slide rail 5 are provided with two moving plates so that Facilitates the installation of required components on two mobile plates.
本实施例中，所述移动臂包括主移动臂和副移动臂； In this embodiment, the moving arm includes a main moving arm and a secondary moving arm;
所述主移动臂垂直安装于所述第一移动板的一侧，所述副移动臂垂直安装于所述第二移动板的一侧； The main moving arm is vertically installed on one side of the first moving plate, and the auxiliary moving arm is vertically installed on one side of the second moving plate;
所述z轴驱动器包括用于驱动所述主移动臂上下运动的第一z轴驱动器和用于驱动所述主移动臂上下运动的第二z轴驱动器。 The z-axis driver includes a first z-axis driver for driving the main movable arm to move up and down and a second z-axis driver for driving the main movable arm to move up and down.
移动臂8包括主移动臂81和副移动臂82，设置两个移动臂8从而有利于抓取不同的物品；其中，主移动臂81垂直安装于第一移动板61的一侧，副移动臂82垂直安装于第二移动板62的一侧，所述z轴驱动9器包括用于驱动所述主移动臂上下运动的第一z轴驱动器91和用于驱动所述主移动臂上下运动的第二z轴驱动器92，从而使得移动臂8能上下移动，进一步增强机械手可移动方的方位。 The moving arm 8 comprises a main moving arm 81 and a secondary moving arm 82, and two moving arms 8 are arranged to facilitate grabbing different articles; wherein, the main moving arm 81 is vertically installed on one side of the first moving plate 61, and the secondary moving arm 82 is vertically installed on one side of the second moving plate 62, and the z-axis driver includes a first z-axis driver 91 for driving the main movable arm to move up and down and a first z-axis driver 91 for driving the main movable arm to move up and down. The second z-axis driver 92 enables the mobile arm 8 to move up and down, further enhancing the orientation of the movable side of the manipulator.
本实施例中，夹具包括产品真空吸盘10和水口夹钳11；产品真空吸盘10设于主移动臂81的下端部，水口夹钳11设于副移动臂82的下端部，从而便于把成型制品中的产品和水口分离。 In this embodiment, the fixture includes a product vacuum suction cup 10 and a nozzle clamp 11; the product vacuum suction cup 10 is arranged on the lower end of the main moving arm 81, and the nozzle clamp 11 is arranged on the lower end of the secondary moving arm 82, so as to facilitate the forming of the product. The product in the nozzle is separated from the nozzle.
本实施例中，产品真空吸盘10包括依次连接的气缸11、翻转轮12和真空吸盘13，气缸11安装于主移动臂81的下端部，从而使得机械手能稳固地抓取产品以及进一步增强机械手的灵活性。 In this embodiment, the product vacuum chuck 10 includes a cylinder 11, a turning wheel 12, and a vacuum chuck 13 connected in sequence, and the cylinder 11 is installed on the lower end of the main moving arm 81, so that the manipulator can firmly grab the product and further enhance the mechanical strength of the manipulator. flexibility.
本实施例中，主滑轨2包括两组相互平行设置的线性主滑轨15，副滑轨5包括两组相互平行设置的线性副滑轨16。从而增强滑轨滑动过程的稳定性。 In this embodiment, the main slide rail 2 includes two sets of linear main slide rails 15 arranged parallel to each other, and the auxiliary slide rail 5 includes two sets of linear auxiliary slide rails 16 arranged parallel to each other. Thereby, the stability of the sliding process of the slide rail is enhanced.
本实施例中，主滑轨2的底部固定安装有底座17，便于机械手能稳定地置于地面。 In this embodiment, a base 17 is fixedly installed on the bottom of the main slide rail 2, so that the manipulator can be stably placed on the ground.
最后应当说明的是，以上实施例仅用于说明本发明的技术方案而非对本发明保护范围的限制，尽管参照较佳实施例对本发明作了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的实质和范围。 Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than limit the protection scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that Modifications or equivalent replacements are made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610224478.1A CN105619436A (en) | 2016-04-12 | 2016-04-12 | T-shaped manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610224478.1A CN105619436A (en) | 2016-04-12 | 2016-04-12 | T-shaped manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108639744A (en) * | 2018-06-15 | 2018-10-12 | 广东统机器人智能股份有限公司 | A kind of movable type mechanical hand |
| CN109109004A (en) * | 2018-10-09 | 2019-01-01 | 黄浩翔 | A kind of portable cross clamp formula manipulator |
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| CN205704234U (en) * | 2016-04-12 | 2016-11-23 | 广东拓斯达科技股份有限公司 | A kind of T-shaped mechanical hand |
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| CN108639744A (en) * | 2018-06-15 | 2018-10-12 | 广东统机器人智能股份有限公司 | A kind of movable type mechanical hand |
| CN109109004A (en) * | 2018-10-09 | 2019-01-01 | 黄浩翔 | A kind of portable cross clamp formula manipulator |
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