CN110040507B

CN110040507B - Mechanical arm

Info

Publication number: CN110040507B
Application number: CN201910435623.4A
Authority: CN
Inventors: 唐波; 刘伟华; 田大喜; 王中桥; 田琦琪; 谢陈亮; 喻湖
Original assignee: Guangdong Topstar Technology Co Ltd
Current assignee: Guangdong Topstar Technology Co Ltd
Priority date: 2019-05-23
Filing date: 2019-05-23
Publication date: 2024-04-09
Anticipated expiration: 2039-05-23
Also published as: CN110040507A

Abstract

The invention relates to the technical field of automatic production equipment, and discloses a manipulator which comprises a driver, a connecting rod, a sucker assembly and a first variable-pitch assembly. One end of each connecting rod is hinged, and the hinged part is connected with the driving end of the driver. The other end of each connecting rod a set of suction cup assemblies are hinged. The first displacement assembly comprises a first guide rail, the extending direction of the first guide rail is perpendicular to the driving direction of the driver, and the sucker assembly is slidably arranged on the first guide rail. The driver can drive the connecting rod to move and drive the sucker assembly to slide along the first guide rail. According to the manipulator provided by the invention, the driver is used for driving the connecting rod to move, and the connecting rod drives the two groups of sucker assemblies to move in opposite directions along the first guide rail, so that the displacement action of the sucker assemblies is realized, in addition, the grabbing stroke of the sucker assemblies can be adjusted by adjusting the driving distance of the driver, and the application range is enlarged.

Description

Mechanical arm

Technical Field

The invention relates to the technical field of automatic production equipment, in particular to a manipulator.

Background

In the automatic production process of electronic products, hardware products, foods and the like, a manipulator is generally utilized for feeding and discharging. To improve the efficiency of operation, the manipulator typically includes multiple sets of gripping assemblies, and feeding or discharging is performed by utilizing a plurality of groups of grabbing components.

In the existing manipulator with multiple groups of grabbing components, the variable-pitch grabbing action cannot be realized generally, namely the grabbing components are fixed on a structure such as a mounting plate, the grabbing components can only grab workpieces at fixed positions, grabbing strokes cannot be adjusted according to the positions of the workpieces, and the application range is small.

Therefore, a new manipulator is needed to solve the above-mentioned problems.

Disclosure of Invention

Based on the above, the invention aims to provide the manipulator which can realize variable-pitch grabbing action, and the grabbing stroke can be flexibly adjusted according to the position of a workpiece, so that the application range is wider.

In order to achieve the above purpose, the invention adopts the following technical scheme:

a manipulator comprising a grasping assembly, the grasping assembly comprising:

a driver;

one end of each connecting rod is hinged, and the hinged part is connected with the driving end of the driver;

the other end of each connecting rod is hinged with a group of sucking disc components;

the first distance changing assembly comprises a first guide rail, the extending direction of the first guide rail is perpendicular to the driving direction of the driver, and the sucker assembly is slidably arranged on the first guide rail.

Further, the number of the grabbing components is four.

Further, the device also comprises a mounting plate, wherein two groups of grabbing components are arranged on one side of the mounting plate, and the other two groups of grabbing components are arranged on the other side of the mounting plate.

Further, the suction surface of the suction cup assembly is perpendicular to the extending direction of the first guide rail.

Further, the first pitch varying assembly further comprises first sliding blocks, the two first sliding blocks are slidably arranged on the first guide rail, and each first sliding block is connected with one group of sucker assemblies.

Further, the first pitch-changing assembly further comprises first connecting plates, each first sliding block is provided with one first connecting plate, the sucker assembly is arranged on the first connecting plates, and the other ends of the connecting rods are hinged to the first connecting plates.

Further, the grabbing assembly further comprises a second variable-pitch assembly, the second variable-pitch assembly comprises a second guide rail, the extending direction of the second guide rail is parallel to the driving direction of the driver, and the hinged positions of the two connecting rods are slidably arranged on the second guide rail.

Further, the second pitch-changing assembly further comprises a second slider slidably arranged on the second guide rail, and the hinge joint of the two connecting rods is connected with the second slider.

Further, the second pitch-changing assembly further comprises a driving connecting rod, the extending direction of the driving connecting rod is perpendicular to the driving direction of the driver, one end of the driving connecting rod is connected with the driving end of the driver, and the other end of the driving connecting rod is connected with the second sliding block.

Further, the grasping assembly further includes a sensor for detecting a position of the first connection plate.

The beneficial effects of the invention are as follows:

according to the manipulator provided by the invention, the connecting rod is driven to move by the driver, and the connecting rod drives the two groups of sucker assemblies to move in opposite directions along the first guide rail at the same time, namely, the two groups of sucker assemblies can extend outwards or retract inwards at the same time, so that the distance-changing action of the sucker assemblies is realized, in addition, the grabbing stroke of the sucker assemblies can be adjusted by adjusting the driving distance of the driver, namely, the distance of the two groups of sucker assemblies extending outwards or retracting inwards can be flexibly adjusted according to the actual requirements of the position and the like of a workpiece, and the application range is enlarged.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the contents of the embodiments of the present invention and these drawings without inventive effort for those skilled in the art.

Fig. 1 is a schematic structural diagram of a manipulator provided by an embodiment of the present invention at a first angle;

fig. 2 is a schematic structural diagram of a manipulator according to an embodiment of the present invention at a second angle;

FIG. 3 is a schematic view of a partial structure of a manipulator according to an embodiment of the present invention at a third angle;

fig. 4 is a schematic partial structure of a manipulator according to an embodiment of the present invention at a fourth angle.

In the figure:

100-workpiece;

1-a driver;

2-connecting rods;

3-a suction cup assembly;

4-a first pitch assembly; 41-a first guide rail; 42-a first slider; 43-first connection plate;

5-mounting plates;

6-a second pitch assembly; 61-a second rail; 62-a second slider; 63-drive links;

7-a connection assembly; 71-a second connection plate; 72-a third connecting plate; 73-connecting seats;

8-an air pipe fixing seat;

9-sensor.

Detailed Description

In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only, or to distinguish between different structures or components, and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixed or removable, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1 to 3, the present embodiment provides a manipulator including a gripping assembly including a driver 1, a link 2, a suction cup assembly 3, and a first pitch change assembly 4. One end of each connecting rod 2 is hinged, and the hinged part is connected with the driving end of the driver 1. The other end of each connecting rod 2 is hinged with a group of sucker assemblies 3. The first pitch assembly 4 comprises a first guide rail 41, the extending direction of the first guide rail 41 is perpendicular to the driving direction of the driver 1, and the sucker assembly 3 is slidably arranged on the first guide rail 41. The driver 1 can drive the connecting rod 2 to move and drive the sucker assembly 3 to slide along the first guide rail 41. Alternatively, in the present embodiment, the driver 1 is a cylinder. Alternatively, the chuck assembly 3 may be a Bernoulli non-contact chuck or a conventional chuck.

According to the manipulator provided by the embodiment, the driver 1 is used for driving the connecting rod 2 to move, the connecting rod 2 drives the two groups of sucker assemblies 3 to move in opposite directions along the first guide rail 41, namely, the two groups of sucker assemblies 3 can simultaneously extend outwards or retract inwards, so that the variable-pitch grabbing action of the sucker assemblies 3 is realized, in addition, the grabbing stroke of the sucker assemblies 3 can be adjusted by adjusting the driving distance of the driver 1, namely, the distances of the two groups of sucker assemblies 3 extending outwards or retracting inwards can be flexibly adjusted according to the actual requirements of the position and the like of the workpiece 100, and the application range is enlarged. Secondly, in the present embodiment, two groups of suction cup assemblies 3 are driven simultaneously by one driver 1, so that the number of the drivers 1 can be reduced, thereby saving cost and being beneficial to reducing the whole volume of the manipulator. And the workpiece 100 is grabbed by the sucker assembly 3, so that the grabbing stability is guaranteed, and the workpiece 100 is prevented from falling in the feeding or discharging process. Finally, by arranging the first guide rail 41, not only can the guiding function be achieved, the accuracy of the motion path of the sucker assembly 3 is ensured, but also the stability of the sucker assembly 3 in the motion process is guaranteed, and therefore the working accuracy of the manipulator is improved.

Alternatively, as shown in fig. 1-2, in the manipulator provided in this embodiment, the number of gripping members is four. Because two groups of sucking disc assemblies 3 are arranged in each group of grabbing assemblies, eight groups of sucking disc assemblies 3 are arranged in total in the whole manipulator, and the feeding and discharging efficiency can be remarkably improved through the matching of the eight groups of sucking disc assemblies 3. Of course, in other embodiments, the number of the grabbing components may be adjusted according to actual needs, for example, two sets, six sets, eight sets, or the like, which is not limited herein.

Further, the manipulator provided in this embodiment further includes a mounting plate 5, wherein two sets of grabbing components are disposed on one side of the mounting plate 5, and the other two sets of grabbing components are disposed on the other side of the mounting plate 5. Through setting up mounting panel 5, be favorable to guaranteeing the job stabilization nature who snatchs the subassembly more, be favorable to making multiunit snatch the subassembly simultaneously and can carry out synchronous movement. Specifically, the gripping members are provided on opposite sides of the mounting plate 5, respectively. According to the mode, the installation space can be saved, and the whole size of the manipulator is further reduced. Alternatively, two sets of gripping members on the same side of the mounting plate 5 are arranged centrally symmetrically. According to the mode, the installation space can be further saved, and the structure of the manipulator is more compact.

Optionally, the manipulator provided in this embodiment further includes a connection assembly 7, where the connection assembly 7 includes a second connection plate 71, a third connection plate 72, and a connection seat 73, one end of the second connection plate 71 is connected with the third connection plate 72, the other end is connected with the mounting plate 5, two second connection plates 71 are respectively disposed on two sides of the third connection plate 72, one end of the connection seat 73 is connected with the third connection plate 72, and the other end of the connection seat 73 is configured to be connected with an external robot and/or a movement module. The manipulator is connected with an external robot and/or a motion module by means of a connection assembly 7, thereby facilitating the manipulator to realize the whole movement. In addition, two second connecting plates 71 are respectively arranged at two sides of the third connecting plate 72, so that interference with the sucker assembly 3 can be avoided, the mounting plate 5 is clamped by the connecting assembly 7 from two sides, and the connection firmness between the connecting assembly 7 and the mounting plate 5 is ensured.

Optionally, the manipulator provided in this embodiment further includes an air pipe fixing seat 8, and the air pipe fixing seat 8 is disposed on the second connecting plate 71. In this embodiment, there are two air tube holders 8, and one air tube holder 8 is correspondingly disposed on one second connection plate 71. The outside trachea is connected to the trachea fixing base 8, then carries gas to sucking disc subassembly 3 and driver 1 through the trachea, can guarantee tracheal firm fixation through setting up trachea fixing base 8 to be favorable to guaranteeing sucking disc subassembly 3 and driver 1's job stabilization nature.

Alternatively, the suction surface of the suction cup assembly 3 is perpendicular to the extending direction of the first rail 41. In this manner, the chuck assembly 3 is more advantageously extended beyond the mounting plate 5 to attract the workpiece 100.

Optionally, as shown in fig. 3, the first pitch assembly 4 further includes first sliders 42, and two first sliders 42 are slidably disposed on the first guide rail 41, and each first slider 42 is connected to a set of suction cup assemblies 3. By arranging the suction cup assembly 3 on the first slider 42, the smoothness and stability of the suction cup assembly 3 in the sliding process along the first guide rail 41 can be improved through the cooperation of the first slider 42 and the first guide rail 41.

Optionally, the first pitch-changing assembly 4 further includes first connection plates 43, each first slider 42 is provided with a first connection plate 43, the suction cup assembly 3 is disposed on the first connection plate 43, and the other end of the connecting rod 2 is hinged to the first connection plate 43. By arranging the first connecting plate 43, the first sliding block 42, the sucker assembly 3 and the connecting rod 2 are connected together, and the stability and the accuracy of the coordination among the three are ensured.

Optionally, as shown in fig. 1 and 3, the gripping assembly further comprises a sensor 9, the sensor 9 being adapted to detect the position of the first connection plate 43. The position of the suction cup assembly 3 can be monitored indirectly by the sensor 9 detecting the position of the first connection plate 43. Preferably, the sensor 9 is a distance sensor. In this embodiment, two sensors 9 are provided in each group of gripping members, each sensor 9 detecting a corresponding one of the first connection plates 43.

Optionally, as shown in fig. 4, the gripping assembly further comprises a second pitch-changing assembly 6, the second pitch-changing assembly 6 comprises a second guide rail 61, the extending direction of the second guide rail 61 is parallel to the driving direction of the driver 1, and the hinge joint of the two connecting rods 2 is slidably arranged on the second guide rail 61. When the driver 1 drives the connecting rods 2, the hinged parts of the two connecting rods 2 are driven to slide along the second guide rail 61, so that stability and accuracy of movement of the connecting rods 2 are guaranteed. It should be noted that, in this embodiment, two sets of gripping modules located on the same side of the mounting plate 5 share a second guide rail 61, so that it is advantageous to ensure consistency of gripping strokes of the two sets of gripping modules.

Optionally, the second pitch assembly 6 further includes a second slider 62, where the second slider 62 is slidably disposed on the second guide rail 61, and the hinge of the two links 2 is connected to the second slider 62. The cooperation of the second slider 62 and the second guide rail 61 is beneficial to ensuring the smoothness of the connecting rod 2 in the moving process.

Optionally, the second pitch assembly 6 further comprises a driving link 63, wherein the extending direction of the driving link 63 is perpendicular to the driving direction of the driver 1, one end of the driving link 63 is connected to the driving end of the driver 1, and the other end is connected to the second slider 62. I.e. the second slider 62 is driven to slide along the second guide rail 61 by the transmission of the driving link 63. By providing the drive link 63, it is advantageous to change the drive direction of the driver 1. Further, two drivers 1 of the two sets of gripping modules located on the same side of the mounting plate 5 are arranged in a central symmetry, and the two drivers 1 are located on both sides of the second guide rail 61, respectively. According to the mode, the structure of the manipulator is more compact, the installation space is saved, and the size of the manipulator is reduced.

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims

1. A manipulator comprising a gripping assembly, the gripping assembly comprising:

a driver (1);

a connecting rod (2), one ends of the two connecting rods (2) are hinged, and the hinged part is connected with the driving end of the driver (1);

the other end of each connecting rod (2) is hinged with a group of sucking disc components (3);

the first variable-pitch assembly (4) comprises a first guide rail (41), the extending direction of the first guide rail (41) is perpendicular to the driving direction of the driver (1), and the sucker assembly (3) is slidably arranged on the first guide rail (41);

the first variable-pitch assembly (4) further comprises first sliding blocks (42), the two first sliding blocks (42) are slidably arranged on the first guide rail (41), and each first sliding block (42) is connected with one group of sucker assemblies (3);

the first distance changing assembly (4) further comprises first connecting plates (43), each first sliding block (42) is provided with one first connecting plate (43), the sucker assembly (3) is arranged on the first connecting plate (43), and the other end of the connecting rod (2) is hinged with the first connecting plate (43);

the grabbing assembly further comprises a second variable-pitch assembly (6), the second variable-pitch assembly (6) comprises a second guide rail (61), the extending direction of the second guide rail (61) is parallel to the driving direction of the driver (1), and the hinged positions of the two connecting rods (2) are slidably arranged on the second guide rail (61);

the second variable-pitch assembly (6) further comprises a second sliding block (62), the second sliding block (62) is slidably arranged on the second guide rail (61), and the hinged positions of the two connecting rods (2) are connected with the second sliding block (62);

the second variable-pitch assembly (6) further comprises a driving connecting rod (63), the extending direction of the driving connecting rod (63) is perpendicular to the driving direction of the driver (1), one end of the driving connecting rod (63) is connected with the driving end of the driver (1), and the other end of the driving connecting rod is connected with the second sliding block (62).

2. The manipulator of claim 1, wherein the number of gripping members is four.

3. The manipulator according to claim 2, further comprising a mounting plate (5), wherein two sets of the gripping elements are arranged on one side of the mounting plate (5) and two other sets of the gripping elements are arranged on the other side of the mounting plate (5).

4. Manipulator according to claim 1, characterized in that the suction surface of the suction cup assembly (3) is perpendicular to the extension direction of the first rail (41).

5. The manipulator according to claim 1, characterized in that the gripping assembly further comprises a sensor (9), the sensor (9) being adapted to detect the position of the first connection plate (43).