CN111673719A - Manipulator for industrial production line and working method thereof - Google Patents

Manipulator for industrial production line and working method thereof Download PDF

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Publication number
CN111673719A
CN111673719A CN202010640024.9A CN202010640024A CN111673719A CN 111673719 A CN111673719 A CN 111673719A CN 202010640024 A CN202010640024 A CN 202010640024A CN 111673719 A CN111673719 A CN 111673719A
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CN
China
Prior art keywords
plate
movable
motor
mounting
belt
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN202010640024.9A
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Chinese (zh)
Inventor
彭震炉
杨威
张侃
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Hangzhou Kezel Industrial Design Co ltd
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Hangzhou Kezel Industrial Design Co ltd
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Publication date
Application filed by Hangzhou Kezel Industrial Design Co ltd filed Critical Hangzhou Kezel Industrial Design Co ltd
Priority to CN202010640024.9A priority Critical patent/CN111673719A/en
Publication of CN111673719A publication Critical patent/CN111673719A/en
Withdrawn legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/0683Details of suction cup structure, e.g. grooves or ridges

Abstract

The invention discloses a manipulator for an industrial assembly line and a working method thereof, wherein the manipulator comprises an installation cross beam, support columns are vertically arranged at two ends of the bottom surface of the installation cross beam, a movable top plate is movably arranged on the upper surface of the installation cross beam, a movable bottom plate is movably arranged at the bottom of the installation cross beam, connecting vertical plates are fixedly arranged at two ends of the bottom surface of the movable top plate, the bottom of the connecting vertical plate is fixedly arranged on the upper surface of the movable bottom plate, a movable seat is movably arranged on the bottom surface of the movable bottom plate, an installation frame is fixedly arranged on the bottom surface of the movable seat, a connecting arm is movably arranged on the; this manipulator has guaranteed to snatch the mechanism and can the multiaxis when removing, has reduced the space and has taken, can adjust the interval between each sucking disc, adjusts in a flexible way, can satisfy the different demands of snatching, and strong adaptability effectively avoids the sucking disc to take place the dislocation, has improved and has snatched the precision.

Description

Manipulator for industrial production line and working method thereof
Technical Field
The invention relates to a manipulator, in particular to a manipulator for an industrial production line and a working method thereof.
Background
The manipulator is an automatic operation device for grabbing and carrying objects or operating tools according to a fixed program, and is characterized in that various expected operations can be completed through programming, and the manipulator has the advantages of both human and manipulator machines in structure and performance; patent document (CN208005678U) discloses truss manipulator, and this manipulator is bulky, and the space occupies greatly, and this manipulator can't carry out the centre gripping to a plurality of article simultaneously moreover, can't satisfy the difference demand of snatching, and the suitability is poor, and the precision of snatching of this manipulator is low moreover.
Disclosure of Invention
The invention aims to provide a manipulator for an industrial production line and a working method thereof, wherein a first motor drives a connecting arm and a grabbing mechanism to move along the direction of an installation beam, and a second motor drives the grabbing mechanism to move along the direction vertical to the installation beam;
according to the invention, the fifth motor drives the two adjusting plates to lift, so that each first pulley slides in the corresponding strip-shaped through groove II, the distance between two adjacent suckers is adjusted, the fourth motor drives the movable mounting plate to move, and the distances between the suckers at the bottom of the movable mounting plate and the fixed mounting seat are adjusted, so that the distance between the suckers can be adjusted, the adjustment is flexible, different grabbing requirements can be met, the adaptability is strong, and the technical problems that the traditional manipulator is small in single grabbing quantity, cannot adjust the grabbing distance and cannot meet different grabbing requirements are solved;
according to the invention, the two pulley mounting plates are fixedly mounted on the top of the adjusting plate close to one side of the movable mounting plate through the bolts, the second pulleys are respectively arranged on two sides of the top of each pulley mounting plate, so that the second pulleys slide on the upper surface of the upper fixing plate, and the movable mounting plate is in sliding connection with the lower fixing plate through the sliding block and the sliding rail, so that the stability of the movement of the adjusting plate close to one side of the movable mounting plate is ensured, the stable movement of the sucker is ensured, the sucker is effectively prevented from being dislocated, the grabbing precision is improved, and the technical problem of low grabbing precision.
The purpose of the invention can be realized by the following technical scheme:
a manipulator for an industrial assembly line comprises an installation cross beam, wherein support columns are vertically arranged at two ends of the bottom surface of the installation cross beam, the tops of the support columns are fixedly connected with the installation cross beam through bolts, a movable top plate is movably installed on the upper surface of the installation cross beam, a movable bottom plate is movably installed at the bottom of the installation cross beam, connecting vertical plates are fixedly installed at two ends of the bottom surface of the movable top plate, the bottoms of the connecting vertical plates are fixedly installed on the upper surface of the movable bottom plate through welding, a movable seat is movably installed on the bottom surface of the movable bottom plate, an installation frame is fixedly installed on the bottom surface of the movable seat, a connecting arm is movably installed on the installation frame in the vertical direction, and a;
the grabbing mechanism comprises two connecting side plates which are vertically arranged, the tops of the connecting side plates are fixedly connected with the bottom end of a connecting arm, a connecting middle plate is vertically fixed between the two connecting side plates, two upper fixing plates are movably arranged on the two sides of the two connecting side plates along the vertical direction, a lower fixing plate is horizontally arranged below the two upper fixing plates, the bottoms of the connecting side plates are fixedly connected with the lower fixing plate, connecting longitudinal plates are fixedly arranged at the two ends of the upper surface of the lower fixing plate through bolts, the connecting longitudinal plates are slidably connected with the upper fixing plates through sliders and slide rails, a fixed mounting seat is fixedly arranged on the bottom surface of the lower fixing plate, a movable mounting plate is movably arranged on the bottom surface of the lower fixing plate, and a plurality of sucker seats are slidably arranged on the bottom surfaces of the fixed mounting seat and the movable mounting plate through sliders and guide rails, the bottom of the sucker seat is fixedly provided with a sucker;
a third screw rod is vertically arranged on one side of the connecting middle plate, the third screw rod is rotatably connected with the connecting middle plate through a bearing seat and a bearing, a fifth motor is fixedly mounted on one side of the connecting middle plate, the output shaft end of the fifth motor is fixedly connected with the third screw rod, the upper surfaces of the two upper fixing plates are fixedly provided with the same connecting cross rod through bolts, and the connecting cross rod is in threaded connection with the third screw rod;
the mounting crossbeam is fixedly provided with a first motor, an output shaft end of the first motor is fixedly provided with a first driving wheel, the mounting crossbeam is also fixedly provided with a first driving wheel mounting seat, the first driving wheels are also fixedly arranged on the first driving wheel mounting seat, the two first driving wheels are in transmission connection through a driving belt, and one side of the first driving belt is fixedly connected with the bottom of the movable top plate;
the bottom surface of the movable bottom plate is rotatably provided with two second transmission wheels, the two second transmission wheels are in transmission connection through a second transmission belt, one side of the second transmission belt is fixedly connected with the upper surface of the movable seat, the upper surface of the movable bottom plate is fixedly provided with a second motor, and the output shaft end of the second motor is fixedly connected with one of the second transmission wheels;
be provided with first lead screw along vertical direction on the installation frame, the top and the bottom of first lead screw are connected with the installation frame rotation through the bearing respectively, one side fixed mounting of installation frame has the third motor, the output shaft fixed mounting of third motor has the belt pulley, also fixed mounting has the belt pulley on the first lead screw, two connect through belt transmission between the belt pulley, threaded connection has first nut on the first lead screw, one side fixed mounting of first nut has the linking arm, fixed mounting has the slider on the first nut, the vertical slide rail that is fixed with on the installation frame, first nut passes through slider, slide rail and installation frame sliding connection.
Further, bottom surface one end of bottom plate transversely is provided with the second lead screw, the second lead screw is connected through bearing frame, bearing and bottom plate rotation, fixed mounting has the fourth motor on the bottom plate, the output shaft fixed mounting of fourth motor has the belt pulley, also fixed mounting has the belt pulley, two on the second lead screw connect through belt transmission between the belt pulley, the one end fixed mounting who removes the mounting panel has the second nut, second nut and second lead screw threaded connection, the equal fixed mounting in bottom surface both ends of bottom plate has the slide rail, the slide rail is perpendicular with the removal mounting panel, the equal fixed mounting in upper surface both ends of removal mounting panel has the slider, slider and slide rail sliding connection.
Further, it leads to groove one to have seted up the bar on the connection curb plate, groove one is led to the bar is vertical setting, it leads to the inslot to connect the horizontal pole along vertical direction movable mounting in the bar.
Further, two the bottom surface both sides of an upper fixed plate all are provided with the regulating plate, are close to fixed mounting seat's regulating plate and an upper fixed plate's bottom surface fixed connection, another regulating plate movable mounting is in an upper fixed plate's bottom surface, a plurality of bar logical groove two, a plurality of has been seted up on the regulating plate one side of sucking disc seat all has the pulley installation arm through bolt fixed mounting, one side top of pulley installation arm is rotated and is installed first pulley, first pulley leads to groove two one-to-one with the bar, first pulley slidable mounting leads to in the groove two in the bar.
Further, be close to remove mounting panel one side the top of regulating plate is passed through bolt fixed mounting and is had two pulley mounting panels, two the logical groove three of bar has all been seted up on the upper fixed plate, the top of pulley mounting panel is passed the logical groove three of bar and is extended to the top of fixed plate, the top both sides of pulley mounting panel all rotate and install the second pulley, the upper surface sliding fit of second pulley and upper fixed plate.
Furthermore, the bottom of the movable top plate is fixedly provided with two sliding blocks, the upper surface of the mounting cross beam is fixedly provided with two sliding rails matched with the sliding blocks, and the movable top plate is connected with the mounting cross beam in a sliding mode through the sliding blocks and the sliding rails.
Furthermore, the bottom of the movable bottom plate is fixedly provided with two slide rails, two sliding blocks matched with the slide rails are fixedly arranged at two ends of the upper surface of the movable seat, and the movable seat is connected with the movable bottom plate in a sliding mode through the sliding blocks and the slide rails.
Furthermore, a plurality of the sucker seats are distributed in an equidistant linear array.
A working method of a manipulator for an industrial production line comprises the following specific steps:
the method comprises the following steps that firstly, a first motor is started, the first motor drives a first driving wheel to rotate, the first driving wheel drives a first driving belt to rotate, the first driving belt drives a movable top plate to slide on the surface of an installation cross beam, the movable top plate drives a movable bottom plate to move through a connecting vertical plate and drives a connecting arm and a grabbing mechanism to move along the direction of the installation cross beam, a second motor is started, the second motor drives a second driving wheel to rotate, the second driving wheel drives a second driving belt to rotate, the second driving belt drives a movable base to move on the bottom surface of the movable bottom plate and drives the grabbing mechanism to move along the direction vertical to the installation cross beam, and therefore the grabbing mechanism moves above;
step two, a fifth motor is started, the fifth motor drives a third screw rod to rotate and drives a connecting cross rod to lift, the connecting cross rod drives two adjusting plates to lift through an upper fixing plate, each first pulley slides in a corresponding strip-shaped through groove two, the distance between two adjacent sucker seats in the plurality of sucker seats is adjusted, the distance between two adjacent suckers is adjusted, a fourth motor is started, the fourth motor drives a second screw rod to rotate through a belt pulley and a belt and drives a second nut to move and drives a movable mounting plate to move, the distance between the movable mounting plate and a fixed mounting seat is adjusted, and the distance between the movable mounting plate and the suckers at the bottom of the fixed mounting seat is adjusted;
and step three, starting a third motor, driving a first lead screw to rotate by the third motor through a belt pulley and a belt, driving a first nut to descend while the first lead screw rotates, driving a grabbing mechanism to descend through a connecting arm, grabbing the object through a sucker at the bottom of the grabbing mechanism, driving the grabbing mechanism to ascend by controlling the third motor, driving the grabbing mechanism and the object to move to the designated position through the first motor and the second motor, and loosening the object through the sucker.
The invention has the beneficial effects that:
the first motor is started and matched with the first driving wheel and the first driving belt to drive the movable top plate to slide on the surface of the mounting cross beam, the movable top plate drives the movable bottom plate to move through the connecting vertical plate and drives the connecting arm and the grabbing mechanism to move along the direction of the mounting cross beam, the second motor is started and matched with the second driving wheel and the second driving belt to use to drive the movable base to move on the bottom surface of the movable bottom plate and drive the grabbing mechanism to move along the direction vertical to the mounting cross beam, the movable bottom plate is arranged below the mounting cross beam along the direction vertical to the mounting cross beam, the grabbing mechanism is driven to move along different directions through the first motor and the second motor, and the space occupation is reduced while the grabbing mechanism can move in multiple shafts only by adopting the design of the mounting cross beam;
according to the invention, the fifth motor drives the third screw rod to rotate and drives the connecting cross rod to lift, the connecting cross rod drives the two adjusting plates to lift through the upper fixing plate, so that each first pulley slides in the corresponding strip-shaped through groove II, the distance between two adjacent sucker seats in the plurality of sucker seats is adjusted, the distance between the two adjacent suckers is adjusted, the fourth motor drives the second screw rod to rotate, drives the second nut to move, and drives the movable mounting plate to move, so that the distance between the suckers at the bottom of the movable mounting plate and the fixed mounting seat is adjusted.
According to the invention, the two pulley mounting plates are fixedly mounted on the top of the adjusting plate close to one side of the movable mounting plate through the bolts, the second pulleys are respectively arranged on two sides of the top of each pulley mounting plate, so that the second pulleys slide on the upper surface of the upper fixing plate, the sliding blocks are mounted at two ends of the upper surface of the movable mounting plate, and the sliding rails matched with the sliding blocks are mounted at two ends of the bottom surface of the lower fixing plate, so that the movement stability of the adjusting plate close to one side of the movable mounting plate is ensured, the stable movement of the sucker is ensured, the sucker is effectively prevented from being disl.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic structural diagram of a manipulator for an industrial production line according to the present invention;
FIG. 2 is a partial block diagram of a robot for an industrial line according to the present invention;
FIG. 3 is a partial block diagram of another angle of a robot for an industrial process line in accordance with the present invention;
FIG. 4 is a schematic view of a first view of a gripping mechanism according to the present invention;
FIG. 5 is a schematic structural view of a second view angle of the grasping mechanism according to the present invention;
fig. 6 is a structural schematic diagram of a third view angle of the grabbing mechanism of the present invention.
In the figure: 1. mounting a cross beam; 2. a support pillar; 3. a first motor; 4. a driving wheel mounting seat; 5. a first transmission wheel; 6. a first transmission belt; 7. moving the top plate; 8. moving the base plate; 9. connecting a vertical plate; 10. a movable seat; 11. a second motor; 12. a second driving wheel; 13. a second transmission belt; 14. a mounting frame; 15. a first lead screw; 16. a first nut; 17. a third motor; 18. a connecting arm; 19. a grabbing mechanism; 20. connecting the side plates; 201. a strip-shaped through groove I; 21. an adjusting plate; 211. a strip-shaped through groove II; 22. connecting the cross bars; 23. a first pulley; 24. an upper fixing plate; 241. a strip-shaped through groove III; 25. a lower fixing plate; 26. a third lead screw; 27. fixing the mounting seat; 28. moving the mounting plate; 29. a sucker seat; 30. a suction cup; 31. connecting the longitudinal plates; 32. a second pulley; 33. a pulley mounting arm; 34. a second lead screw; 35. a fourth motor; 36. a second nut; 37. connecting the middle plate; 38. a pulley mounting plate; 39. and a fifth motor.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-6, a manipulator for an industrial production line comprises a mounting beam 1, support columns 2 are vertically arranged at both ends of the bottom surface of the mounting beam 1, the top of the supporting column 2 is fixedly connected with the mounting beam 1 through a bolt, the upper surface of the mounting beam 1 is movably provided with a movable top plate 7, a movable bottom plate 8 is movably arranged at the bottom of the mounting cross beam 1, connecting vertical plates 9 are fixedly arranged at two ends of the bottom surface of the movable top plate 7, the bottom of the connecting vertical plate 9 is fixedly arranged on the upper surface of the movable bottom plate 8 by welding, the bottom surface of the movable bottom plate 8 is movably provided with a movable seat 10, an installation frame 14 is fixedly installed on the bottom surface of the moving seat 10, a connecting arm 18 is movably installed on the installation frame 14 along the vertical direction, and a grabbing mechanism 19 is fixedly installed at the bottom end of the connecting arm 18;
snatch mechanism 19 and include two connection curb plates 20, two connection curb plates 20 are vertical setting, the top of connection curb plate 20 and the bottom fixed connection of linking arm 18, two be fixed with between the connection curb plate 20 perpendicularly and connect medium plate 37, two connection curb plate 20's both sides all have two upper fixed plate 24, two along vertical direction movable mounting upper fixed plate 24's below level is provided with bottom plate 25, the bottom and the bottom plate 25 fixed connection of connection curb plate 20, the upper surface both ends of bottom plate 25 all have through bolt fixed mounting and connect vertical plate 31, it passes through slider, slide rail and upper fixed plate 24 sliding connection to connect vertical plate 31, the bottom surface fixed mounting of bottom plate 25 has fixed mounting seat 27, the bottom surface movable mounting of bottom plate 25 has removal mounting panel 28, fixed mounting seat 27, The bottom surface of the movable mounting plate 28 is provided with a plurality of sucker seats 29 in a sliding manner through sliders and guide rails, and the bottoms of the sucker seats 29 are fixedly provided with suckers 30;
a third screw rod 26 is vertically arranged on one side of the middle connecting plate 37, the third screw rod 26 is rotatably connected with the middle connecting plate 37 through a bearing seat and a bearing, a fifth motor 39 is fixedly mounted on one side of the middle connecting plate 37, the output shaft end of the fifth motor 39 is fixedly connected with the third screw rod 26, the upper surfaces of the two upper fixing plates 24 are fixedly provided with the same connecting cross rod 22 through bolts, and the connecting cross rod 22 is in threaded connection with the third screw rod 26;
the mounting cross beam 1 is fixedly provided with a first motor 3, an output shaft end of the first motor 3 is fixedly provided with a first driving wheel 5, the mounting cross beam 1 is also fixedly provided with a first driving wheel mounting seat 4, the first driving wheel mounting seat 4 is also fixedly provided with a first driving wheel 5, the two first driving wheels 5 are in transmission connection through a first driving belt 6, and one side of the first driving belt 6 is fixedly connected with the bottom of the movable top plate 7;
two driving wheels II 12 are rotatably mounted on the bottom surface of the movable bottom plate 8, the two driving wheels II 12 are in transmission connection through a driving belt II 13, one side of the driving belt II 13 is fixedly connected with the upper surface of the movable base 10, a second motor 11 is fixedly mounted on the upper surface of the movable bottom plate 8, and the output shaft end of the second motor 11 is fixedly connected with one of the driving wheels II 12;
be provided with first lead screw 15 along vertical direction on the installation frame 14, the top and the bottom of first lead screw 15 are connected with installation frame 14 rotation through the bearing respectively, one side fixed mounting of installation frame 14 has third motor 17, the output shaft fixed mounting of third motor 17 has the belt pulley, also fixed mounting has the belt pulley on the first lead screw 15, two connect through belt drive between the belt pulley, threaded connection has first nut 16 on the first lead screw 15, one side fixed mounting of first nut 16 has linking arm 18, fixed mounting has the slider on the first nut 16, the vertical slide rail that is fixed with on the installation frame 14, first nut 16 passes through slider, slide rail and installation frame 14 sliding connection.
Bottom surface one end of bottom plate 25 transversely is provided with second lead screw 34, second lead screw 34 rotates through bearing frame, bearing and bottom plate 25 to be connected, fixed mounting has fourth motor 35 on the bottom plate 25, the output shaft fixed mounting of fourth motor 35 has the belt pulley, also fixed mounting has the belt pulley, two on the second lead screw 34 connect through belt transmission between the belt pulley, the one end fixed mounting that removes mounting panel 28 has second nut 36, second nut 36 and second lead screw 34 threaded connection, the equal fixed mounting in bottom surface both ends of bottom plate 25 has the slide rail, the slide rail is perpendicular with removal mounting panel 28, the equal fixed mounting in upper surface both ends that removes mounting panel 28 has the slider, slider and slide rail sliding connection.
Connect and seted up a bar on the curb plate 20 and led to groove 201, a bar leads to groove 201 and is vertical setting, it follows vertical direction movable mounting to connect horizontal pole 22 and leads to the inslot 201 in the bar.
Two the bottom surface both sides of upper fixed plate 24 all are provided with regulating plate 21, are close to fixed mounting seat 27's regulating plate 21 and upper fixed plate 24's bottom surface fixed connection, another regulating plate 21 movable mounting is in the bottom surface of upper fixed plate 24, a plurality of bar logical groove two 211, a plurality of has all been installed through bolt fixed mounting in one side of sucking disc seat 29 there is pulley installation arm 33, one side top of pulley installation arm 33 is rotated and is installed first pulley 23, first pulley 23 leads to groove two 211 one-to-one with the bar, first pulley 23 slidable mounting leads to in the groove two 211 in the bar.
Be close to remove mounting panel 28 one side there are two pulley mounting panels 38, two at the top of regulating plate 21 through bolt fixed mounting all seted up the bar on the upper fixing plate 24 and led to groove three 241, the top of pulley mounting panel 38 is passed the bar and is led to groove three 241 and extend to the top of upper fixing plate 24, the top both sides of pulley mounting panel 38 are all rotated and are installed second pulley 32, the last sliding surface fit of second pulley 32 and upper fixing plate 24.
The bottom of the movable top plate 7 is fixedly provided with two sliding blocks, the upper surface of the mounting cross beam 1 is fixedly provided with two sliding rails matched with the sliding blocks, and the movable top plate 7 is connected with the mounting cross beam 1 in a sliding mode through the sliding blocks and the sliding rails.
The bottom of the movable bottom plate 8 is fixedly provided with two slide rails, two sliding blocks matched with the slide rails are fixedly arranged at two ends of the upper surface of the movable seat 10, and the movable seat 10 is connected with the movable bottom plate 8 in a sliding mode through the sliding blocks and the slide rails.
A plurality of the sucker seats 29 are distributed in an equidistant linear array.
A working method of a manipulator for an industrial production line comprises the following specific steps:
step one, a first motor 3 is started, the first motor 3 drives a first driving wheel 5 to rotate, the first driving wheel 5 drives a first driving belt 6 to rotate, the first driving belt 6 drives a movable top plate 7 to slide on the surface of an installation beam 1, the movable top plate 7 drives a movable bottom plate 8 to move through a connecting vertical plate 9, a connecting arm 18 and a grabbing mechanism 19 are driven to move along the direction of the installation beam 1, a second motor 11 is started, the second motor 11 drives a second driving wheel 12 to rotate, the second driving wheel 12 drives a second driving belt 13 to rotate, the second driving belt 13 drives a movable seat 10 to move on the bottom surface of the movable bottom plate 8, and the grabbing mechanism 19 is driven to move along the direction vertical to the installation beam 1, so that the grabbing mechanism 19 moves above an object to be grabbed;
step two, starting a fifth motor 39, wherein the fifth motor 39 drives a third lead screw 26 to rotate and drives a connecting cross rod 22 to lift, the connecting cross rod 22 drives two adjusting plates 21 to lift through an upper fixing plate 24, each first pulley 23 slides in a corresponding strip-shaped through groove two 211, the distance between two adjacent sucker seats 29 in the plurality of sucker seats 29 is adjusted, the distance between two adjacent suckers 30 is adjusted, starting a fourth motor 35, the fourth motor 35 drives a second lead screw 34 to rotate through a belt pulley and a belt and drives a second nut 36 to move and drives a movable mounting plate 28 to move, the distance between the movable mounting plate 28 and a fixed mounting seat 27 is adjusted, and the distance between the movable mounting plate 28 and the suckers 30 at the bottom of the fixed mounting seat 27 is adjusted;
and step three, starting a third motor 17, driving a first lead screw 15 to rotate by the third motor 17 through a belt pulley and a belt, driving a first nut 16 to descend while the first lead screw 15 rotates, driving a grabbing mechanism 19 to descend through a connecting arm 18, grabbing the object by a sucker 30 at the bottom of the grabbing mechanism 19, driving the grabbing mechanism 19 to ascend by controlling the third motor 17, driving the grabbing mechanism 19 and the object to move to a specified position through a first motor 3 and a second motor 11, and loosening the object by the sucker 30.
The invention drives the movable top plate 7 to slide on the surface of the installation beam 1 by starting the first motor 3 and matching with the first transmission wheel 5 and the first transmission belt 6, the movable top plate 7 drives the movable bottom plate 8 to move by connecting the vertical plate 9 and drives the connecting arm 18 and the grabbing mechanism 19 to move along the direction of the installation beam 1, drives the movable base 10 to move on the bottom surface of the movable bottom plate 8 by starting the second motor 11 and matching with the second transmission wheel 12 and the second transmission belt 13, and drives the grabbing mechanism 19 to move along the direction vertical to the installation beam 1, the invention arranges the movable bottom plate 8 along the direction vertical to the installation beam 1 under the installation beam 1, drives the grabbing mechanism 19 to move along different directions by the first motor 3 and the second motor 11, only adopts the design of one installation beam 1, ensures that the grabbing mechanism 19 can move along multiple shafts, the space occupation is reduced;
according to the invention, the fifth motor 39 drives the third screw rod 26 to rotate and drives the connecting cross rod 22 to lift, the connecting cross rod 22 drives the two adjusting plates 21 to lift through the upper fixing plate 24, so that each first pulley 23 slides in the corresponding strip-shaped through groove two 211, the distance between two adjacent sucker seats 29 in the plurality of sucker seats 29 is adjusted, and therefore, the distance between two adjacent suckers 30 is adjusted, the fourth motor 35 drives the second screw rod 34 to rotate, drives the second nut 36 to move, and drives the movable mounting plate 28 to move, so that the distance between the suckers 30 at the bottoms of the movable mounting plate 28 and the fixed mounting seat 27 is adjusted.
According to the invention, the two pulley mounting plates 38 are fixedly mounted on the top of the adjusting plate 21 close to one side of the movable mounting plate 28 through bolts, the second pulleys 32 are respectively arranged on two sides of the top of each pulley mounting plate 38, so that the second pulleys 32 slide on the upper surface of the upper fixing plate 24, the sliders are mounted at two ends of the upper surface of the movable mounting plate 28, and the slide rails matched with the sliders are mounted at two ends of the bottom surface of the lower fixing plate 25, so that the movement stability of the adjusting plate 21 close to one side of the movable mounting plate 28 is ensured, the stable movement of the suction cup 30 is ensured, the suction cup 30 is effectively prevented from being disl.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims (9)

1. The manipulator for the industrial production line is characterized by comprising an installation cross beam (1), wherein support columns (2) are vertically arranged at two ends of the bottom surface of the installation cross beam (1), the top of each support column (2) is fixedly connected with the installation cross beam (1) through a bolt, a movable top plate (7) is movably arranged on the upper surface of the installation cross beam (1), a movable bottom plate (8) is movably arranged at the bottom of the installation cross beam (1), a connecting vertical plate (9) is fixedly arranged at two ends of the bottom surface of the movable top plate (7), the bottom of the connecting vertical plate (9) is fixedly arranged on the upper surface of the movable bottom plate (8) through welding, a movable base (10) is movably arranged on the bottom surface of the movable bottom plate (8), an installation frame (14) is fixedly arranged on the bottom surface of the movable base (10), a connecting arm (18) is movably arranged on the installation frame (, the bottom end of the connecting arm (18) is fixedly provided with a grabbing mechanism (19);
the grabbing mechanism (19) comprises two connecting side plates (20), the two connecting side plates (20) are vertically arranged, the tops of the connecting side plates (20) are fixedly connected with the bottom end of a connecting arm (18), a connecting middle plate (37) is vertically fixed between the two connecting side plates (20), two upper fixing plates (24) are movably mounted on two sides of the two connecting side plates (20) along the vertical direction, a lower fixing plate (25) is horizontally arranged below the two upper fixing plates (24), the bottom of the connecting side plates (20) is fixedly connected with the lower fixing plate (25), connecting longitudinal plates (31) are fixedly mounted at two ends of the upper surface of the lower fixing plate (25) through bolts, the connecting longitudinal plates (31) are slidably connected with the upper fixing plates (24) through sliders and slide rails, and fixed mounting seats (27) are fixedly mounted on the bottom surfaces of the lower fixing plates (25), a movable mounting plate (28) is movably mounted on the bottom surface of the lower fixing plate (25), a plurality of sucker seats (29) are slidably mounted on the bottom surfaces of the fixed mounting seat (27) and the movable mounting plate (28) through sliding blocks and guide rails, and suckers (30) are fixedly mounted at the bottoms of the sucker seats (29);
a third lead screw (26) is vertically arranged on one side of the middle connecting plate (37), the third lead screw (26) is rotatably connected with the middle connecting plate (37) through a bearing seat and a bearing, a fifth motor (39) is fixedly mounted on one side of the middle connecting plate (37), the output shaft end of the fifth motor (39) is fixedly connected with the third lead screw (26), the upper surfaces of the two upper fixing plates (24) are fixedly provided with the same connecting cross rod (22) through bolts, and the connecting cross rod (22) is in threaded connection with the third lead screw (26);
a first motor (3) is fixedly installed on the installation cross beam (1), a first driving wheel (5) is fixedly installed at an output shaft end of the first motor (3), a first driving wheel installation seat (4) is also fixedly installed on the installation cross beam (1), a first driving wheel (5) is also fixedly installed on the first driving wheel installation seat (4), the two first driving wheels (5) are in transmission connection through a first driving belt (6), and one side of the first driving belt (6) is fixedly connected with the bottom of the movable top plate (7);
two second transmission wheels (12) are rotatably mounted on the bottom surface of the movable bottom plate (8), the two second transmission wheels (12) are in transmission connection through a second transmission belt (13), one side of the second transmission belt (13) is fixedly connected with the upper surface of the movable base (10), a second motor (11) is fixedly mounted on the upper surface of the movable bottom plate (8), and the output shaft end of the second motor (11) is fixedly connected with one of the second transmission wheels (12);
a first lead screw (15) is arranged on the mounting frame (14) along the vertical direction, the top end and the bottom end of the first lead screw (15) are respectively and rotatably connected with the mounting frame (14) through bearings, a third motor (17) is fixedly arranged on one side of the mounting frame (14), a belt pulley is fixedly arranged on an output shaft end of the third motor (17), the first screw rod (15) is also fixedly provided with belt pulleys, the two belt pulleys are in transmission connection through a belt, a first nut (16) is connected to the first lead screw (15) in a threaded manner, a connecting arm (18) is fixedly mounted on one side of the first nut (16), a sliding block is fixedly arranged on the first nut (16), a sliding rail is vertically fixed on the mounting frame (14), the first nut (16) is connected with the mounting frame (14) in a sliding mode through a sliding block and a sliding rail.
2. The manipulator for the industrial production line as claimed in claim 1, wherein a second lead screw (34) is transversely arranged at one end of the bottom surface of the lower fixing plate (25), the second lead screw (34) is rotatably connected with the lower fixing plate (25) through a bearing seat and a bearing, a fourth motor (35) is fixedly arranged on the lower fixing plate (25), a belt pulley is fixedly arranged at an output shaft end of the fourth motor (35), a belt pulley is also fixedly arranged on the second lead screw (34), the two belt pulleys are connected through a belt in a transmission manner, a second nut (36) is fixedly arranged at one end of the movable mounting plate (28), the second nut (36) is in threaded connection with the second lead screw (34), slide rails are fixedly arranged at two ends of the bottom surface of the lower fixing plate (25), and are perpendicular to the movable mounting plate (28), the upper surface both ends of removing mounting panel (28) all fixed mounting have the slider, slider and slide rail sliding connection.
3. The manipulator for the industrial production line as claimed in claim 1, wherein the connecting side plate (20) is provided with a first strip-shaped through groove (201), the first strip-shaped through groove (201) is vertically arranged, and the connecting cross rod (22) is movably mounted in the first strip-shaped through groove (201) along the vertical direction.
4. The manipulator for the industrial production line as claimed in claim 1, wherein two sides of the bottom surface of the two upper fixing plates (24) are respectively provided with an adjusting plate (21), the adjusting plates (21) close to the fixing mounting seats (27) are fixedly connected with the bottom surface of the upper fixing plates (24), another adjusting plate (21) is movably mounted on the bottom surface of the upper fixing plates (24), the adjusting plates (21) are provided with a plurality of strip-shaped through grooves two (211), one side of the sucker seats (29) are respectively provided with a pulley mounting arm (33) through bolts, the top of one side of the pulley mounting arm (33) is rotatably mounted with a first pulley (23), the first pulleys (23) correspond to the strip-shaped through grooves two (211) one to one, and the first pulleys (23) are slidably mounted in the strip-shaped through grooves two (211).
5. The manipulator for the industrial production line according to claim 1, wherein two pulley mounting plates (38) are fixedly mounted at the top of the adjusting plate (21) close to one side of the movable mounting plate (28) through bolts, two strip-shaped through grooves three (241) are formed in the upper fixing plate (24), the top of each pulley mounting plate (38) penetrates through the strip-shaped through grooves three (241) and extends to the upper side of the upper fixing plate (24), second pulleys (32) are rotatably mounted on two sides of the top of each pulley mounting plate (38), and the second pulleys (32) are in sliding fit with the upper surface of the upper fixing plate (24).
6. The manipulator for the industrial production line according to claim 1, wherein two sliding blocks are fixedly installed at the bottom of the movable top plate (7), two sliding rails matched with the sliding blocks are fixedly installed on the upper surface of the installation beam (1), and the movable top plate (7) is slidably connected with the installation beam (1) through the sliding blocks and the sliding rails.
7. The manipulator for the industrial production line according to claim 1, wherein two slide rails are fixedly installed at the bottom of the movable bottom plate (8), two sliding blocks matched with the slide rails are fixedly installed at both ends of the upper surface of the movable seat (10), and the movable seat (10) is slidably connected with the movable bottom plate (8) through the sliding blocks and the slide rails.
8. A manipulator according to claim 1, wherein a plurality of said suction cup holders (29) are arranged in an equally spaced linear array.
9. A method of operating a manipulator for an industrial line according to any one of claims 1 to 8, characterized in that the method comprises the steps of:
step one, starting a first motor (3), driving a first driving wheel (5) to rotate by the first motor (3), driving a first driving belt (6) to rotate by the first driving wheel (5), driving a movable top plate (7) to slide on the surface of a mounting cross beam (1) by the first driving belt (6), driving a movable bottom plate (8) to move by the movable top plate (7) through a connecting vertical plate (9), and drives the connecting arm (18) and the grabbing mechanism (19) to move along the direction of the mounting beam (1), a second motor (11) is started, the second motor (11) drives a second driving wheel (12) to rotate, the second driving wheel (12) drives a second driving belt (13) to rotate, the second driving belt (13) drives the moving seat (10) to move on the bottom surface of the moving bottom plate (8), the grabbing mechanism (19) is driven to move along the direction vertical to the mounting cross beam (1), so that the grabbing mechanism (19) moves to the position above an object to be grabbed;
step two, a fifth motor (39) is started, the fifth motor (39) drives a third lead screw (26) to rotate and drives a connecting cross rod (22) to lift, the connecting cross rod (22) drives two adjusting plates (21) to lift through an upper fixing plate (24), each first pulley (23) slides in a corresponding strip-shaped through groove two (211), the distance between two adjacent sucker seats (29) in the plurality of sucker seats (29) is adjusted, the distance between two adjacent suckers (30) is adjusted, a fourth motor (35) is started, the fourth motor (35) drives a second lead screw (34) to rotate through a belt pulley and a belt, drives a second nut (36) to move and drives a movable mounting plate (28) to move, the distance between the movable mounting plate (28) and a fixed mounting seat (27) is adjusted, and the movable mounting plate (28) and the fixed mounting plate (27) are adjusted, Fixing the space between the suckers (30) at the bottom of the mounting seat (27);
step three, a third motor (17) is started, the third motor (17) drives a first lead screw (15) to rotate through a belt pulley and a belt, the first lead screw (15) rotates and simultaneously drives a first nut (16) to descend, the grabbing mechanism (19) is driven to descend through a connecting arm (18), articles are grabbed through a sucker (30) at the bottom of the grabbing mechanism (19), the grabbing mechanism (19) is driven to ascend through controlling the third motor (17), the grabbing mechanism (19) and the articles are driven to move to a specified position through the first motor (3) and the second motor (11), and the suckers (30) loosen the articles.
CN202010640024.9A 2020-07-06 2020-07-06 Manipulator for industrial production line and working method thereof Withdrawn CN111673719A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010640024.9A CN111673719A (en) 2020-07-06 2020-07-06 Manipulator for industrial production line and working method thereof

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Application Number Priority Date Filing Date Title
CN202010640024.9A CN111673719A (en) 2020-07-06 2020-07-06 Manipulator for industrial production line and working method thereof

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114955576A (en) * 2022-04-27 2022-08-30 芜湖固高自动化技术有限公司 Stacking robot based on 3D vision and end effector thereof

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Publication number Priority date Publication date Assignee Title
CN105922282A (en) * 2016-06-13 2016-09-07 无锡力优医药自动化技术有限公司 Multi-shaft infusion bag feeding manipulator
CN207343278U (en) * 2017-10-11 2018-05-11 南京邮电大学 A kind of rectangular co-ordinate part sorting equipment
CN207643128U (en) * 2017-12-30 2018-07-24 广东埃华路机器人工程有限公司 A kind of adjustable precise go-no-go fixture
CN209665354U (en) * 2019-01-14 2019-11-22 广州移讯网络科技有限公司 Certificate grabs mobile manipulator
CN210161152U (en) * 2019-05-08 2020-03-20 深圳市朝阳光科技有限公司 Automatic carrying mechanism for manipulator
CN111169982A (en) * 2019-12-31 2020-05-19 东莞市楷德精密机械有限公司 Variable-pitch mechanism

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105922282A (en) * 2016-06-13 2016-09-07 无锡力优医药自动化技术有限公司 Multi-shaft infusion bag feeding manipulator
CN207343278U (en) * 2017-10-11 2018-05-11 南京邮电大学 A kind of rectangular co-ordinate part sorting equipment
CN207643128U (en) * 2017-12-30 2018-07-24 广东埃华路机器人工程有限公司 A kind of adjustable precise go-no-go fixture
CN209665354U (en) * 2019-01-14 2019-11-22 广州移讯网络科技有限公司 Certificate grabs mobile manipulator
CN210161152U (en) * 2019-05-08 2020-03-20 深圳市朝阳光科技有限公司 Automatic carrying mechanism for manipulator
CN111169982A (en) * 2019-12-31 2020-05-19 东莞市楷德精密机械有限公司 Variable-pitch mechanism

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114955576A (en) * 2022-04-27 2022-08-30 芜湖固高自动化技术有限公司 Stacking robot based on 3D vision and end effector thereof

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