CN111716325A

CN111716325A - Feeding and discharging mechanical arm in three-dimensional transmission

Info

Publication number: CN111716325A
Application number: CN202010601919.1A
Authority: CN
Inventors: 杨鹏; 沈桂英
Original assignee: Changzhou Jinyu Precision Technology Co ltd
Current assignee: Changzhou Jinyu Precision Technology Co ltd
Priority date: 2020-06-28
Filing date: 2020-06-28
Publication date: 2020-09-29

Abstract

The invention provides a three-dimensional transmission feeding and discharging manipulator which comprises a pneumatic clamp for grabbing materials, wherein the clamp is movably arranged on an X-axis plate, the clamp and the X-axis plate are respectively arranged on two parallel planes, the X-axis plate is movably arranged on a Y-axis plate, the X-axis plate and the Y-axis plate are vertically installed in a staggered manner, a Z-axis plate is arranged in the direction vertical to the plane of the X-axis plate and the Y-axis plate, the Z-axis plate and the Y-axis plate are fixedly installed, the Z-axis plate is movably arranged on a linkage plate, and the linkage plate is used for pushing the Z-axis plate, the Y-axis plate and the X-axis plate to move in the Z-axis; the invention adopts three different transmission modes to move the loading and unloading of the manipulator in different directions to make actions according with the transmission characteristics, has simple structure and meets the requirements of professional tools, reduces the manufacturing cost of the whole manipulator, is simple and efficient, improves the loading and unloading efficiency while reducing the cost, and improves the working level.

Description

Feeding and discharging mechanical arm in three-dimensional transmission

Technical Field

The invention relates to the technical field of feeding and discharging equipment, in particular to a three-dimensional transmission feeding and discharging manipulator.

Background

In the process of loading and unloading small materials, the materials are placed in a specified material grid, the materials need to be taken out of the material grid and placed at a set processing position for processing during processing, the materials are taken back to the original material grid after processing is finished, the process has three directions, firstly, the materials are taken out of the material grid and put down, the materials are actually grabbed in an existing material tray with constant unit distance, the grabbing is certain and regular, a determined advancing route is needed, in addition, the manipulator has a distance with the materials and the material tray, the manipulator needs to be freely moved up and down on the vertical height, of course, the up-and-down relation can be set in the clamp, but the up-and-down distance in the clamp is limited, if the materials on different layers are loaded and unloaded, the up-and-down movement cannot be realized through the clamp, and the clamp cannot be realized and replaced, a vertical movement distance is required for the robot.

Therefore, how to configure the manipulator for feeding and discharging makes the manipulator realize feeding and discharging in the most economical and reasonable mode according to the characteristics of feeding and discharging per se, the feeding and discharging is suitable for grabbing small-sized materials, particularly micro-sized materials, and the technical problem to be solved by the invention is to adapt to production by utilizing various different transmission modes.

Disclosure of Invention

The invention aims to provide a three-dimensional transmission feeding and discharging manipulator which overcomes or at least partially solves the problems so as to solve the problems that the moving position of the existing manipulator is limited and the high-performance manipulator is high in price.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

the invention provides a three-dimensional transmission feeding and discharging manipulator which comprises a pneumatic clamp for grabbing materials, wherein the clamp is movably arranged on an X-axis plate, the clamp and the X-axis plate are respectively arranged on two parallel planes, the X-axis plate is movably arranged on a Y-axis plate, the X-axis plate and the Y-axis plate are vertically installed in a staggered manner, a Z-axis plate is arranged in the direction vertical to the plane of the X-axis plate and the Y-axis plate, the Z-axis plate and the Y-axis plate are fixedly installed, the Z-axis plate is movably arranged on a linkage plate, and the linkage plate is used for pushing the Z-axis plate, the Y-axis plate and the X-axis plate to move in the Z-axis direction;

and the transmission modes of thread transmission, synchronous belt transmission and special-shaped cranks are respectively adopted between the clamp and the X-axis plate, between the X-axis plate and the Y-axis plate and between the linkage plate and the Z-axis plate.

As a further scheme of the invention, the clamp is fixedly arranged on a clamp plate, the clamp plate is arranged across an X-axis plate, the lower part of the clamp plate is movably arranged with the X-axis plate through a rail seat, a spiral seat arranged at a gap with the X-axis plate is arranged between the two rail seats, and a thread matched with a threaded rod is arranged in the spiral seat.

As a further scheme of the invention, two parallel first rails are arranged on one side of the X-axis plate, a threaded rod arranged in a gap with the X-axis plate is arranged between the first rails, one end of the threaded rod is inserted into a spiral seat, the other end of the threaded rod penetrates through a threaded seat and is arranged in a first motor, the threaded seat is fixedly arranged on the X-axis plate, and the threaded seat is arranged between the two first rails.

As a further scheme of the invention, two parallel second rail seats used for being connected with the Y-axis plate are arranged on the other side of the X-axis plate, and the second rail seats are arranged at intervals.

As a further scheme of the invention, two parallel second rails are arranged on one side of the Y-axis plate, the second rails are installed in a matching manner with the second rail seats, two synchronizing wheels and a synchronous belt installed on the synchronizing wheels are arranged between the two second rails, one linear synchronous belt is fixedly installed with a tooth clamp, and the tooth clamp is a fixed structure which is installed on the X-axis plate and is on the same side with the second rails.

As a further scheme of the invention, the Y-axis plate is connected with the linkage plate through the Z-axis plate, two third rails are arranged on the Z-axis plate in the direction perpendicular to the Y-axis plate, the third rails are installed in a matched mode with third rail seats, and both ends of each third rail are provided with contact switches which are used for limiting the limit position of the linkage plate.

As a further scheme of the invention, an air cylinder used for moving the Z-axis plate is arranged on the linkage plate, the air cylinder is obliquely arranged, the top end of the air cylinder is movably arranged with the special-shaped crank through a driving shaft, and the driving shaft and the linkage plate are arranged in a gap.

As a further scheme of the invention, the connecting line of the driving shaft, the second rotating shaft and the third rotating shaft is triangular, the second rotating shaft is arranged on the linkage plate, the third rotating shaft is movably arranged with the connecting block, and the third rotating shaft and the linkage plate or the Z-axis plate are arranged in a clearance way.

As a further scheme of the invention, the other end of the connecting block is arranged on a first rotating shaft, the first rotating shaft is fixedly arranged on the Z-axis plate, and force is transmitted to the first rotating shaft from the driving shaft.

The invention provides a three-dimensional transmission feeding and discharging mechanical arm, which has the beneficial effects that: the invention adopts a screw thread transmission mode in the X-axis direction needing accurate movement, so that each point of the position on the X-axis can be reached, a tooth transmission mode of a synchronous belt is adopted in the Y-axis which does not need accurate movement, the position on the Y-axis is moved by taking the tooth pitch as a unit distance, so that a manipulator can quickly reach the appointed Y-axis position according to the production condition, and a crank structure transmission mode is adopted for the Z-axis with small distance, so that the cost of the manipulator is reduced on one hand, and on the other hand, two limit positions can be stably linearly moved, the mode is suitable for being used in a double-layer material tray, two position limits of the Z-axis are positions of two material grids of an upper material and a lower material respectively, the operation is simple, high-efficiency and very practical, the invention utilizes the characteristics of small and miniature materials, and three different transmission modes are adopted to move the loading and unloading materials of the manipulator in different directions to make the, the manipulator is simple in structure, meets the requirements of professional tools, reduces the manufacturing cost of the whole manipulator, does not require complex and multi-degree-of-freedom structures for all the manipulators, is simple and efficient, reduces the cost, improves the feeding and discharging efficiency and improves the working level.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

Fig. 1 is a schematic front view of a robot according to an embodiment of the present invention.

Fig. 2 is a schematic view of a left side structure of a robot provided in an embodiment of the present invention.

Fig. 3 is a schematic view of a direction structure of a manipulator linkage plate according to an embodiment of the present invention.

Fig. 4 is a schematic three-dimensional structure diagram of an X-axis plate and a Y-axis plate according to an embodiment of the present invention.

In the figure: 1. a clamp; 11. a clamp plate; 12. a screw seat; 2. an X-axis plate; 21. a first track; 22. a threaded rod; 23. a threaded seat; 24. a first motor; 25. a second rail seat; 3. a Y-axis plate; 31. a second track; 32. a synchronizing wheel; 33. a synchronous belt; 4. a Z-axis plate; 41. a third track; 42. a contact switch; 5. a linkage plate; 51. a cylinder; 52. a drive shaft; 53. a third track base; 6. a special-shaped crank; 61. connecting blocks; 62. a first rotating shaft; 63. a second rotating shaft; 64. and a third rotating shaft.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Referring to fig. 1 to 4, a three-dimensional transmission loading and unloading manipulator provided by an embodiment of the present invention includes a pneumatic clamp 1 for grabbing a material, the clamp 1 is movably mounted on an X-axis plate 2, the clamp 1 and the X-axis plate 2 are respectively disposed on two parallel planes, the clamp 1 can linearly move along the direction of the X-axis plate 2, so that the clamp 1 has a certain displacement in the X-axis direction when working, so as to move the material a distance in the X-axis direction, the X-axis plate 2 is movably mounted on a Y-axis plate 3, the X-axis plate 2 and the Y-axis plate 3 are vertically installed in a staggered manner, that is, the X-axis plate 2 can move a distance in the direction of the Y-axis plate 3, so that the clamp 1 can select a plane point formed by the XY-axis in one plane, the Z-axis plate 4 is mounted on the X-axis plate 2 in the direction perpendicular to the plane of the Y-axis plate 3, the Z-axis plate 4 and the Y-axis, z axle board 4 movable mounting is on linkage board 5, linkage board 5 promotes Z axle board 4, Y axle board 3 and X axle board 2 remove in Z axle direction, Y axle board 3 can be along linkage board 5 direction rectilinear movement, make this manipulator have certain free distance on the Z axle to need not set the material car to the activity, can snatch the material of different layers and different positions through the mobility in space of manipulator, thereby accomplish the action of going up unloading, convenient and fast.

Preferably, all adopt different transmission modes between anchor clamps 1 and X axial plate 2, X axial plate 2 and Y axial plate 3, linkage plate 5 and Z axial plate 4, three kinds of transmission modes can solve the blind spot in the space that exists each other to the snatching of messenger's last unloading is chosen some more accurate, anchor clamps 1 and X axial plate 2 adopt the driven mode of threaded rod 22, X axial plate 2 and Y axial plate 3 adopt the transmission mode of hold-in range 33, linkage plate 5 and Z axial plate 4 adopt the transmission mode of special-shaped crank 6.

Preferably, the fixture 1 is fixedly mounted on the fixture plate 11, the fixture plate 11 is mounted across the X-axis plate 2, the lower part of the fixture plate 11 is movably mounted with the X-axis plate 2 through the rail seats, the screw seat 12 is arranged between the two rail seats and is spaced from the X-axis plate 2, and the screw seat 12 is provided with a screw thread matched with the screw rod 22, so that the fixture 1 is linearly moved along the direction of the first rail 21 under the action of the screw thread, because the movement on the X axis is only the movement process of the fixture 1 from a low point to a high point or from a high point to a low point, excessive precision is not needed, and only the grabbing and putting actions need to be completed, therefore, the transmission precision of the screw rod 22 is relatively low, but the transmission effect is obvious, and the whole manipulator is simplified in a manner that is not easy to damage.

Preferably, X axle board 2 one side is provided with the first track 21 of two parallels, be provided with the threaded rod 22 with X axle board 2 clearance setting between the first track 21, threaded rod 22 one end is inserted and is installed in spiral seat 12, the threaded rod 22 other end passes threaded seat 23 and installs in first motor 24, threaded seat 23 fixed mounting is on X axle board 2, threaded seat 23 sets up between two first tracks 21, threaded seat 23 plays the effect of support, make first motor 24 can not produce when rotatory threaded rod 22 and beat, thereby guarantee the stability of threaded rod 22 effect, X axle board 2 opposite side is provided with two parallels and is used for the second track seat 25 of being connected with Y axle board 3, second track seat 25 interval sets up.

Preferably, two parallel second tracks 31 are arranged on one side of the Y-axis plate 3, the second tracks 31 are installed in a matching manner with the second track seats 25, two synchronizing wheels 32 and a synchronous belt 33 installed on the synchronizing wheels 32 are arranged between the two second tracks 31, one of the synchronizing wheels 32 is installed on a motor, the motor is installed on the other side of the Y-axis plate 3, the two synchronizing wheels 32 tension the synchronous belt 33 into two mutually parallel linear structures, one of the linear synchronous belts 33 is fixedly installed with a tooth holder, the tooth holder is a fixed structure which is installed on the X-axis plate 2 and is on the same side with the second tracks 31, the tooth holder can be opened to clamp the synchronous belt 33 and then move synchronously with the synchronous belt, so that the X-axis plate 2 can move linearly along the direction of the Y-axis plate 3, the structure is a loading and unloading position of the fixture 1 which is positioned at a fixed position, and the teeth of the synchronous belt 33 are taken, thereby the mode of unloading is simpler.

Preferably, the Y-axis plate 3 is connected with the linkage plate 5 through the Z-axis plate 4, the Z-axis plate 4 is provided with two third rails 41 in the direction perpendicular to the Y-axis plate 3, the third rails 41 are installed in a matched mode with the third rail seats 53, the Z-axis plate 4 can move relative to the linkage plate 5, the two ends of each third rail 41 are provided with contact switches 42, and the contact switches 42 are used for limiting the limit positions of the linkage plate 5, so that the manipulator is guaranteed not to fall and damage the manipulator.

Preferably, the linkage plate 5 is provided with a cylinder 51 for moving the Z-axis plate 4, the cylinder 51 is installed in an inclined manner, the top end of the cylinder 51 is movably installed with the special-shaped crank 6 through the driving shaft 52, the driving shaft 52 is arranged in a gap with the linkage plate 5, the connecting line of the driving shaft 52 with the second rotating shaft 63 and the third rotating shaft 64 is triangular, the second rotating shaft 63 is installed on the linkage plate 5, the third rotating shaft 64 is movably installed with the connecting block 61, and the third rotating shaft 64 is installed in a gap with the linkage plate 5 or the Z-axis plate 4.

Preferably, the other end of the connecting block 61 is mounted on the first rotating shaft 62, the first rotating shaft 62 is fixedly mounted on the Z-axis plate 4, and the force is transmitted from the driving shaft 52 to the first rotating shaft 62, so that the special-shaped crank 6 can push the Z-axis plate 4 to move linearly on the third track 41, and the special-shaped crank 6 rotates by taking the third rotating shaft 64 as a rotation center, so that the second rotating shaft 63 has a certain moving space, and finally the force is transmitted.

The working principle of the invention is as follows: the most common feeding and discharging mode of a feeding and discharging mechanical arm is that the feeding and discharging mechanical arm moves linearly in the vertical direction to grab materials, then the materials are placed at corresponding positions through two mutually perpendicular moving modes in the horizontal direction, the mechanical arm with more than four shafts is generally adopted in the field of the mechanical arm to complete the space moving function, and in some simple technical fields, a complex mechanical arm is not needed.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. The three-dimensional transmission feeding and discharging manipulator is characterized by comprising a pneumatic clamp (1) used for grabbing materials, wherein the clamp (1) is movably mounted on an X-axis plate (2), the clamp (1) and the X-axis plate (2) are respectively arranged on two parallel planes, the X-axis plate (2) is movably mounted on a Y-axis plate (3), the X-axis plate (2) and the Y-axis plate (3) are vertically installed in a staggered mode, a Z-axis plate (4) is mounted in the direction perpendicular to the planes of the X-axis plate (2) and the Y-axis plate (3), the Z-axis plate (4) and the Y-axis plate (3) are fixedly mounted, the Z-axis plate (4) is movably mounted on a linkage plate (5), and the linkage plate (5) is used for pushing the Z-axis plate (4), the Y-axis plate (3) and the X-axis plate (2) to move in the Z-axis direction;

and the clamp (1) and the X-axis plate (2), the X-axis plate (2) and the Y-axis plate (3), and the linkage plate (5) and the Z-axis plate (4) are respectively in a transmission mode of thread transmission, synchronous belt transmission and a special-shaped crank (6).

2. The stereoscopic transmission loading and unloading manipulator of claim 1, wherein the clamp (1) is fixedly mounted on a clamp plate (11), the clamp plate (11) is mounted across the X-axis plate (2), the lower part of the clamp plate (11) is movably mounted with the X-axis plate (2) through a rail seat, a screw seat (12) arranged in a gap with the X-axis plate (2) is arranged between the two rail seats, and a thread matched with the threaded rod (22) is arranged in the screw seat (12).

3. The stereoscopic transmission loading and unloading manipulator of claim 2, wherein two parallel first rails (21) are arranged on one side of the X-axis plate (2), a threaded rod (22) arranged in a gap with the X-axis plate (2) is arranged between the first rails (21), one end of the threaded rod (22) is inserted into the screw seat (12), the other end of the threaded rod (22) passes through the screw seat (23) and is installed in the first motor (24), the screw seat (23) is fixedly installed on the X-axis plate (2), and the screw seat (23) is arranged between the two first rails (21).

4. The stereoscopic transmission loading and unloading manipulator of claim 3, wherein the other side of the X-axis plate (2) is provided with two parallel second rail seats (25) for connecting with the Y-axis plate (3), and the second rail seats (25) are arranged at intervals.

5. The three-dimensional transmission loading and unloading manipulator of claim 4, wherein two parallel second rails (31) are arranged on one side of the Y-axis plate (3), the second rails (31) are installed in a matching manner with the second rail seats (25), two synchronous wheels (32) and synchronous belts (33) installed on the synchronous wheels (32) are arranged between the two second rails (31), one linear synchronous belt (33) is fixedly installed with a tooth clamp, and the tooth clamp is a fixed structure which is installed on the X-axis plate (2) and is on the same side with the second rails (31).

6. The stereoscopic transmission loading and unloading manipulator of claim 5, wherein the Y-axis plate (3) is connected with the linkage plate (5) through the Z-axis plate (4), two third rails (41) are arranged on the Z-axis plate (4) in the direction perpendicular to the Y-axis plate (3), the third rails (41) and the third rail seats (53) are installed in a matched mode, contact switches (42) are arranged at two ends of each third rail (41), and the contact switches (42) are used for limiting the limit positions of the linkage plate (5).

7. The three-dimensional transmission loading and unloading manipulator as claimed in claim 6, wherein the linkage plate (5) is provided with a cylinder (51) for moving the Z-axis plate (4), the cylinder (51) is obliquely installed, the top end of the cylinder (51) is movably installed with the special-shaped crank (6) through a driving shaft (52), and the driving shaft (52) and the linkage plate (5) are arranged in a gap manner.

8. The stereoscopic driving feeding and discharging manipulator as claimed in claim 7, wherein a connecting line of the driving shaft (52) and the second rotating shaft (63) and the third rotating shaft (64) is triangular, the second rotating shaft (63) is installed on the linkage plate (5), the third rotating shaft (64) is movably installed with the connecting block (61), and the third rotating shaft (64) and the linkage plate (5) or the Z-axis plate (4) are installed in a clearance mode.

9. The stereoscopic driving feeding and discharging manipulator as claimed in claim 8, wherein the other end of the connecting block (61) is mounted on a first rotating shaft (62), and the first rotating shaft (62) is fixedly mounted on the Z-axis plate (4).