CN113478467A

CN113478467A - Mechanical arm

Info

Publication number: CN113478467A
Application number: CN202110847676.4A
Authority: CN
Inventors: 柯慧明
Original assignee: Individual
Current assignee: Guangdong Polytechnic Normal University
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2021-10-08
Anticipated expiration: 2041-07-27
Also published as: CN113478467B

Abstract

The application provides a pair of manipulator includes the support body, actuating mechanism and jack catch mechanism, actuating mechanism installs on the support body, jack catch mechanism installs on actuating mechanism and is connected with the actuating mechanism drive, this manipulator still includes guiding mechanism, ejecting mechanism and well accuse module, guiding mechanism includes the support frame, platform is carried to first transport platform and second, the support frame is rotationally installed on the support body, first transport platform is installed on the support frame, platform movably is installed on the support frame is carried to the second, and place in the below of first transport platform, ejecting mechanism installs on jack catch mechanism, with the goods of grabbing on the propelling movement jack catch mechanism, well accuse module is installed on actuating mechanism, and respectively with jack catch mechanism, actuating mechanism, first transport platform and ejecting mechanism electric connection. Generally speaking, this manipulator snatchs the back to the goods, can carry to the placing platform that the gripper can't stretch into fast on.

Description

Mechanical arm

Technical Field

The application relates to the field of mechanical auxiliary equipment, in particular to a manipulator.

Background

When tradition carried the heavy object, all can call several people and assist the transport, waste time and energy, and easy in handling, the heavy object drops carelessly, light then the heavy object damages, heavy then personnel are injured, consequently the helping hand manipulator can be widely used in industrial production as replacing artificial machinery, can accomplish the nearly long-range transport of heavy object, the extravagant and assurance personnel safety of manpower of avoiding of big degree, and the transport of heavy object can be accomplished to current manipulator, but to the space that the gripper on some manipulators such as comparatively narrow and small can't stretch into, such as the back box or the freight passageway etc. of vehicle, consequently need a manipulator that can solve above-mentioned problem urgently.

Disclosure of Invention

Technical problem to be solved

In order to solve the above problems, the present application provides a manipulator.

(II) technical scheme

In order to achieve the above purpose, the present application provides the following technical solutions: a manipulator comprises a frame body, a driving mechanism and a jaw mechanism, wherein the driving mechanism is arranged on the frame body, the jaw mechanism is arranged on the driving mechanism and is in driving connection with the driving mechanism, the claw mechanism is driven by the driving mechanism to lift and move close to or away from the frame body, the manipulator also comprises a guide mechanism, a push-out mechanism and a central control module, wherein the guide mechanism comprises a support frame, a first conveying platform and a second conveying platform, the support frame is rotatably arranged on the frame body, the first conveying platform is arranged on the support frame, the second conveying platform is movably arranged on the support frame and is arranged below the first conveying platform, the push-out mechanism is arranged on the jaw mechanism, with the goods of grabbing on the propelling movement jack catch mechanism, well accuse module is installed on actuating mechanism to respectively with jack catch mechanism, actuating mechanism, first transport platform and ejecting mechanism electric connection.

Preferably, this manipulator still includes the elevating system who is connected with the guide mechanism drive, the support body bottom is equipped with a plurality of first guide rails, elevating system includes the layer board, transfer line and first driving piece, the layer board cover is located on the support body, and with the support frame butt, the transfer line is equipped with a plurality ofly, the first end of a plurality of transfer lines rotates with the layer board respectively and is connected, the second end respectively with a plurality of first guide rail sliding connection, on the support body on the first driving piece, and first driving piece is rather than the second end drive connection of transfer line, in order to order about the second end of transfer line and slide in first guide rail, and then promote the layer board and go up and down on the support body, first driving piece and well accuse module drive connection.

Preferably, the guide mechanism further comprises a fixing piece, a first positioning hole is formed in the support frame, a plurality of second positioning holes are formed in the support body, the support frame is positioned through the first positioning hole and the second positioning holes in the support body, and the support frame is sequentially clamped into the first positioning hole and the second positioning holes through the fixing piece so as to limit rotation of the support frame on the support body.

Preferably, be equipped with U type mounting panel on the support frame, be equipped with first guide way on the U type mounting panel, first carry the platform to install on U type mounting panel, the second carries the platform to install on U type mounting panel to place in first transport platform below, the first end and the first guide way sliding connection of platform are carried to the second, wherein, carry the second end of platform through the tractive second, can make the second carry the platform to remove along first guide way direction.

Preferably, the second end of the second conveying table is provided with a movable supporting rod, the second conveying table is provided with a second guide groove, the first end of the supporting rod is connected with the second guide groove in a sliding mode, the supporting frame is provided with a hanging frame, and the second end of the supporting rod can be connected with the hanging frame.

Preferably, the jack catch mechanism includes the roof, connecting plate and two jack catch groups, the roof is installed on actuating mechanism, and with actuating mechanism drive connection, the connecting plate is rotationally installed on the roof, two jack catch groups are installed symmetrically on the connecting plate, and can be close to each other or keep away from, in order to grab or release the goods, ejecting mechanism is including installing the first group of releasing on the jack catch group, first group of releasing is including the installation frame and all install a plurality of rollers and the first motor on the installation frame, first motor and roller drive connection, in order to order about the roller roll, and then drive and be grabbed the goods of grabbing on the jack catch group and remove, first motor and well accuse module electric connection.

Preferably, the pushing mechanism further comprises a second pushing group, the second pushing group comprises a second guide rail, a pushing member and a second motor, the second guide rail is mounted on the connecting plate, the pushing member is movably mounted in the second guide rail, and the second motor is mounted on the second guide rail and is in driving connection with the pushing member so as to drive the pushing member to move in the second guide rail, and therefore the pushing member pushes goods clamped on the clamping jaw group.

(III) advantageous effects

The application provides a manipulator, which comprises a frame body, a driving mechanism and a jaw mechanism, wherein the driving mechanism is arranged on the frame body, the jaw mechanism is arranged on the driving mechanism and is in driving connection with the driving mechanism, the claw mechanism is driven by the driving mechanism to lift and move close to or away from the frame body, the manipulator also comprises a guide mechanism, a push-out mechanism and a central control module, wherein the guide mechanism comprises a support frame, a first conveying platform and a second conveying platform, the support frame is rotatably arranged on the frame body, the first conveying platform is arranged on the support frame, the second conveying platform is movably arranged on the support frame and is arranged below the first conveying platform, the push-out mechanism is arranged on the jaw mechanism, with the goods of grabbing on the propelling movement jack catch mechanism, well accuse module is installed on actuating mechanism to respectively with jack catch mechanism, actuating mechanism, first transport platform and ejecting mechanism electric connection. Generally speaking, this manipulator snatchs the back to the goods, can carry to the placing platform that the gripper can't stretch into fast on.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not to limit the application, in which:

FIG. 1 shows a first schematic structural diagram of an embodiment of the present application;

FIG. 2 shows a second structural schematic of an embodiment of the present application;

FIG. 3 shows a schematic structural view of the guide mechanism of FIG. 1;

FIG. 4 shows a first schematic structural view of the jaw mechanism of FIG. 1;

FIG. 5 shows a second schematic structural view of the jaw mechanism of FIG. 1;

fig. 6 shows a schematic structural diagram of the first ejection group in fig. 4.

In the figure: the device comprises a frame body 1, a first guide rail 11, a second positioning hole 12, a driving mechanism 2, a claw mechanism 3, a top plate 31, a connecting plate 32, a claw group 33, a central control module 4, a guide mechanism 5, a supporting frame 51, a first positioning hole 511, a first conveying table 52, a second conveying table 53, a second guide groove 531, a fixing part 54, a mounting plate 55U, a first guide groove 551, a support rod 56, a hanging frame 57, a push-out mechanism 6, a first push-out group 61, a mounting frame 611, a roller 612, a first motor 613, a second push-out group 62, a second guide rail 621, a push-out piece 622, a second motor 623, a lifting mechanism 7, a supporting plate 71, a 72 transmission rod and a first driving piece 73.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.

Referring to fig. 1-6, the present application discloses a manipulator, which includes a frame 1, a driving mechanism 2, and a jaw mechanism 3, wherein the driving mechanism 2 is installed on the frame 1, the jaw mechanism 3 is installed on the driving mechanism 2 and is drivingly connected to the driving mechanism 2, the jaw mechanism 3 is driven by the driving mechanism 2, so that the jaw mechanism 3 can be lifted and moved toward or away from the frame 1, the manipulator further includes a guiding mechanism 5, a pushing mechanism 6, and a central control module 4, the guiding mechanism 5 includes a supporting frame 51, a first conveying platform 52, and a second conveying platform 53, the supporting frame 51 is rotatably installed on the frame 1, the first conveying platform 52 is installed on the supporting frame 51, the second conveying platform 53 is movably installed on the supporting frame and is disposed below the first conveying platform 52, the pushing mechanism 6 is installed on the jaw mechanism 3 to push goods caught by the jaw mechanism 3, the central control module 4 is installed on the driving mechanism 2 and is electrically connected with the jaw mechanism 3, the driving mechanism 2, the first conveying table 52 and the pushing mechanism 6 respectively.

Referring to fig. 1, the driving mechanism 2 includes a rotating device installed at a top position of the frame body 1 and a lateral driving device installed on the rotating device to control the lateral driving device to be capable of rotating in a Y-axis direction, wherein the lateral driving device controls the movement of the jaw mechanism 3 in an X-axis and a Z-axis, respectively, wherein the Z-axis control is realized by the connection of a rope with the jaw mechanism 3 to roll up and roll off the jaw mechanism 3 in the Z-axis direction, and the flexibility of the rope enables the jaw mechanism 3 to flexibly grip a cargo, such as a cargo, placed on a platform having a high and low head, unlike the existing rigid telescopic rod for the Z-axis lifting, the existing manipulator for lifting using the rigid telescopic rod is not provided with an angular deflecting structure itself, but the gripping structure of the manipulator is vertically fixed, the goods with uneven placement modes are difficult to grab, but the grabbing angle of the jaw mechanism 3 can be deflected by the holding structure on the jaw mechanism 3, so that the goods placed at will can be grabbed flexibly and quickly;

the first conveying table 52 is an automatic conveying table, when the claw mechanism 3 grabs the goods and places the goods on the first conveying table 52, the goods are conveyed by the first conveying table 52, the second conveying table 53 is a structure formed by a plurality of driven rollers, when the automatic conveying table is used, the second conveying table 53 is drawn out from the lower part of the first conveying table 52 to prolong the conveying platform of the goods, and the application scene of the embodiment lies in a vehicle container and a relatively narrow pipeline channel, the mechanical hands of the scene can not extend into and place the goods therein, so that the guiding mechanism 5 is needed to guide and convey the goods.

Further, the manipulator further comprises a lifting mechanism 7 in driving connection with the guide mechanism 5, the bottom of the frame body 1 is provided with a plurality of first guide rails 11, the lifting mechanism 7 comprises a supporting plate 71, a transmission rod 72 and a first driving member 73, the supporting plate 71 is sleeved on the frame body 1 and is abutted to the supporting frame 51, the transmission rod 72 is provided with a plurality of transmission rods 72, the first ends of the transmission rods 72 are respectively connected with the supporting plate 71 in a rotating manner, the second ends of the transmission rods 72 are respectively connected with the first guide rails 11 in a sliding manner, the first driving member 73 is arranged on the frame body 1, the first driving member 73 is in driving connection with the second end of the transmission rod 72, so that the second end of the transmission rod 72 is driven to slide in the first guide rails 11, the supporting plate 71 is further driven to lift on the frame body 1, and the first driving member 73 is in driving connection with the central control module 4.

The guiding mechanism 5 further includes a fixing member 54, the supporting frame 51 is provided with a first positioning hole 511, the frame body 1 is provided with a plurality of second positioning holes 12, the supporting frame 51 is positioned by the first positioning hole 511 and the second positioning hole 12 on the frame body 1, and the supporting frame 51 is sequentially clamped into the first positioning hole 511 and the second positioning hole 12 by the fixing member 54 to limit the rotation of the supporting frame 51 on the frame body 1.

Specifically, the first driving member 73 is a telescopic cylinder, the output end of the first driving member is rotatably connected to the second end of the transmission rod 72, when the first driving member 73 extends to extrude the second end of the transmission rod 72, the second end of the transmission rod 72 slides along the first guide rail 11 toward the rack body 1, and the first end of the transmission rod 72 continuously pushes the pallet to ascend along the rack body 1, so as to drive the guiding mechanism 5 to ascend, the output end of the first driving member 73 contracts, the second end of the transmission rod 72 moves away from the rack body 1, at this time, the pallet descends along the rack body 1, and the guiding mechanism 5 descends along with the pallet, so as to adapt to the placing platforms with different heights, and it is ensured that goods grabbed by the manipulator can normally enter the placing platform along the guiding mechanism 5.

Furthermore, a U-shaped mounting plate 55 is arranged on the support frame 51, a first guide groove 551 is arranged on the U-shaped mounting plate 55, the first conveying table 52 is mounted on the U-shaped mounting plate 55, the second conveying table 53 is mounted on the U-shaped mounting plate 55 and is arranged below the first conveying table 52, a first end of the second conveying table 53 is in sliding connection with the first guide groove 551, and the second conveying table 53 can move along the direction of the first guide groove 551 by pulling a second end of the second conveying table 53.

A movable supporting rod 56 is mounted at the second end of the second conveying table 53, a second guide groove 531 is arranged on the second conveying table 53, the first end of the supporting rod 56 is slidably connected with the second guide groove 531, a hanging frame 57 is arranged on the supporting frame 51, and the second end of the supporting rod 56 can be connected with the hanging frame 57;

referring to fig. 2 and 3, the second conveying platform 53 only has its first end slidably connected to the first guide groove 551, and at this time, the second end of the second conveying platform 53 can swing with its first end as an axis, and the first end is driven to slide along the first guide groove 551, so that the second conveying platform 53 is drawn out from below the first conveying platform 52, so as to extend the conveying distance of the first conveying platform 52, when the first conveying platform 52 is higher than the placing platform, the conveyed goods will directly fall onto the placing platform from the first conveying platform 52, which is easy to be damaged, and the second conveying platform 53 compensates the drop height and serves as a guiding medium, so that the goods can enter onto the placing platform along the second conveying platform 53, so as to reduce the damage caused by the drop height collision, and the supporting rod 56 on the second end of the second conveying platform 53 serves as a supporting rod for the second conveying platform 53, when the second conveying table 53 is drawn out for use, the second end of the supporting rod 56 is turned over to be fixedly connected with the hanging frame 57, so that the second conveying table 53 and the supporting rod form a triangular structure to stabilize the second conveying table 53.

Further, the jaw mechanism 3 includes a top plate 31, a connecting plate 32 and two jaw sets 33, the top plate 31 is mounted on the driving mechanism 2 and is in driving connection with the driving mechanism 2, the connecting plate 32 is rotatably mounted on the top plate 31, the two jaw sets 33 are symmetrically mounted on the connecting plate 32 and can move close to or away from each other to grip or release the goods, the pushing mechanism 6 includes a first pushing set 61 mounted on the jaw sets 33, the first pushing set 61 includes a mounting frame 611 and a plurality of rollers 612 and a first motor 613 both mounted on the mounting frame 611, the first motor 613 is in driving connection with the rollers 612 to drive the rollers 612 to roll and further drive the goods gripped on the jaw sets 33 to move, and the first motor 613 is electrically connected with the central control module 4.

Referring to fig. 4, 5 and 6, when the gripper mechanism 3 grabs the goods and moves the goods to the first conveying table 52, if the existing method only depends on the opening and closing of the two gripper sets 33 to release the goods, when the goods are released, the goods directly fall from between the two gripper sets 33 onto the first conveying table 52, unless the light release is controlled, but the light release is slow, which affects the efficiency, and the goods are fragile, and are easily damaged during the falling process, therefore, in this embodiment, after the goods are grabbed and moved to the first conveying table 52 by the gripper mechanism 3, the goods are pushed out by the first pushing set 61 on the two gripper sets 33, specifically, if the first motor 613 is activated, and the rollers 612 are driven to rotate, so as to drive the goods to be out of the clamping of the two gripper sets 33 and bring the goods to the first conveying table 52, the goods are moved from the claw mechanism 3 to the first conveying platform 52 in a moving transition stage, and damage caused by direct falling of the goods can be avoided.

Further, the pushing mechanism 6 further includes a second pushing assembly 62, the second pushing assembly 62 includes a second guide rail 621, a pushing member 622, and a second motor 623, the second guide rail 621 is mounted on the connecting plate 32, the pushing member 622 is movably mounted in the second guide rail 621, and the second motor 623 is mounted on the second guide rail 621 and is in driving connection with the pushing member 622 to drive the pushing member 622 to move in the second guide rail 621, so that the pushing member 622 pushes the goods gripped on the jaw assembly 33.

Specifically, when the fragile goods caught by the jaw mechanism 3 are heavy, the first pushing-out group 61 alone cannot be moved onto the first conveying table 52 effectively and quickly, so that the second pushing-out group 62 is provided, and the pushing member 622 is driven by the second motor 623 to push the goods.

Although embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the application, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a manipulator, includes support body (1), actuating mechanism (2) and jack catch mechanism (3), actuating mechanism (2) are installed on support body (1), jack catch mechanism (3) are installed on actuating mechanism (2) and are connected with actuating mechanism (2) drive, order about jack catch mechanism (3) through actuating mechanism (2) for jack catch mechanism (3) can go up and down and be close to or keep away from support body (1) motion, its characterized in that still includes:

a guide mechanism (5), the guide mechanism (5) comprising:

the support frame (51), the said support frame (51) is installed on frame body (1) rotatably;

a first conveying table (52), wherein the first conveying table (52) is arranged on a supporting frame (51);

the second conveying table (53) is movably arranged on the supporting frame and is arranged below the first conveying table (52);

the pushing mechanism (6) is arranged on the jaw mechanism (3) and used for pushing the goods grabbed by the jaw mechanism (3);

and the central control module (4) is arranged on the driving mechanism (2) and is electrically connected with the jaw mechanism (3), the driving mechanism (2), the first conveying table (52) and the pushing-out mechanism (6) respectively.

2. A manipulator according to claim 1, further comprising a lifting mechanism (7) drivingly connected to the guide mechanism (5), wherein a plurality of first guide rails (11) are provided on the bottom of the frame body (1), and the lifting mechanism (7) comprises:

the supporting plate (71), the supporting plate (71) is sleeved on the frame body () and is abutted against the supporting frame (51);

the number of the transmission rods (72) is multiple, the first ends of the multiple transmission rods (72) are respectively connected with the supporting plate (71) in a rotating mode, and the second ends of the multiple transmission rods (72) are respectively connected with the multiple first guide rails (11) in a sliding mode;

the first driving piece (73) is arranged on the frame body (1) on the first driving piece (73), the first driving piece (73) is in driving connection with the second end of a transmission rod (72) of the first driving piece, so that the second end of the transmission rod (72) is driven to slide in the first guide rail (11), the supporting plate (71) is further pushed to lift on the frame body (1), and the first driving piece (73) is in driving connection with the central control module (4).

3. A manipulator according to claim 1, wherein the guiding mechanism (5) further comprises a fixing member (54), the support frame (51) is provided with a first positioning hole (511), the frame body (1) is provided with a plurality of second positioning holes (12), and the support frame (51) is positioned by the first positioning hole (511) and the second positioning hole (12) of the frame body (1) and sequentially clamped into the first positioning hole (511) and the second positioning hole (12) by the fixing member (54) to limit the rotation of the support frame (51) on the frame body (1).

4. A manipulator according to claim 1, wherein the support frame (51) is provided with a U-shaped mounting plate (55), the U-shaped mounting plate (55) is provided with a first guide groove (551), the first transporting table (52) is mounted on the U-shaped mounting plate (55), the second transporting table (53) is mounted on the U-shaped mounting plate (55) and placed under the first transporting table (52), a first end of the second transporting table (53) is slidably connected with the first guide groove (551), and wherein the second transporting table (53) can be moved in the direction of the first guide groove (551) by pulling a second end of the second transporting table (53).

5. A manipulator according to claim 4, wherein the second end of the second conveying platform (53) is provided with a movable supporting rod (56), the second conveying platform (53) is provided with a second guide groove (531), the first end of the supporting rod (56) is slidably connected with the second guide groove (531), the supporting frame (51) is provided with a hanging frame (57), and the second end of the supporting rod (56) can be connected with the hanging frame (57).

6. A manipulator according to claim 1, wherein the jaw mechanism (3) comprises a top plate (31), a connecting plate (32) and two jaw sets (33), the top plate (31) is mounted on the driving mechanism (2) and is in driving connection with the driving mechanism (2), the connecting plate (32) is rotatably mounted on the top plate (31), and the two jaw sets (33) are symmetrically mounted on the connecting plate (32) and can move close to or away from each other to grip or release the goods;

the push-out mechanism (6) comprises a first push-out group (61) arranged on the jaw group (33), the first push-out group (61) comprises a mounting frame (611) and a plurality of rollers (612) and a first motor (613) which are both arranged on the mounting frame (611), the first motor (613) is in driving connection with the rollers (612) to drive the rollers (612) to roll, so that goods gripped on the jaw group (33) are driven to move, and the first motor (613) is electrically connected with the central control module (4).

7. A manipulator according to claim 6, wherein the pushing mechanism (6) further comprises a second pushing group (62), the second pushing group (62) comprises a second guide rail (621), a pushing member (622) and a second motor (623), the second guide rail (621) is mounted on the connecting plate (32), the pushing member (622) is movably mounted in the second guide rail (621), and the second motor (623) is mounted on the second guide rail (621) and is in driving connection with the pushing member (622) to drive the pushing member (622) to move in the second guide rail (621), so that the pushing member (622) pushes the goods gripped on the claw group (33).