CN113561169A

CN113561169A - Lifting pick-and-place manipulator based on sliding groove structure and use method

Info

Publication number: CN113561169A
Application number: CN202110874796.3A
Authority: CN
Inventors: 董元发; 梁雨晨; 肖宏博; 彭巍; 周彬
Original assignee: China Three Gorges University CTGU
Current assignee: China Three Gorges University CTGU
Priority date: 2021-07-30
Filing date: 2021-07-30
Publication date: 2021-10-29

Abstract

The present invention provides a lifting pick-and-place manipulator based on a chute structure and a method for using it, which comprises a rack plate, a vertical plate is fixed on one side of the top of the rack, and parallel sliding sliders are arranged on the side wall of the vertical plate. A sliding plate is slidably fitted between the sliding rails, and one side of the sliding plate is connected with a crank connecting rod mechanism for driving it to reciprocate along the sliding rail; the sliding plate is machined with an inclined sliding plate A vertical chute and a transverse chute are machined on the vertical plate and located between the two slide rails, and the inclined chute, the vertical chute and the transverse chute are installed with outriggers through a guide mechanism A suction cup mounting rod is fixedly installed on the other end of the outrigger arm, and a suction nozzle for sucking parts is installed at the bottom end of the suction cup mounting rod. This manipulator can realize fixed-point picking and placement of parts, thereby replacing the traditional two-axis manipulator structure, ensuring the transmission accuracy and simplifying the manipulator structure.

Description

Lifting pick-and-place manipulator based on sliding groove structure and use method

Technical Field

The invention belongs to the field of manipulators, and particularly relates to a lifting pick-and-place manipulator based on a sliding groove structure and a using method thereof.

Background

In the processing production process of parts, a manipulator is needed, and the manipulator can pick and place parts at fixed points, wherein the picking position is located at a high position, and the placing position is located at a low position. At present, a two-axis manipulator adopting screw rod transmission is generally adopted, the manipulator with the structure is relatively complex in structure, two sets of screw rod transmission are needed, the transmission precision cannot be well guaranteed, and the control is relatively complex.

Disclosure of Invention

In order to solve the technical problems, the invention provides a lifting pick-and-place manipulator based on a sliding groove structure and a use method thereof, wherein the manipulator can realize fixed-point pick-and-place of parts, so that the traditional two-axis manipulator structure is replaced, the transmission precision is ensured, and the manipulator structure is simplified.

In order to achieve the technical features, the invention is realized as follows: the lifting taking and placing manipulator based on the sliding chute structure comprises a frame plate, wherein a vertical plate is fixed on one side of the top of the frame, sliding rails which are arranged in parallel are arranged on the side wall of the vertical plate, sliding plates are matched between the sliding rails in a sliding manner, and one side of each sliding plate is connected with a crank-link mechanism which is used for driving the sliding plate to slide along the sliding rails in a reciprocating manner; an inclined sliding groove is processed on the sliding plate, a vertical sliding groove and a transverse sliding groove are processed on the vertical plate and located between the two sliding rails, an extending arm is installed on the inclined sliding groove, the vertical sliding groove and the transverse sliding groove through a guide mechanism, a sucker installing rod is fixedly installed at the other end of the extending arm, and a suction nozzle used for sucking parts is installed at the bottom end of the sucker installing rod.

Be provided with the forked tail spout on the slide rail, the forked tail spout constitutes sliding fit with the wedge sliding block of processing in the upper and lower both sides of sliding plate.

The crank link mechanism is including fixing the stand at frame board top, the top of stand is fixed with the bearing frame, it installs the main shaft to rotate on the bearing frame, the one end of main shaft is fixed with the rotor arm, the other end of rotor arm links to each other with the connecting rod is articulated through first round pin axle, the other end of connecting rod links to each other with the ear seat is articulated through second round pin axle, the middle part at the slide plate is fixed to the ear seat.

The end of the main shaft is provided with a square column, and the square column is connected with a motor main shaft for driving the square column to rotate.

The vertical sliding groove and the horizontal sliding groove are vertically communicated and arranged.

The guide mechanism comprises a limiting disc fixed on the extending arm, a guide roller matched with the inclined sliding groove is installed on the other side of the limiting disc, a square guide block is fixed to the other end of the guide roller, and the square guide block, the vertical sliding groove and the transverse sliding groove form sliding fit.

And a workpiece supporting table is fixed at one corner of the top of the frame plate.

The use method of the lifting pick-and-place manipulator based on the sliding chute structure comprises the following steps:

the method comprises the following steps: starting a motor, and driving the square column through the motor;

step two: the square column drives the rotating arm, the rotating arm drives the connecting rod, and the connecting rod drives the sliding plate to slide along the sliding rail;

step three: in the sliding process of the sliding plate, the inclined sliding groove drives the extending arm to vertically slide along the vertical sliding groove, so that the suction nozzle is driven to ascend;

step four: when the extending arm rises to the top end of the vertical sliding groove, the sliding plate continues to slide, and then the extending arm is driven to slide along the transverse sliding groove;

step five: the extending arm drives the suction nozzle to transversely slide in the process of sliding along the transverse sliding chute, so that the extending arm can pick up the part on the workpiece supporting table;

step six: in the process of continuing to rotate the rotating arm, the return stroke is realized, so that the sliding plate is driven to move along the return stroke of the transverse sliding groove, and the rotating arm is driven to move in a translation mode in the return stroke;

step seven: and in the process that the sliding plate continues to return, the rotating arm continues to slide downwards along the vertical sliding groove.

The invention has the following beneficial effects:

1. the manipulator can realize fixed-point picking and placing of parts, so that the traditional two-axis manipulator structure is replaced, the transmission precision is ensured, and the manipulator structure is simplified. The reciprocating mechanism adopts a pure mechanical transmission structural form, so that continuous reciprocating motion can be realized, the structure is effectively simplified, and the transmission efficiency is improved.

2. Through adopting the forked tail spout of above-mentioned structure to guarantee stability and the smooth and easy nature that wedge sliding block slided.

3. The crank connecting rod mechanism can be used for providing power for reciprocating sliding of the sliding plate.

4. Through adopting foretell vertical spout and horizontal spout transitional coupling mode, guaranteed that the outrigger can slide along vertical spout and horizontal spout, and then realize the lift action and the horizontal movement of outrigger, and then realize the lift and the translation after snatching of part.

5. Through adopting foretell guiding mechanism can be used for outwards stretching the arm and leading, and then guarantee that the arm that stretches out can be stable slide along vertical spout and horizontal spout.

Drawings

The invention is further illustrated by the following figures and examples.

FIG. 1 is a first perspective three-dimensional view of the present invention.

FIG. 2 is a second perspective three-dimensional view of the present invention.

FIG. 3 is a third perspective three-dimensional view of the present invention.

FIG. 4 is a fourth perspective three-dimensional view of the present invention.

FIG. 5 is a fifth perspective three-dimensional view of the present invention.

In the figure: the device comprises a frame plate 1, an upright post 2, a square post 3, a main shaft 4, a bearing seat 5, a rotating arm 6, a first pin 7, a connecting rod 8, a second pin 9, an ear seat 10, a sliding plate 11, a wedge-shaped sliding block 12, a dovetail sliding groove 13, an inclined sliding groove 14, a vertical sliding groove 15, a square guide block 16, a guide roller 17, a limiting disc 18, an extending arm 19, a transverse sliding groove 20, a sucker mounting rod 21, a workpiece supporting table 22, a suction nozzle 23, a vertical plate 24 and a sliding rail 25.

Detailed Description

Embodiments of the present invention will be further described with reference to the accompanying drawings.

Example 1:

referring to fig. 1-5, the lifting pick-and-place manipulator based on the chute structure comprises a frame plate 1, wherein a vertical plate 24 is fixed on one side of the top of the frame 1, slide rails 25 arranged in parallel are arranged on the side walls of the vertical plate 24, a slide plate 11 is slidably matched between the slide rails 25, and one side of the slide plate 11 is connected with a crank link mechanism for driving the slide plate to slide back and forth along the slide rails 25; an inclined sliding groove 14 is processed on the sliding plate 11, a vertical sliding groove 15 and a transverse sliding groove 20 are processed on the vertical plate 24 and located between the two sliding rails 25, an extending arm 19 is installed on the inclined sliding groove 14, the vertical sliding groove 15 and the transverse sliding groove 20 through a guide mechanism, a suction cup installation rod 21 is fixedly installed at the other end of the extending arm 19, and a suction nozzle 23 used for sucking parts is installed at the bottom end of the suction cup installation rod 21. The manipulator can realize fixed-point picking and placing of parts, so that the traditional two-axis manipulator structure is replaced, the transmission precision is ensured, and the manipulator structure is simplified. In the specific use process, the sliding plate 11 can be driven to reciprocate along the corresponding sliding rail 25 through the crank-link mechanism, and then the lifting and the transverse movement of the extending arm 19 are driven by the matching between the sliding plate 11 and the vertical sliding chute 15 and the transverse sliding chute 20, so that the sliding of the suction cup mounting rod 21 is finally realized, and the picking and the placing of corresponding parts are realized by the suction nozzle 23.

Furthermore, a dovetail sliding groove 13 is arranged on the sliding rail 25, and the dovetail sliding groove 13 and the wedge-shaped sliding blocks 12 processed on the upper side and the lower side of the sliding plate 11 form a sliding fit. The dovetail sliding groove 13 with the structure ensures the stability and smoothness of the sliding of the wedge-shaped sliding block 12.

Further, crank link mechanism is including fixing stand 2 at 1 top of frame board, the top of stand 2 is fixed with bearing frame 5, it installs main shaft 4 to rotate on the bearing frame 5, the one end of main shaft 4 is fixed with rotor arm 6, the other end of rotor arm 6 links to each other with connecting rod 8 is articulated through first round pin axle 7, the other end of connecting rod 8 links to each other with ear seat 10 is articulated through second round pin axle 9, ear seat 10 is fixed at the middle part of sliding plate 11. The crank link mechanism described above can be used to provide power for reciprocating sliding of the slide plate 11. In the working process, the main shaft 4 rotates to drive the rotating arm 6, the rotating arm 6 drives the connecting rod 8, and the connecting rod 8 drives the sliding plate 11 to slide back and forth along the sliding rail 25.

Furthermore, the end of the main shaft 4 is provided with a square column 3, and the square column 3 is connected with a motor main shaft for driving the main shaft to rotate. The square column 3 can be conveniently connected with the output end of the driving motor, and then is used for transmitting torque, and finally the motor drives the rotating arm 6 to rotate.

Further, the vertical sliding groove 15 and the horizontal sliding groove 20 are vertically communicated. By adopting the transition connection mode, the overhanging arm 19 can slide along the vertical sliding groove 15 and the transverse sliding groove 20, and then the lifting action and the horizontal action of the overhanging arm 19 are realized, and further the lifting and the translation after the part is grabbed are realized.

Further, the guide mechanism comprises a limiting disc 18 fixed on an extending arm 19, a guide roller 17 used for being matched with the inclined sliding groove 14 is installed on the other side of the limiting disc 18, a square guide block 16 is fixed at the other end of the guide roller 17, and the square guide block 16, the vertical sliding groove 15 and the transverse sliding groove 20 form sliding fit. The guide mechanism can be used for guiding the extending arm 19, so that the extending arm 19 can stably slide along the vertical sliding groove 15 and the transverse sliding groove 20.

Further, a workpiece support table 22 is fixed at one corner of the top of the frame plate 1. The workpiece support table 22 having the above-described structure can effectively support a component to be processed. The position of which can also be adjusted according to specific use needs.

Example 2: patent registration instruction manual for innovation achievement

the method comprises the following steps: starting a motor, and driving the square column 3 through the motor;

step two: the square column 3 drives the rotating arm 6, the rotating arm 6 drives the connecting rod 8, and the connecting rod 8 drives the sliding plate 11 to slide along the sliding rail 25;

step three: in the sliding process of the sliding plate 11, the inclined chute 14 drives the extending arm 19 to vertically slide along the vertical chute 15, so as to drive the suction nozzle 23 to ascend;

step four: when the extending arm 19 rises to the top end of the vertical sliding chute 15, the sliding plate 11 continues to slide, and then the extending arm 19 is driven to slide along the transverse sliding chute 20;

step five: the extending arm 19 drives the suction nozzle 23 to slide transversely in the process of sliding along the transverse sliding chute 20, so that the part on the workpiece support table 22 can be picked up by the suction nozzle;

step six: in the process of continuing to rotate the rotating arm 6, the return stroke is realized, so that the sliding plate 11 is driven to move along the transverse sliding groove 20 in the return stroke, and the rotating arm 6 is driven to move in the translation mode in the return stroke;

step seven: during the process that the board to be slipped 11 continues to return, the rotating arm 6 will continue to slide downwards along the vertical sliding groove 15.

Claims

1. A lifting pick-and-place manipulator based on a chute structure, characterized in that it comprises a rack plate (1), a vertical plate (24) is fixed on the top side of the rack (1), and the vertical plate (24) ) is provided with parallelly arranged slide rails (25) on the side walls of the slide rails (25), a sliding plate (11) is slidably fitted between the sliding rails (25), one side of the sliding plate (11) is connected to the A crank connecting rod mechanism that reciprocates along the sliding rail (25); the sliding plate (11) is machined with an inclined sliding groove (14), and the vertical plate (24) is located on the two sliding rails (25). A vertical chute (15) and a transverse chute (20) are machined at the position between the An outrigger (19), the other end of the outrigger (19) is fixedly mounted with a suction cup mounting rod (21), and the bottom end of the suction cup mounting rod (21) is mounted with a suction nozzle ( twenty three).

2. The lifting pick-and-place manipulator based on the chute structure according to claim 1, characterized in that: the sliding rail (25) is provided with a dovetail chute (13), and the dovetail chute (13) is processed in The wedge-shaped sliding blocks (12) on the upper and lower sides of the sliding plate (11) constitute a sliding fit.

3. The lifting pick-and-place manipulator based on the chute structure according to claim 1, characterized in that: the crank connecting rod mechanism comprises a column (2) fixed on the top of the frame plate (1), the column (2) A bearing seat (5) is fixed on the top of the bearing seat (5), a main shaft (4) is rotatably installed on the bearing seat (5), and a rotating arm (6) is fixed at one end of the main shaft (4). The other end is hingedly connected to the connecting rod (8) through the first pin shaft (7), and the other end of the connecting rod (8) is hingedly connected to the ear seat (10) through the second pin shaft (9), and the ear seat (10) is fixed on the middle part of the sliding plate (11).

4. The lifting pick-and-place manipulator based on the chute structure according to claim 3, characterized in that: the end of the main shaft (4) is provided with a square column (3), and the square column (3) is connected to the Its rotating motor shaft is connected.

5. The lifting pick-and-place manipulator based on the chute structure according to claim 1, characterized in that: the vertical chute (15) and the transverse chute (20) are arranged in vertical communication.

6. The lifting pick-and-place manipulator based on the chute structure according to claim 1, characterized in that: the guiding mechanism comprises a limit plate (18) fixed on the outrigger (19), A guide roller (17) for matching with the inclined chute (14) is installed on the other side of the guide roller (17), a square guide block (16) is fixed on the other end of the guide roller (17), and the square guide block (16) It forms a sliding fit with the vertical chute (15) and the transverse chute (20).

7. The lifting pick-and-place manipulator based on the chute structure according to claim 1, characterized in that: a workpiece support table (22) is fixed at a top corner of the rack plate (1).

8. the using method of the lifting pick and place manipulator based on the chute structure described in any one of claim 1-7 is characterized in that comprising the following steps:

Step 1: Start the motor and drive the square column (3) through the motor;

Step 2: Drive the rotating arm (6) through the square column (3), drive the connecting rod (8) through the rotating arm (6), and drive the sliding plate (11) to slide along the slide rail (25) through the connecting rod (8). ;

Step 3: During the sliding process of the sliding plate (11), its inclined chute (14) will drive the outrigger (19) to slide vertically along the vertical chute (15), thereby driving the suction nozzle (23) rise;

Step 4: When the outrigger (19) rises to the top of the vertical chute (15), the sliding plate (11) continues to slide, thereby driving the outrigger (19) to slide along the transverse chute (20);

Step 5: During the sliding process of the outrigger arm (19) along the lateral chute (20), it will drive the suction nozzle (23) to slide laterally, thereby enabling it to pick up the parts located on the workpiece support table (22);

Step 6: When the rotating arm (6) continues to rotate, it will achieve a return stroke, thereby driving the sliding plate (11) to move back along the transverse chute (20), thereby driving the rotating arm (6) to move back in translation;

Step 7: When the sliding plate (11) continues to return, the rotating arm (6) will continue to slide down along the vertical chute (15).