CN113696206A

CN113696206A - Manipulator, mechanical arm and production line

Info

Publication number: CN113696206A
Application number: CN202110962373.7A
Authority: CN
Inventors: 李祥俊; 李庆蕾; 范永强; 张禄凯; 王�锋; 尤校生
Original assignee: Intelligent Equipment Co ltd Qingdao Moisturizes
Current assignee: Intelligent Equipment Co ltd Qingdao Moisturizes
Priority date: 2021-08-20
Filing date: 2021-08-20
Publication date: 2021-11-26

Abstract

The invention relates to a manipulator, a mechanical arm and a production line, and belongs to the technical field of industrial production equipment. This manipulator is including can be around self axis pivoted horizontal rotating shaft, and the both ends of horizontal rotating shaft are equipped with the mounting, are equipped with the holder that is used for the centre gripping material on the mounting, and the both ends of horizontal rotating shaft are connected with the holder through drive mechanism respectively, and drive mechanism sets up on the mounting, and the axis of horizontal rotating shaft and holder is parallel to each other, and can pass through when horizontal rotating shaft pivoted drive holder is rotatory around its self axis, drive mechanism can be in opposite directions or the motion of deviating from on horizontal rotating shaft on two mountings and the mounting to the clamp of material is realized getting through the holder. The clamping and pitching angle adjustment of the material can be realized through the clamping piece on the mechanical arm, and the occupied space is small.

Description

Manipulator, mechanical arm and production line

Technical Field

The invention belongs to the technical field of industrial production equipment, and particularly relates to a manipulator, a mechanical arm and a production line.

Background

The medical catheter type three-section tube tampon comprises an outer tube, a middle tube, a push tube and the like, and the method for assembling by adopting the automatic tampon assembling machine is adopted at present, the middle tube is placed into the outer tube, the push tube is placed into the middle tube, the assembled tampon is placed on a tool plate, and because the three-section tube product needs to expand the tube pushing product, when the tampon is placed on the tool plate, the tampon is transported to one side of an expanding device through a transmission belt for expanding, the tool plate on a production line needs to be clamped and then turned to one side facing the expanding device before an expanding station, finally, the inclination or pitch of the tool plate is adjusted so that the push tube of the tampon on the tool plate is aligned to a die head of the expanding device, and the push tube is expanded by moving the die head.

The inventor finds that although some robot arms in the prior art can realize the functions of clamping, rotating and pitching adjusting of materials, these robots are generally arranged on a rotating base through a robot arm, the material can be clamped by the robot arm at the end of the robot arm, and then the pitching angle of the material can be adjusted by a pitching mechanism connected with the robot arm, and these robot arms generally have the following problems: general arm tip manipulator is all got the material through the gripper jaw clamp, when the gripper jaw snatchs the material, if the every single move gesture of control material, for example control every single move angle, all need set up one set of every single move drive structure alone at the tip of manipulator, control the every single move angle regulation of gripper jaw, will cause the structure complicacy like this, and also can cause the manipulator occupation space to be not suitable for on the production line that the space is littleer greatly.

Disclosure of Invention

In order to solve the technical problems in the prior art, the invention provides a manipulator, a mechanical arm and a production line.

The embodiment of the invention provides a manipulator which comprises a horizontal rotating shaft capable of rotating around the axis of the manipulator, wherein fixing pieces are arranged at two ends of the horizontal rotating shaft, clamping pieces used for clamping materials are arranged on the fixing pieces, two ends of the horizontal rotating shaft are respectively connected with the clamping pieces through transmission mechanisms, the transmission mechanisms are arranged on the fixing pieces, the axes of the horizontal rotating shaft and the clamping pieces are parallel to each other, the clamping pieces can be driven to rotate around the axis of the fixing pieces through the transmission mechanisms while the horizontal rotating shaft rotates, the two fixing pieces and the transmission mechanisms on the fixing pieces can move towards or away from each other on the horizontal rotating shaft, and therefore the materials can be clamped through the clamping pieces.

Furthermore, drive mechanism is including setting up the drive wheel and follow the driving wheel on the mounting, is equipped with the sliding key along its axis direction on the horizontal rotating shaft, the drive wheel is equipped with the keyway of being connected with sliding key sliding fit, follow the driving wheel and be connected with the holder, drive wheel and follow synchronous rotation of driving wheel.

Furthermore, the fixing piece is provided with a first bearing hole and a second bearing hole, the rotating shaft is arranged on the first bearing hole through a first bearing, the clamping piece is arranged on the second bearing hole through a second bearing, the driving wheel is fixed on the first bearing hole, and the driven wheel is fixed on the second bearing hole.

Furthermore, the top of the horizontal rotating shaft is connected with a rotating piece, the rotating piece can rotate around the axis of the rotating piece, and the rotating direction of the rotating piece is perpendicular to the rotating direction of the horizontal rotating shaft.

Furthermore, a driving piece for controlling the fixed piece and the transmission mechanism on the fixed piece to move along the axis direction of the horizontal rotating shaft is arranged on the rotating piece.

Furthermore, the two ends of the horizontal rotating shaft in the length direction are respectively fixed at the bottom of the rotating part through bearing seats, and the driving part is arranged on the bearing seats.

Furthermore, a rotating shaft driving part is arranged on the rotating part and is connected with the horizontal rotating shaft through a transmission mechanism.

Furthermore, a fixing column is arranged at the top of the rotating part and is connected with the rotating part through a rotating mechanism.

The embodiment of the invention also provides a mechanical arm, which comprises a mechanical arm main body, wherein the end part of the mechanical arm main body is connected with any one of the mechanical arms.

The embodiment of the invention also provides a production line, which comprises any one of the manipulators.

The invention has the beneficial effects that:

the fixing piece on the manipulator and the transmission mechanism on the fixing piece can move on the horizontal rotating shaft, the transmission mechanism is arranged on the fixing piece, and the horizontal rotating shaft is connected with the clamping piece on the fixing piece through the transmission mechanism so as to drive the clamping piece to rotate, so that the clamping piece has clamping and pitching adjusting functions.

Drawings

Fig. 1 is a schematic structural view of a manipulator of a tooling plate for holding a medical tampon according to an embodiment of the present invention;

FIG. 2 is a front view of a robot provided in an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a side plate in a robot provided in an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a horizontal rotating shaft in a robot provided in an embodiment of the present invention.

In the figure: 1. the device comprises a fixed column, 2, a rotating bottom plate, 3, a side plate, 31, a first bearing hole, 32, a second bearing hole, 4, a tooling plate, 5, a rotating piece, 6, a horizontal rotating shaft, 61, a sliding key, 7, a first driving motor, 8, a second driving motor, 9, a driving belt wheel, 10, a driven belt wheel, 11, a driving telescopic piece, 12, a bearing seat, 13 and a clamping piece.

Detailed Description

Example 1:

as shown in fig. 1, an embodiment of the present invention provides a manipulator for holding a tooling plate for holding a medical tampon, the manipulator can hold and rotate the tooling plate 4 on the tampon to a side facing a flaring device, and the manipulator can adjust a pitch angle of the tooling plate to align the tampon on the tooling plate with a die head on the flaring device, which can facilitate flaring of the die head.

The rotary clamping mechanism provided by the invention is not limited to the clamping of the tooling plate of the medical tampon in the embodiment, and the rotary clamping mechanism can be suitable for clamping and rotating materials on other production lines.

Referring to fig. 1 and 2, the rotary clamping structure mainly comprises a national standard base, the national standard base comprises a vertically placed fixed column 1, a rotary bottom plate 2 is connected to the bottom of the fixed column, the fixed column 1 is connected with the rotary bottom plate 2 through a rotary mechanism 5, and the rotary mechanism 5 can control the horizontal bottom plate 2 to rotate 360 degrees in the horizontal direction around the axis of the fixed column 1 or the central line of the rotary bottom plate 2.

The bottom of the rotating bottom plate 2 is provided with a horizontal rotating shaft 6, two ends of the horizontal rotating shaft 6 in the length direction are respectively connected with a side plate 3, the side plates 3 are perpendicular to the horizontal rotating shaft 6, the bottom of each side plate is provided with a clamping piece 13 used for clamping the tooling plate 4, the two side plates 3 can move oppositely according to the length of the clamped tooling plate 4 to adjust the distance between the two side plates, and the tooling plate 4 is clamped through the clamping pieces 13.

Now, it is assumed that the space between the two side plates 3 is the inner side, wherein the outer side of the side plates 3 is provided with a transmission mechanism, the transmission mechanism comprises a driving pulley 9 and a driven pulley 10, the driving pulley 9 and the driven pulley 10 are connected through a transmission belt, wherein the driving pulley 9 and the driven pulley 10 are respectively fixed on the side plates 3, the driven pulley 10 is connected with a clamping piece 13 on the side plates 3, the driving pulley 9 is connected with the horizontal rotating shaft 6 through a sliding key and a key groove in a sliding fit manner, and thus the side plates 3 and the transmission mechanism can move in the axial direction of the rotating shaft.

Therefore, the manipulator that this example provided can realize the centre gripping, rotation and every single move regulatory function, the well curb plate of this manipulator can move on horizontal rotating shaft simultaneously, horizontal rotating shaft is connected with the holder on the curb plate through the drive mechanism that comprises driving pulley and driven pulley on the curb plate, can realize the every single move angle regulation by the centre gripping material through the holder like this, can move in the pivot on drive mechanism and the curb plate simultaneously, just so have centre gripping and every single move regulatory function with regard to the grip block, compare in manipulator series connection every single move regulatory mechanism and rotation regulation mechanism in proper order on present arm, be equipped with drive mechanism on the curb plate in this embodiment, and drive mechanism also can move on horizontal rotating shaft, make the integrated centre gripping of holder and rotation function, the structure of current manipulator has been simplified, and occupation space has been reduced.

As shown in fig. 1, in the present embodiment, the second driving motor 8 is disposed on the fixing column 1, and the second driving motor 8 may be directly connected to the rotating mechanism 5.

As shown in fig. 3, in the present embodiment, the side plate 3 is provided with a first bearing hole 31 and a second bearing hole 32, wherein two ends of the horizontal rotating shaft 6 in the length direction respectively pass through the first bearing hole 31 and are connected to the side plate 3 through the first bearing hole 31, the clamping member 13 is connected to the side plate through a second bearing, the driving pulley 9 is coaxial with the first bearing hole, and the driven pulley is coaxial with the second bearing hole.

It will be readily appreciated that the clamp 13 may be connected to a shaft which is connected to the driven pulley 10 through a bearing in the second bearing hole 32.

The driving belt wheel and the driven belt wheel can also be replaced by a chain wheel transmission mechanism or a gear transmission mechanism, when the driving belt wheel and the driven belt wheel are replaced by the gear transmission mechanism, the horizontal rotating shaft is connected with the driving gear, the clamping piece is connected with the driven gear, and the driving gear can be directly meshed with the driven gear.

The clamping member in this embodiment may be a vertical plate or a plate-like body of other shape, which may be determined according to the structure of the object to be clamped.

The driving pulley 9 and the driven pulley 10 in the present embodiment may be provided inside the side plate 3.

Further, in order to realize the rotation of the horizontal rotating shaft 6 in the embodiment, a first driving motor 7 is disposed at the top of the rotating base plate 2, the first driving motor 7 is connected with the horizontal rotating shaft 6 through a chain transmission mechanism, so that the horizontal rotating shaft 6 can be driven to rotate by the first driving motor 7, as can be seen from fig. 1 and 2, a through hole can be formed in the rotating base plate 2, and a chain between the first driving motor 7 and the horizontal rotating shaft 6 can pass through the through hole.

Of course, the chain transmission mechanism between the first driving motor 7 and the horizontal rotating shaft 6 may be replaced by a pulley transmission mechanism, a gear rotation mechanism, or the like.

Because the side plate 3 needs to move on the horizontal rotating shaft 6, and the two sides of the side plate are respectively connected with a driving belt wheel 9, in order to realize the movement of the side plate 3, as shown in fig. 4, the horizontal rotation shaft 6 in this embodiment is a stepped shaft, wherein the diameter of the middle portion of the horizontal rotation shaft is larger than the diameter between the two ends, and sliding keys 61 are provided on the two ends of the horizontal rotation shaft along the axial direction of the horizontal rotation shaft, it is conceivable, the driving belt wheel 9 is provided with a key groove matched with the sliding key, the driving belt wheel 9 is connected with the horizontal rotating shaft 6 through the matching of the sliding key and the key groove, so that the horizontal rotating shaft 6 can drive the driving belt wheel 9 to rotate, meanwhile, the driving belt wheel 9 can also move along the axis direction of the horizontal rotating shaft 6 so as to adjust the distance between the two side plates 3, so that the distance between the two side plates can be adjusted according to the length of the tooling plate.

In order to realize the movement of the side plates 3, in this embodiment, two ends of the bottom surface of the rotating bottom plate 2 are respectively connected with a bearing seat 12, the horizontal rotating shaft 6 penetrates through the two bearing seats 12, the bottoms of the two bearing seats 12 are respectively connected with a driving telescopic part 11, the end part of a telescopic rod of the driving telescopic part 11 is connected with the side plates 3, and thus, the distance between the two side plates 3 is automatically adjusted according to the field of the working plate 4 through the driving telescopic part 11.

The driving telescopic part can be a pneumatic cylinder or a hydraulic cylinder and the like.

Of course, in other embodiments, the driving extensible member 11 may not be disposed on the bearing seat 12, or may be directly fixed on the bottom surface of the bottom plate, for example, the driving extensible member 11 is respectively installed on the left and right sides of one of the bearing seats, the extensible rods of the two cylinders are directly connected with the side plates, so that four cylinders are required to drive the side plates on both sides to move, and the structure is complex.

Example 2:

the embodiment of the invention also discloses a mechanical arm, wherein the end part of the mechanical arm main body can be directly connected with the fixed column of the mechanical arm in the embodiment 1.

Example 3:

the embodiment of the invention also provides a production line of the medical tampon, which comprises a transmission belt for transmitting the tooling plate 4, wherein the flaring device is arranged on one side of the transmission belt, and the manipulator for clamping the tooling plate of the medical tampon provided by the embodiment 1 is fixed on the top of the transmission belt, for example, the fixing column 1 in the manipulator is directly fixed on the top of the transmission belt, so that the clamping of the tooling plate and the adjustment of the rotation angle and the pitching angle can be realized.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims

1. The utility model provides a manipulator, a serial communication port, including can be around self axis pivoted horizontal rotating shaft, horizontal rotating shaft's both ends are equipped with the mounting, are equipped with the holder that is used for the centre gripping material on the mounting, and horizontal rotating shaft's both ends are connected with the holder through drive mechanism respectively, and drive mechanism sets up on the mounting, and horizontal rotating shaft is parallel to each other with the axis of holder, and can pass through when horizontal rotating shaft rotates drive the holder rotatory round its self axis, drive mechanism can be in opposite directions or deviate from the motion on horizontal rotating shaft on two mountings and the mounting to the clamp of material is realized getting through the holder.

2. A manipulator according to claim 1, wherein the transmission mechanism comprises a driving wheel and a driven wheel which are arranged on the fixed member, a sliding key is arranged on the horizontal rotating shaft along the axis direction of the horizontal rotating shaft, the driving wheel is provided with a key groove in sliding fit connection with the sliding key, the driven wheel is connected with the clamping member, and the driving wheel and the driven wheel rotate synchronously.

3. A manipulator according to claim 1, wherein the fixed member is provided with a first bearing hole through which the shaft is received and a second bearing hole through which the holding member is received, the driving wheel is fixed in the first bearing hole, and the driven wheel is fixed in the second bearing hole.

4. A manipulator according to claim 1, wherein the top of the horizontal axis is connected to a rotatable member, the rotatable member is rotatable about its axis, and the direction of rotation of the rotatable member is perpendicular to the direction of rotation of the horizontal axis.

5. A manipulator according to claim 4, wherein the rotary member is provided with a drive member for controlling the fixed member and the drive mechanism on the fixed member to move in the direction of the axis of the horizontal axis.

6. A manipulator according to claim 5, wherein the two ends of the horizontal axis are fixed to the bottom of the rotary member by bearing seats, respectively, and the driving member is disposed on the bearing seats.

7. A manipulator according to claim 4, wherein a shaft drive is provided on the rotary member, the shaft drive being connected to the horizontal shaft by a transmission.

8. A manipulator according to claim 4, wherein a fixed post is provided on the top of the rotary member, the fixed post being connected to the rotary member via a rotation mechanism.

9. A robot arm comprising a robot arm main body, wherein a robot hand according to any one of claims 1 to 8 is attached to an end of the robot arm main body.

10. A production line, characterized by comprising a manipulator according to any of claims 1-8.