CN113858182A - A manipulator device for work piece is transported - Google Patents
A manipulator device for work piece is transported Download PDFInfo
- Publication number
- CN113858182A CN113858182A CN202111220010.2A CN202111220010A CN113858182A CN 113858182 A CN113858182 A CN 113858182A CN 202111220010 A CN202111220010 A CN 202111220010A CN 113858182 A CN113858182 A CN 113858182A
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- CN
- China
- Prior art keywords
- base
- gear
- manipulator device
- rod
- sliding
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Abstract
The invention discloses a manipulator device for transferring workpieces, which comprises a base, wherein two groups of clamping mechanisms are arranged on the base; the clamping mechanism comprises a bidirectional screw lever which is rotatably arranged on a base, two ends of the bidirectional screw lever are respectively sleeved with a screw nut, a sliding groove is formed in the base, a sliding rod is connected onto the screw nut, the sliding rod penetrates through the sliding groove and is connected with a clamping jaw plate, so that the sliding rod can slide along the length direction of the sliding groove, first gears are coaxially fixed at the end parts of the bidirectional screw lever, a second gear meshed with the first gears is rotatably arranged between the two first gears, a driving rod is coaxially connected onto the second gear, two ends of the driving rod respectively extend to the outside of the base and are coaxially connected with a third gear, a rack is slidably arranged on the side wall of the base, and the rack is meshed with the third gear; the problem of current mechanical clamping jaw press from both sides tightly the lateral wall of article mainly, lead to transporting unstablely is solved.
Description
Technical Field
The invention relates to workpiece processing equipment, in particular to a manipulator device for transferring workpieces.
Background
In the machining field, often need transport the work piece, transport and adopt mechanical clamping jaw equipment usually, current mechanical clamping jaw equipment mainly drives the clamping jaw motion through the starter assembly to press from both sides the article tight, later shift the article from conveying equipment, current mechanical clamping jaw is pressed from both sides tightly the lateral wall of article mainly, when carrying the carton of the built-in article, because the bearing capacity of carton bottom is not enough, press from both sides tightly the carton lateral wall, the bottom emergence leakage of carton is followed easily to the article.
Therefore, it is an urgent need to provide a robot apparatus capable of simultaneously clamping the sidewall and the bottom of an object.
Disclosure of Invention
The invention aims to provide a manipulator device for transferring workpieces, which solves the problems that the side wall of an object is mainly clamped by the existing mechanical clamping jaw, when a paper box filled with the object is conveyed, the side wall of the paper box is clamped due to insufficient bearing force at the bottom of the paper box, and the object is easy to leak from the bottom of the paper box.
In order to achieve the purpose, the invention provides a manipulator device for transferring workpieces, which comprises a base, wherein two groups of clamping mechanisms are arranged on the base;
the clamping mechanism comprises a bidirectional screw rod which is rotatably arranged on the base, two ends of the bidirectional screw rod are respectively sleeved with a screw nut, a sliding groove is formed on the base, a sliding rod is connected onto the screw nut, the sliding rod penetrates through the sliding groove and is connected with a clamping jaw plate, so that the sliding rod can slide along the length direction of the sliding groove, first gears are coaxially fixed at the end parts of the bidirectional screw rod, a second gear meshed with the first gear is rotatably arranged between the two first gears, a driving rod is coaxially connected onto the second gear, two ends of the driving rod respectively extend to the outer part of the base and are coaxially connected with a third gear, a rack is slidably arranged on the side wall of the base and is meshed with the third gear, a connecting rod is fixed at the end part of the rack, and an L-shaped supporting plate is fixed on the connecting rod, when the two clamping jaw plates move oppositely to clamp a workpiece, the lower end of the L-shaped supporting plate can be driven to move to the position below the workpiece.
Preferably, the slide bar is provided with limiting blocks at intervals, and the two limiting blocks are respectively abutted to the upper end face and the lower end face of the slide groove.
Preferably, a stop block is fixed in the middle of the bidirectional wire lever.
Preferably, a driving motor is fixed on the base, and an output shaft of the driving motor is coaxially connected with the end part of one of the bidirectional wire levers.
Preferably, a bearing seat is fixed on the base, a bearing is installed in the bearing seat, and at least part of the bidirectional wire lever is rotatably clamped in the bearing.
Preferably, the side of the base is provided with a sliding sleeve, and the rack is at least partially slidably located in the sliding sleeve.
Preferably, the clamping jaw plate is sleeved with an anti-skid rubber sleeve.
Preferably, the robot device further comprises a transport mechanism;
the conveying mechanism comprises side plates and rollers which are rotatably arranged on the side plates, and a gap is formed between every two adjacent rollers;
such that the L-shaped pallet can extend at least partially into the gap.
Preferably, the end part of the roller is coaxially fixed with a chain wheel, and the chain wheels are connected in a surrounding manner through a chain.
Preferably, a motor is arranged on the side plate, and an output shaft of the motor is coaxially connected with one of the plurality of chain wheels.
The invention provides a manipulator device for transferring workpieces, which comprises a base, wherein two groups of clamping mechanisms are arranged on the base; the clamping mechanism comprises a bidirectional screw rod which is rotatably arranged on the base, two ends of the bidirectional screw rod are respectively sleeved with a screw nut, a sliding groove is formed on the base, a sliding rod is connected onto the screw nut, the sliding rod penetrates through the sliding groove and is connected with a clamping jaw plate, so that the sliding rod can slide along the length direction of the sliding groove, first gears are coaxially fixed at the end parts of the bidirectional screw rod, a second gear meshed with the first gear is rotatably arranged between the two first gears, a driving rod is coaxially connected onto the second gear, two ends of the driving rod respectively extend to the outer part of the base and are coaxially connected with a third gear, a rack is slidably arranged on the side wall of the base and is meshed with the third gear, a connecting rod is fixed at the end part of the rack, and an L-shaped supporting plate is fixed on the connecting rod, when the two clamping jaw plates move oppositely to clamp a workpiece, the lower end of the L-shaped supporting plate can be driven to move to the position below the workpiece; during specific operation, the bidirectional screw lever is rotated to drive the two clamping jaw plates on the bidirectional screw lever to move oppositely through the screw nut, the rotation of the bidirectional screw lever can drive the second gear to rotate through the first gear, the second gear can drive the other gear to rotate with the first gear on the bidirectional screw lever, thereby enabling the two first gears to rotate towards the same direction, each two-way screw lever is provided with two clamping jaw plates, the four clamping jaw plates can effectively clamp a workpiece, the second gear can drive the third gear to rotate through the driving rod in the rotating process, thereby driving the rack to move, the rack drives the L-shaped supporting plate to move to the bottom of the workpiece, thereby supporting the bottom of the workpiece and ensuring the stability of the workpiece in the displacement process, particularly, when the workpiece is a paper box internally bearing the articles, the bottom of the paper box can be supported, and the articles are prevented from leaking from the bottom. The manipulator device provided by the invention solves the problems that the side wall of an object is mainly clamped by the existing mechanical clamping jaw, and when a paper box filled with the object is conveyed, the side wall of the paper box is clamped due to insufficient bearing force at the bottom of the paper box, so that the object is easy to leak from the bottom of the paper box.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a block diagram of a robot apparatus provided by the present invention;
FIG. 2 is a front view of a robot apparatus provided by the present invention;
FIG. 3 is a side view of a robot apparatus provided by the present invention;
fig. 4 is a structural view of a transport mechanism in the robot apparatus provided by the present invention;
fig. 5 is a plan view of a transport mechanism in the robot apparatus provided by the present invention.
Description of the reference numerals
1-a base; 2-a chute; 3-a slide bar; 4-a jaw plate; 5-a limiting block; 6-lead screw nut; 7-a bidirectional wire lever; 8-resisting block; 9-a first gear; 10-a second gear; 11-a drive rod; 12-a third gear; 13-a drive motor; 14-a rack; 15-a sliding sleeve; 16-a bearing seat; 17-a connecting rod; an 18-L shaped pallet; 19-a workpiece; 20-side plate; 21-roller.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1-5: the manipulator device for transferring the workpieces is characterized by comprising a base 1, wherein two groups of clamping mechanisms are arranged on the base 1; the clamping mechanism comprises a bidirectional screw rod 7 which is rotatably arranged on the base 1, two ends of the bidirectional screw rod 7 are respectively sleeved with a screw nut 6, a sliding chute 2 is formed on the base 1, a sliding rod 3 is connected onto the screw nut 6, the sliding rod 3 penetrates through the sliding chute 2 and is connected with a clamping jaw plate 4, so that the sliding rod 3 can slide along the length direction of the sliding chute 2, a first gear 9 is coaxially fixed at the end part of the bidirectional screw rod 7, a second gear 10 which is meshed with the first gear 9 is rotatably arranged between the two first gears 9, a driving rod 11 is coaxially connected onto the second gear 10, two ends of the driving rod 11 respectively extend to the outside of the base 1 and are coaxially connected with a third gear 12, a rack 14 is slidably arranged on the side wall of the base 1, and the rack 14 is meshed with the third gear 12, a connecting rod 17 is fixed at the end of the rack 14, an L-shaped supporting plate 18 is fixed on the connecting rod 17, and when the two jaw plates 4 move oppositely to clamp a workpiece 19, the lower end of the L-shaped supporting plate 18 can be driven to move to the lower side of the workpiece 19. During specific operation, the bidirectional screw lever is rotated to drive the two clamping jaw plates on the bidirectional screw lever to move oppositely through the screw nut, the rotation of the bidirectional screw lever can drive the second gear to rotate through the first gear, the second gear can drive the other gear to rotate with the first gear on the bidirectional screw lever, thereby enabling the two first gears to rotate towards the same direction, each two-way screw lever is provided with two clamping jaw plates, the four clamping jaw plates can effectively clamp a workpiece, the second gear can drive the third gear to rotate through the driving rod in the rotating process, thereby driving the rack to move, the rack drives the L-shaped supporting plate to move to the bottom of the workpiece, thereby supporting the bottom of the workpiece and ensuring the stability of the workpiece in the displacement process, particularly, when the workpiece is a paper box internally bearing the articles, the bottom of the paper box can be supported, and the articles are prevented from leaking from the bottom. The manipulator device provided by the invention solves the problems that the side wall of an object is mainly clamped by the existing mechanical clamping jaw, and when a paper box filled with the object is conveyed, the side wall of the paper box is clamped due to insufficient bearing force at the bottom of the paper box, so that the object is easy to leak from the bottom of the paper box.
In a preferred embodiment of the present invention, in order to limit the position of the slide rod 3 and prevent the slide rod 3 from moving in the vertical direction during the sliding process, the slide rod 3 is provided with the limit blocks 5 at intervals, and the two limit blocks 5 respectively abut against the upper and lower end surfaces of the slide groove 2.
In a preferred embodiment of the invention, in order to limit the threaded spindle nut on the bidirectional threaded lever 7 so that it can be displaced in the corresponding section, a stop 8 is fixed in the middle of the bidirectional threaded lever 7.
In a preferred embodiment of the present invention, in order to drive the bidirectional wire levers 7 to rotate, a driving motor 13 is fixed on the base 1, and an output shaft of the driving motor 13 is coaxially connected with an end of one of the bidirectional wire levers 7.
In a preferred embodiment of the present invention, in order to allow the bidirectional wire lever 7 to rotate more smoothly, a bearing housing 16 is fixed to the base 1, a bearing is mounted in the bearing housing 16, and the bidirectional wire lever 7 is at least partially rotatably engaged in the bearing.
In a preferred embodiment of the present invention, in order to enable the rack to be displaced towards a predetermined line, the side of the base 1 is provided with a sliding sleeve 15, and the rack 14 is at least partially slidably located within the sliding sleeve 15.
In a preferred embodiment of the present invention, in order to improve the anti-slip capability of the jaw plate 4, an anti-slip rubber sleeve is sleeved on the jaw plate 4.
In a preferred embodiment of the present invention, the robot device further comprises a transport mechanism; the conveying mechanism comprises side plates 20 and rollers 21 which are rotatably arranged on the side plates 20, and a gap is formed between every two adjacent rollers 21; such that the L-shaped pallet 18 can extend at least partially into the gap.
In a preferred embodiment of the present invention, in order to enable a plurality of rollers 21 to rotate synchronously, so that the rollers can better convey workpieces, chain wheels are coaxially fixed at the end parts of the rollers 21, and the chain wheels are connected in a surrounding manner through chains.
In a preferred embodiment of the present invention, for better conveying the workpiece, a motor is provided on the side plate 20, and an output shaft of the motor is coaxially connected to one of the plurality of sprockets.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (10)
1. The manipulator device for transferring the workpieces is characterized by comprising a base (1), wherein two groups of clamping mechanisms are arranged on the base (1);
the clamping mechanism comprises a bidirectional screw rod (7) which is rotatably arranged on a base (1), two ends of the bidirectional screw rod (7) are respectively sleeved with a screw nut (6), a sliding chute (2) is formed on the base (1), a sliding rod (3) is connected onto the screw nut (6), the sliding rod (3) penetrates through the sliding chute (2) and is connected with a clamping jaw plate (4), so that the sliding rod (3) can slide along the length direction of the sliding chute (2), first gears (9) are coaxially fixed at the end part of the bidirectional screw rod (7), a second gear (10) which is meshed with the first gears (9) is rotatably arranged between the two first gears (9), a driving rod (11) is coaxially connected onto the second gear (10), two ends of the driving rod (11) respectively extend to the outer part of the base (1) and are coaxially connected with a third gear (12), the side wall of the base (1) is slidably provided with a rack (14), the rack (14) is meshed with the third gear (12), a connecting rod (17) is fixed to the end of the rack (14), an L-shaped supporting plate (18) is fixed to the connecting rod (17), and when the two clamping claw plates (4) move oppositely to clamp a workpiece (19), the lower end of the L-shaped supporting plate (18) can be driven to move to the position below the workpiece (19).
2. The manipulator device according to claim 1, wherein the slide bar (3) is provided with limit blocks (5) at intervals, and the two limit blocks (5) are respectively abutted against the upper and lower end surfaces of the slide groove (2).
3. The manipulator device according to claim 1, characterized in that a stop (8) is fixed in the middle of the bidirectional wire lever (7).
4. The manipulator device according to claim 1, characterized in that a drive motor (13) is fixed on the base (1), and an output shaft of the drive motor (13) is coaxially connected with an end of one of the bidirectional wire levers (7).
5. The manipulator device according to claim 4, characterized in that a bearing block (16) is fixed on the base (1), a bearing is mounted in the bearing block (16), and the bidirectional wire lever (7) is at least partially rotatably engaged in the bearing.
6. The manipulator device according to claim 1, characterized in that the base (1) is provided with a sliding sleeve (15) at its side, the toothed rack (14) being at least partially slidably located within the sliding sleeve (15).
7. The manipulator device according to claim 1, wherein an anti-slip rubber sleeve is sleeved on the jaw plate (4).
8. The robot apparatus according to any one of claims 1 to 7, further comprising a transport mechanism;
the conveying mechanism comprises side plates (20) and rollers (21) which are rotatably arranged on the side plates (20), and a gap is formed between every two adjacent rollers (21);
such that the L-shaped pallet (18) is capable of extending at least partially into the gap.
9. The manipulator device according to claim 8, characterized in that a sprocket is coaxially fixed to the end of the roller (21), and a plurality of the sprockets are connected around by a chain.
10. The robot device according to claim 9, characterized in that a motor is provided on the side plate (20), and an output shaft of the motor is coaxially connected to one of the plurality of sprockets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111220010.2A CN113858182A (en) | 2021-10-20 | 2021-10-20 | A manipulator device for work piece is transported |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111220010.2A CN113858182A (en) | 2021-10-20 | 2021-10-20 | A manipulator device for work piece is transported |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113858182A true CN113858182A (en) | 2021-12-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111220010.2A Pending CN113858182A (en) | 2021-10-20 | 2021-10-20 | A manipulator device for work piece is transported |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113858182A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114683253A (en) * | 2022-05-31 | 2022-07-01 | 广东顺力智能物流装备股份有限公司 | Mechanical arm with auxiliary supporting structure and using method thereof |
-
2021
- 2021-10-20 CN CN202111220010.2A patent/CN113858182A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114683253A (en) * | 2022-05-31 | 2022-07-01 | 广东顺力智能物流装备股份有限公司 | Mechanical arm with auxiliary supporting structure and using method thereof |
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