CN114474032A

CN114474032A - Walk wall type folding manipulator

Info

Publication number: CN114474032A
Application number: CN202210049444.9A
Authority: CN
Inventors: 杨嘉楠; 金祺
Original assignee: Shanghai Wanlin Machinery Manufacturing Co ltd
Current assignee: Shanghai Wanlin Machinery Manufacturing Co ltd
Priority date: 2022-01-17
Filing date: 2022-01-17
Publication date: 2022-05-13

Abstract

The utility model relates to a mechanical automation field especially relates to a walk wall type folding manipulator, and it includes the support frame and rotates the manipulator body that sets up on the support frame, the manipulator body is including rotating the first runner assembly that sets up on the support frame, rotating the second runner assembly that sets up on first runner assembly, rotating the third runner assembly that sets up on the second runner assembly, rotating the fourth runner assembly that sets up on the third runner assembly to and rotate the piece of grabbing that sets up on the fourth runner assembly. The wall-walking type folding manipulator can move in multiple joints, is flexible to use and is convenient to fold and place.

Description

Walk wall type folding manipulator

Technical Field

The application relates to the field of mechanical automation, in particular to a wall-walking type folding manipulator.

Background

With the widespread use of mechanical automation, mechanical driving devices have been widely used. When carrying out product production, in order to reduce production processes, improve production efficiency, and reduce the cost of labor, more and more enterprises begin to adopt automatic assembly line to carry out the processing operation, add man-hour in automatic assembly line, most stations all need carry out material loading and unloading, because of the artifical matching assembly line speed that can not be fine, and there is the potential safety hazard, consequently the material of material loading, unloading and middle process turns to or removes etc. and has used the manipulator.

At present, most of mechanical arms only have a mechanical clamping function, the movement tracks of the mechanical arms are relatively fixed, multi-joint movement cannot be realized, movement dead angles exist, the mechanical arms cannot be folded and stored well after use, and the occupied area is large.

Disclosure of Invention

In order to improve the flexibility of manipulator motion, make the manipulator be convenient for fold and put, this application provides a walk wall type folding manipulator.

The application provides a walk wall type folding manipulator adopts following technical scheme:

the utility model provides a walk wall type folding manipulator, includes the support frame and rotates the manipulator body that sets up on the support frame, the manipulator body is including rotating the first runner assembly that sets up on the support frame, rotating the second runner assembly that sets up on first runner assembly, rotating the third runner assembly that sets up on the second runner assembly, rotating the fourth runner assembly that sets up on the third runner assembly to and rotate the piece of grabbing that sets up on the fourth runner assembly.

Through adopting above-mentioned technical scheme, during the manipulator operation, first runner assembly can rotate on the support frame to drive second runner assembly, third runner assembly, fourth runner assembly and snatch a motion. In the process, the second rotating assembly can also rotate relative to the first rotating assembly, so that the third rotating assembly, the fourth rotating assembly and the grabbing piece are driven to move. Similarly, the third rotating assembly can also rotate relative to the second rotating assembly, the fourth rotating assembly can also rotate relative to the third rotating assembly, and the grabbing piece can also rotate relative to the fourth rotating assembly, so that five-axis rotation of the folding manipulator is realized, the movement of the manipulator is not limited to a single track, the movement flexibility of the folding manipulator is improved, and the manipulator can be folded by rotating when the operation of the folding manipulator is completed, the occupied space is reduced, and the folding manipulator is convenient to collect and place.

Preferably, the first rotating assembly comprises a first connecting rod rotatably arranged on the support frame, a first support is arranged at one end, far away from the support frame, of the first connecting rod, and the second rotating assembly is rotatably arranged on the first support.

Through adopting above-mentioned technical scheme, during the manipulator operation, first connecting rod rotates, drives first support motion to drive the motion of second runner assembly, and the first support of second runner assembly also relatively rotates, has improved the flexibility of manipulator motion. As the arrangement is adopted, the folding rotation of the first rotating assembly and the supporting frame, and the folding rotation of the first rotating assembly and the second rotating assembly are realized, the occupied area of the manipulator is effectively reduced, and the folding and placing are convenient.

Preferably, the support frame is further provided with a first driving piece for driving the manipulator body to rotate along the vertical direction.

Through adopting above-mentioned technical scheme, first driving piece can drive the manipulator body and rotate along vertical direction to realize the lift of manipulator body, make the manipulator can realize the operation of snatching of vertical direction, enlarged the working range of manipulator, and, after the manipulator operation is accomplished, can fold the manipulator and promote, reduced the occupation of land space of manipulator, be convenient for receive and put.

Preferably, the second rotating assembly comprises a second connecting rod rotatably arranged on the first support, a first locking piece used for locking the second connecting rod with the first support is arranged at the top of the second connecting rod, and the third rotating assembly is rotatably arranged on the second connecting rod.

Through adopting above-mentioned technical scheme, during the manipulator operation, the second connecting rod can rotate first runner assembly relatively to drive the rotation of third runner assembly, improved the flexibility of manipulator motion. Through setting up first locking piece, can adjust first runner assembly and second runner assembly's relative position before the manipulator uses, then through the locking of first locking piece, at this moment, if the manipulator operation, first runner assembly rotates and to drive the synchronous rotation of second runner assembly and third runner assembly, has reduced and has taken place at manipulator operation or folding in-process second connecting rod relative first runner assembly pivoted condition.

Preferably, the third rotating assembly comprises a third connecting rod rotatably arranged on the second connecting rod, a second locking piece used for locking the third connecting rod and the second connecting rod is arranged on the second connecting rod, and the fourth rotating assembly is rotatably arranged on the third connecting rod.

Through adopting above-mentioned technical scheme, realized the rotation between second runner assembly and third runner assembly, third runner assembly and the fourth runner assembly, be favorable to the multi-angle nimble motion of manipulator, improved manipulator pivoted flexibility, and after the manipulator finishes using, still can fold the manipulator, reduced the occupation of land space of manipulator, be convenient for receive and put. Through setting up the second locking piece, effectively reduced the folding in-process third connecting rod and the second connecting rod and taken place the condition appearance of relative rotation.

Preferably, the fourth rotating assembly comprises a fourth connecting rod rotatably arranged on a third connecting rod, a second driving piece for driving the fourth connecting rod to rotate is arranged on the third connecting rod, and the grabbing piece is rotatably arranged on the fourth connecting rod.

Through adopting above-mentioned technical scheme, during the manipulator operation, the fourth runner assembly can rotate for the third runner assembly, grabs the piece and can rotate for the fourth runner assembly, has improved the flexibility of manipulator motion, has enlarged the operation area of manipulator to, after the manipulator finishes using, can fold the fourth runner assembly and put, reduced the area of manipulator, it is convenient to put to receive.

Preferably, a third locking piece for locking the grabbing piece and the fourth connecting rod is arranged on the fourth connecting rod.

Through adopting above-mentioned technical scheme, when the operation of manipulator, accessible third locking piece will grab a and lock with the fourth connecting rod, prevent to grab a and take place relative rotation with the fourth connecting rod, improve the stability and the precision of snatching.

Preferably, the supporting frame is further provided with a shifting mechanism for driving the supporting frame to move.

By adopting the technical scheme, the wall-type folding manipulator can move conveniently at the processing station, and the working range of the manipulator is further expanded.

In summary, the present application at least includes the following beneficial technical effects:

1. according to the manipulator, the first rotating assembly is arranged, so that the manipulator body can rotate by taking the joint of the first rotating assembly and the support frame as a center, the second rotating assembly, the third rotating assembly and the fourth rotating assembly are lifted, the manipulator can realize grabbing operation in the vertical direction, the working range of the manipulator is expanded, and the flexibility of the manipulator is improved;

2. according to the manipulator grabbing mechanism, the first rotating assembly, the second rotating assembly, the third rotating assembly, the fourth rotating assembly and the grabbing piece are arranged, the supporting frame is rotatably connected with the first rotating assembly, the first rotating assembly is rotatably connected with the second rotating assembly, the second rotating assembly is rotatably connected with the third rotating assembly, the third rotating assembly is rotatably connected with the fourth rotating assembly, and the fourth rotating assembly is rotatably connected with the grabbing piece, so that five-axis rotation of the manipulator is realized, the flexibility of grabbing operation of the manipulator is further improved, the occupied area of the manipulator can be reduced through folding, and the manipulator grabbing mechanism is convenient to store;

3. this application is through setting up first locking piece, second locking piece and third locking piece, when manipulator folding is put, has reduced between second rotating component and the first rotating component, between third rotating component and the second rotating component and the fourth rotating component and has snatched the condition emergence of becoming flexible between the piece, has guaranteed the folding fastness of putting of receiving.

Drawings

Fig. 1 is a first schematic view of the overall structure of a wall-walking type folding manipulator in embodiment 1 of the present application;

fig. 2 is a schematic view of the overall structure of the walk-in-wall folding robot in embodiment 1 of the present application;

FIG. 3 is an enlarged view of portion A of FIG. 2;

FIG. 4 is an enlarged view of portion B of FIG. 2;

FIG. 5 is an enlarged view of section C of FIG. 2;

FIG. 6 is a schematic view of the second shift assembly and the third shift assembly highlighted in embodiment 1 of the present application;

fig. 7 is a schematic view of the overall structure of the walk-in-wall folding robot in embodiment 2 of the present application.

Reference numerals: 1. a support frame; 2. a first driving member; 3. a first rotating assembly; 31. a first link; 32. a first bracket; 33. a first fixing lever; 4. a second rotating assembly; 41. a second link; 42. a first locking member; 43. a second locking member; 5. a third rotating assembly; 51. a third link; 52. a second fixing bar; 53. a first resisting plate; 54. a second driving member; 6. a fourth rotating assembly; 61. a fourth link; 62. a third locking member; 7. grasping the part; 71. a third fixing bar; 72. a second resisting plate; 8. a first displacement assembly; 81. a first cross bar; 82. a first pulley; 83. a first drive motor; 9. a second displacement assembly; 91. a second cross bar; 92. a second pulley; 93. a second drive motor; 10. a third displacement assembly; 101. a third cross bar; 102. a third pulley; 11. a first elongate frame; 12. a second elongate frame.

Detailed Description

The present application is described in further detail below with reference to the attached drawings.

The embodiment of the application discloses a walk wall type folding manipulator.

Example 1:

referring to fig. 1, the wall-walking type folding manipulator comprises a support frame 1, a manipulator body rotatably arranged on the side wall of the support frame 1, and a first driving piece 2 rotatably arranged on the side wall of the support frame 1 and used for driving the manipulator body to rotate. In this embodiment, the first driving member 2 is a cylinder, and a piston rod of the cylinder is rotatably connected to the robot body. The manipulator body comprises first runner assembly 3, second runner assembly 4, the third runner assembly 5 of rotation setting on second runner assembly 4, the fourth runner assembly 6 of rotation setting on third runner assembly 5 on first runner assembly 3 on the support frame 1, the rotation setting is grabbed a 7 on fourth runner assembly 6 by rotating on first runner assembly 3, the rotation setting on first runner assembly 3. When the manipulator snatchs the operation, between first runner assembly 3 and support frame 1, between second runner assembly 4 and the first runner assembly 3, between third runner assembly 5 and the second runner assembly 4, between fourth runner assembly 6 and the third runner assembly 5, and all can rotate between grabbing 7 and the fourth runner assembly 6, the five-axis of manipulator has been realized and has been rotated, the flexibility that the manipulator snatched the operation has been improved, and the accessible is folding to reduce the area of manipulator, be convenient for the receipts of manipulator to put.

Referring to fig. 2 and 3, the first rotating assembly 3 includes two first connecting rods 31 rotatably disposed on the supporting frame 1, the two first connecting rods 31 are vertically arranged on the side wall of the supporting frame 1, and the output shaft of the first driving member 2 is rotatably connected to the first connecting rod 31 at the bottom. One end of the first connecting rod 31 far away from the support frame 1 is provided with a first bracket 32, the two first connecting rods 31 are rotatably connected with the first bracket 32, and a first fixing rod 33 is fixedly arranged at the top of the first bracket 32.

Referring to fig. 2, 3 and 4, the second rotating assembly 4 includes a second link 41 rotatably disposed on the first fixing rod 33 through a bearing, and a first locking member 42 is disposed on a top side wall of the second link 41. In this embodiment, the first locking member 42 is a bolt, and the first locking member 42 penetrates through a sidewall of the second link 41 and is then threadedly connected to the first fixing rod 33. The first locking member 42 can lock the second connecting rod 41 with the first fixing rod 33, so as to lock the first rotating assembly 3 with the second rotating assembly 4.

Referring to fig. 2 and 4, the third rotating assembly 5 includes a third connecting rod 51, a second fixing rod 52 is fixedly disposed at the top of the third connecting rod 51, the second fixing rod 52 is rotatably connected to one end of the second connecting rod 41 far away from the first connecting rod 31 through a bearing, a second locking member 43 is fixedly disposed on the side wall of the second connecting rod 41, and a first abutting plate 53 is fixed at the bottom of the second fixing rod 52. In this embodiment, the second locking member 43 is a cylinder, a cylinder body of the cylinder is fixed on a side wall of the second connecting rod 41, and a piston rod of the cylinder is disposed toward the first abutting plate 53. When the second rotating assembly 4 and the third rotating assembly 5 need to be locked, the cylinder is started, and the piston rod of the cylinder moves towards the first abutting plate 53, so that the piston rod abuts against the top surface of the first abutting plate 53, and the second rotating assembly 4 and the third rotating assembly 5 are locked.

Referring to fig. 2, the fourth rotating assembly 6 includes a fourth link 61 rotatably disposed at a bottom of the third link 51, and the third link 51 is provided with a second driving member 54 for driving the fourth link 61 to rotate. In this embodiment, the second driving element 54 is a motor, and an output shaft of the motor penetrates through a side wall of the third link 51 and is fixedly connected to the fourth link 61, so as to drive the fourth link 61 to rotate.

Referring to fig. 2 and 5, the grasping element 7 is disposed at an end of the fourth link 61 remote from the third link 51, and the grasping element 7 is a gripper in this embodiment. The top of the grabbing part 7 is fixedly provided with a third fixing rod 71, the third fixing rod 71 is rotatably connected with the fourth connecting rod 61 through a bearing, the side wall of the fourth connecting rod 61 is fixedly provided with a third locking part 62, and the bottom of the third fixing rod 71 is fixedly provided with a second abutting plate 72. In this embodiment, the third locking member 62 is an air cylinder, a cylinder body of the air cylinder is fixed on the side wall of the fourth connecting rod 61, and a piston rod of the air cylinder is disposed toward the second abutting plate 72. When the grabbing part 7 and the fourth connecting rod 61 need to be locked, the cylinder is started, and a piston rod of the cylinder moves towards the second abutting plate 72, so that the piston rod abuts against the top surface of the second abutting plate 72, and the grabbing part 7 and the fourth connecting rod 61 are locked.

Referring to fig. 1 and 6, a displacement mechanism for driving the support frame 1 to move is further disposed on the support frame 1, and the displacement mechanism includes a first displacement assembly 8, a second displacement assembly 9 and a third displacement assembly 10 fixed on the support frame 1. The first shifting assembly 8 comprises a first cross bar 81 fixed on the support frame 1, a first pulley 82 arranged on the side wall of the first cross bar 81, and a first driving motor 83 arranged on the side wall of the first cross bar 81 and used for driving the first pulley 82 to rotate. The second displacement assembly 9 comprises a second cross bar 91 fixed on the support frame 1, a second pulley 92 arranged on a side wall of the second cross bar 91, and a second driving motor 93 arranged on a side wall of the second cross bar 91 and used for driving the second pulley 92 to rotate. The third displacement assembly 10 comprises a third cross bar 101 fixed on the support frame 1 and a third pulley 102 arranged on the side wall of the third cross bar 101. In the actual working process of the manipulator, a slide rail (not shown in the figure) is arranged at the top of the manipulator, the first pulley 82, the second pulley 92 and the third pulley 102 are all arranged on the slide rail in a sliding manner, wherein the first pulley 82 and the second pulley 92 are used as driving wheels to play a role in driving sliding, and the third pulley 102 is a driven wheel to play a role in improving the stability of the manipulator sliding on the slide rail. By the arrangement, the operation range of the manipulator is further expanded, and the actual use value of the manipulator is improved.

The implementation principle of the wall-walking type folding manipulator in the embodiment of the application is as follows: when the manipulator is used for grabbing operation, between the first rotating assembly 3 and the support frame 1, between the second rotating assembly 4 and the first rotating assembly 3, between the third rotating assembly 5 and the second rotating assembly 4, between the fourth rotating assembly 6 and the third rotating assembly 5, and between the grabbing piece 7 and the fourth rotating assembly 6, the five-axis rotation of the manipulator is realized, the flexibility of grabbing operation of the manipulator is improved, and after the manipulator operation is completed, the manipulator can be folded and stored, the occupied area of the manipulator is reduced, and the space is also saved.

Example 2:

referring to fig. 7, the difference from embodiment 1 is that a first extension frame 11 is fixedly disposed on a side wall of a support frame 1, a second extension frame 12 is rotatably disposed at a bottom of an end of the first extension frame 11, which is far away from the side wall of the support frame 1, and a first connecting rod 31 is rotatably disposed at a bottom end of the second extension frame 12 along a vertical direction. The first driving member 2 is fixedly disposed on the side wall of the second extension frame 12, in this embodiment, the first driving member 2 is a cylinder, and a piston rod of the cylinder is fixedly connected to the top surface of the end portion of the first connecting rod 31.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. The utility model provides a walk wall type folding manipulator, its characterized in that includes support frame (1) and rotates the manipulator body that sets up on support frame (1), the manipulator body is including rotating first runner assembly (3) of setting on support frame (1), rotating second runner assembly (4) of setting on first runner assembly (3), rotating third runner assembly (5) of setting on second runner assembly (4), rotating fourth runner assembly (6) of setting on third runner assembly (5) to and rotate grabbing piece (7) of setting on fourth runner assembly (6).

2. The folding manipulator as claimed in claim 1, characterized in that the first rotating assembly (3) comprises a first connecting rod (31) rotatably disposed on the support frame (1), a first bracket (32) is disposed at an end of the first connecting rod (31) far from the support frame (1), and the second rotating assembly (4) is rotatably disposed on the first bracket (32).

3. A walking wall folding manipulator as claimed in claim 2, wherein the support frame (1) is further provided with a first driving member (2) for driving the manipulator body to rotate in the vertical direction.

4. The folding robot as claimed in claim 2, characterized in that said second rotating assembly (4) comprises a second connecting rod (41) rotatably mounted on said first support (32), said second connecting rod (41) being provided at the top with a first locking member (42) for locking said second connecting rod (41) to said first support (32), said third rotating assembly (5) being rotatably mounted on said second connecting rod (41).

5. The folding robot as claimed in claim 4, characterized in that said third rotating assembly (5) comprises a third link (51) rotatably mounted on a second link (41), said second link (41) being provided with a second locking member (43) for locking the third link (51) to the second link (41), said fourth rotating assembly (6) being rotatably mounted on the third link (51).

6. A folding manipulator as claimed in claim 5, characterized in that said fourth rotating assembly (6) comprises a fourth link (61) rotatably mounted on a third link (51), said third link (51) being provided with a second drive member (54) for driving the fourth link (61) in rotation, said gripping member (7) being rotatably mounted on the fourth link (61).

7. A folding robot as claimed in claim 6, characterized in that said fourth link (61) is provided with a third locking element (62) for locking the gripper (7) with the fourth link (61).

8. The walk-in folding manipulator according to claim 1, characterized in that a displacement mechanism for driving the support frame (1) to move is further arranged on the support frame (1).