CN114559419A

CN114559419A - Double-station multidimensional high-precision manipulator

Info

Publication number: CN114559419A
Application number: CN202210173828.1A
Authority: CN
Inventors: 张为臣; 李永; 解建员
Original assignee: Qingzhi Intelligent Equipment Manufacturing Suzhou Co ltd
Current assignee: Qingzhi Intelligent Equipment Manufacturing Suzhou Co ltd
Priority date: 2022-02-23
Filing date: 2022-02-23
Publication date: 2022-05-31

Abstract

The invention relates to the field of manipulators, and discloses a double-station multi-dimensional high-precision manipulator. The method comprises the following steps: the base, the vertical stand of locating the base through first motor drive rotary motion transversely sets up in the pivot on stand and both ends protrusion stand surface, connects in pivot one end drive pivot rotary motion's swing subassembly, connects in the fixed frame of the pivot other end. Slidingtype assembly just carries out synchronous movement's slide in fixed frame through first cylinder drive respectively, vertically locate in the slide and through second cylinder elevating movement's dead lever, the one end of this dead lever is equipped with vapour-pressure type centre gripping subassembly. Through the arrangement, articles with different shapes and specifications can be clamped, the clamping is firm and stable, the clamping precision is high, and the equipment cost is low.

Description

Double-station multidimensional high-precision manipulator

Technical Field

The invention relates to the field of manipulators, in particular to a double-station multi-dimensional high-precision manipulator.

Background

The mechanical arm widely used in the fields of machinery, chemistry, medical treatment and the like needs to accurately grab a sample plate or an object, and in the grabbing process, the sample plate or the object is often grabbed or opened by utilizing multiple dimensions.

The conventional device often utilizes one manipulator or cooperates a plurality of manipulators to transfer articles, so that the equipment cost is increased, and the clamping is insecure for the articles with longer length or thin thickness, the clamping head needs to be replaced or the risk of falling is caused, the stability is poor, and the cooperation precision is not high.

Disclosure of Invention

In order to solve the technical problems, the invention provides a double-station multi-dimensional high-precision manipulator which solves the problems that articles with different shapes and specifications cannot be clamped, clamping is not firm, stability is poor, clamping precision is low in matching and equipment cost is high.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a high-accuracy manipulator of duplex position multidimension degree includes:

a base;

the device comprises a base, a stand column, a rotating shaft, a swinging assembly and a fixed frame, wherein the stand column is vertically arranged on the base and driven to rotate by a first motor;

the sliding seat is assembled on the fixed frame in a sliding manner and is driven by the first cylinder to synchronously move, and the fixed rod is vertically arranged in the sliding seat and moves up and down through the second cylinder;

one end of the fixed rod is provided with a pneumatic clamping component.

According to the technical scheme, when articles are clamped, the stand column is driven to rotate through the first motor, the rotating shaft is driven to enable the fixed frame to turn over by an angle through the swinging assembly, the sliding seat is driven to move by the first cylinder according to the height and the length of the articles, the sliding seat is driven to move by the distance between the first cylinder and the second cylinder, the manipulator is driven to move to the position where the articles are located, and the articles are clamped through the air pressure type clamping assembly.

As a preferable aspect of the present invention, the swing assembly includes: the third cylinder of slope locating the stand side, locate roller bearing spare on the third cylinder output, dress clamp in the arc swing connecting piece of pivot one end, set up on the arc swing connecting piece with roller bearing spare complex arc leads to the groove.

As a preferable scheme of the invention, two open ends of the arc-shaped through groove are outwardly expanded with arc-shaped grooves, the roller member is provided with a fixed end which is abutted against one of the arc-shaped grooves, and the roller member is matched with a clamping piece which is abutted against the other arc-shaped groove.

According to the technical scheme, the third cylinder is started, so that the rolling shaft piece moves in the arc-shaped through groove, and the arc-shaped swinging connecting piece is driven to rotate and the rotating shaft rotates synchronously.

As a preferred scheme of the present invention, the fixed frame is provided with parallel sliding rods matched with the sliding seats, a clamping end is arranged at one of the sliding seats, the clamping end is fixed on the sliding rod through a first fixed handle, and a first cylinder is matched with one of the sliding seats through a first connecting plate and is connected with the clamping end.

As a preferable scheme of the present invention, a second connecting plate sleeved on the slide bar is disposed at the other slide seat, the second connecting plate is fixed on the slide bar through a second fixing handle, and the other first cylinder is disposed on the second connecting plate and connected to the other slide seat.

According to the technical scheme, the two sliding seats are driven to slide on the sliding rod through the first air cylinder respectively, so that the specification size of an article is ensured.

As a preferable aspect of the present invention, a sliding block is disposed in the sliding seat, and a sliding rail that is fitted with the sliding block is disposed on the fixing rod along the length direction.

Realize above-mentioned technical scheme for it is more stable to have improved the removal of dead lever on the slide.

As a preferable aspect of the present invention, the pneumatic clamping assembly includes: locate bearing frame, locating of dead lever one end bear second motor, the cover of a terminal surface and locate connection piece on the second motor output, locate connection piece both ends and radian are relative setting arc connecting rod, connect in arc connecting rod and slidingtype assemble in bear the removal seat of frame, locate remove the seat and be the clamping jaw that sets up in opposite directions be equipped with the suction nozzle in the clamping jaw the zigzag setting is personally submitted to the clamping of clamping jaw.

Realize above-mentioned technical scheme, the aforesaid removes the back of accomplishing, through starting the second motor, makes the connection piece rotate, makes two arc connecting rods carry out clockwise and anticlockwise rotation respectively, makes and removes seat and clamping jaw and be in opposite directions or move apart from each other, after the centre gripping article, holds article by the suction nozzle, avoids dropping of article.

In conclusion, the invention has the following beneficial effects: when centre gripping article, rotate through first motor drive stand, rethread swing subassembly drive pivot makes fixed frame overturn an angle, according to the height and the length of article, through the distance each other of first cylinder drive slide, by the lift height of second cylinder drive dead lever again, drive the manipulator and remove the position at article place, carry out the clamping by vapour-pressure type centre gripping subassembly. Through the arrangement, articles with different shapes and specifications can be clamped, the clamping is firm and stable, the clamping precision is high, and the equipment cost is low.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic view of a first overall three-dimensional structure according to the present invention.

Fig. 2 is a second overall perspective view of the present invention.

Fig. 3 is a schematic view of a side structure of the rolling element and the arc-shaped swinging connecting element of the present invention.

Fig. 4 is a schematic view of the other side of the roller member and the arc-shaped swinging connecting member of the present invention.

Fig. 5 is a schematic structural view of a pneumatic clamping assembly according to the present invention.

The corresponding part names indicated by the numbers and letters in the drawings:

1. a base; 2. a first motor; 3. a column; 4. a third cylinder; 5. a roller member; 6. an arc-shaped through groove; 7. an arc-shaped groove; 8. an arc-shaped swing connecting piece; 9. a rotating shaft; 10. a slide bar; 11. a clamping end; 12. a first fixed handle; 13. a first connecting plate; 14. a first cylinder; 15. a second cylinder; 16. fixing the rod; 17. a second fixed handle; 18. a second connecting plate; 19. a fixed frame; 20. a slide base; 21. a pneumatic clamping assembly; 22. a clamping piece; 23. a fixed end; 24. connecting sheets; 25. a second motor; 26. a carrier; 27. an arc-shaped connecting rod; 28. a suction nozzle; 29. a movable seat; 30. a clamping jaw.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

Examples

As shown in fig. 1 to 5, the present invention is a double-station multi-dimensional high-precision manipulator, including: base 1, the vertical stand 3 of locating base 1 through the drive rotary motion of first motor 2 transversely sets up in stand 3 and the surperficial pivot 9 of both ends protrusion stand 3, connects in the swing subassembly of 9 one ends drive pivot 9 rotary motion of pivot, connects in the fixed frame 19 of the pivot 9 other end.

Wherein, the swing subassembly includes: the third cylinder 4 of 3 sides of stand is located in the slope, locate roller bearing spare 5 on the output of third cylinder 4, the dress presss from both sides in the arc swing connecting piece 8 of pivot 9 one end, set up on the arc swing connecting piece 8 with roller bearing spare 5 complex arc through groove 6, the outside expansion of the both open ends that the arc leads to groove 6 has arc recess 7, be equipped with on the roller bearing spare 5 with an arc recess 7 inconsistent stiff end 23, the cooperation has the holding piece 22 inconsistent with another arc recess 7 on the roller bearing spare 5.

Starting third cylinder 4, roller bearing spare 5 removes in the logical groove 6 of arc, drive the synchronous rotation of arc swing connecting piece 8 rotation and pivot 9, specifically, earlier through stiff end 23 and centre gripping piece 22 so that roller bearing spare 5 cooperates with arc swing connecting piece 8, when the cylinder starts, the axle body of roller bearing spare 5 removes in the logical groove 6 of arc, stiff end 23 and centre gripping piece 22 remove in arc recess 7, make the smooth and easy and motion accuracy height of the rotation accuracy of arc swing connecting piece 8.

Furthermore, the sliding bases 20 are slidably assembled on the fixed frame 19 and driven by the first cylinders 14 to move synchronously, the fixed frame 19 is provided with parallel sliding rods 10 matched with the sliding bases 20, clamping ends 11 are arranged at the positions of the sliding bases 20, the clamping ends 11 are fixed on the sliding rods 10 through first fixed handles 12, and the first cylinders 14 are matched with the sliding bases 20 through first connecting plates 13 and connected with the clamping ends 11.

A second connecting plate 18 sleeved on the slide bar 10 is arranged at the other slide carriage 20, the second connecting plate 18 is fixed on the slide bar 10 through a second fixing handle 17, and the other first cylinder 14 is arranged on the second connecting plate 18 and connected with the other slide carriage 20.

The first air cylinder 14 drives the two sliding seats 20 to slide on the sliding rod 10 respectively, so that the manipulator can clamp and adjust articles with wide width before clamping.

The fixing rod 16 is vertically arranged in the sliding seat 20 and moves up and down through the second air cylinder 15, a sliding block is arranged in the sliding seat 20, and a sliding rail embedded with the sliding block is arranged on the fixing rod 16 along the length direction, so that the movement of the fixing rod 16 on the sliding seat 20 is more stable.

Further, one end of the fixing rod 16 is provided with a pneumatic clamping assembly 21, and the pneumatic clamping assembly 21 includes: the clamping device comprises a bearing frame 26 arranged at one end of the fixing rod 16, a second motor 25 arranged at one end face of the bearing frame 26, a connecting sheet 24 sleeved on the output end of the second motor 25, arc-shaped connecting rods 27 arranged at two ends of the connecting sheet 24 and arranged oppositely in radian, a moving seat 29 connected to the arc-shaped connecting rods 27 and assembled on the bearing frame 26 in a sliding manner, clamping jaws 30 arranged on the moving seat 29 and arranged oppositely, and a suction nozzle 28 arranged in each clamping jaw 30, wherein clamping surfaces of the clamping jaws 30 are arranged in a zigzag manner.

After the adjustment is completed, the second motor 25 is started to rotate the connecting piece 24, so that the two arc-shaped connecting rods 27 rotate clockwise and anticlockwise respectively, the moving seat 29 and the clamping jaw 30 move in the opposite direction or in the opposite direction, and after the object is clamped, the object is sucked by the suction nozzle 28, so that the object is prevented from falling.

When clamping an article, the upright column 3 is driven to rotate by the first motor 2, the rotating shaft 9 is driven by the swinging assembly to enable the fixed frame 19 to turn over for an angle, the distance between the sliding seats 20 is driven by the first air cylinder 14 according to the height and the length of the article, the lifting height of the fixed rod 16 is driven by the second air cylinder 15, the manipulator is driven to move to the position where the article is located, and the pneumatic clamping assembly 21 is used for clamping. Through the arrangement, articles with different shapes and specifications can be clamped, the clamping is firm and stable, the clamping precision is high, and the equipment cost is low.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a high-accuracy manipulator of duplex position multidimension degree which characterized in that includes:

a base;

one end of the fixed rod is provided with a pneumatic clamping component.

2. The dual-station multi-dimensional high-precision manipulator according to claim 1, wherein the swing assembly comprises: the device comprises a third cylinder obliquely arranged on the side face of the upright column, a roller bearing piece arranged on the output end of the third cylinder, an arc-shaped swinging connecting piece clamped at one end of the rotating shaft, and an arc-shaped through groove matched with the roller bearing piece, wherein the arc-shaped swinging connecting piece is provided with the arc-shaped through groove.

3. The double-station multi-dimensional high-precision manipulator according to claim 2, wherein two open ends of the arc-shaped through groove are expanded outwards to form arc-shaped grooves, a fixed end which is abutted against one arc-shaped groove is arranged on the roller member, and a clamping piece which is abutted against the other arc-shaped groove is matched on the roller member.

4. The double-station multi-dimensional high-precision mechanical arm according to claim 1, wherein the fixed frame is provided with parallel sliding rods matched with the sliding seats, clamping ends are arranged at one of the sliding seats and fixed on the sliding rods through first fixed handles, and a first air cylinder is matched with one of the sliding seats through a first connecting plate and connected with the clamping ends.

5. The double-station multi-dimensional high-precision mechanical arm according to claim 4, wherein a second connecting plate sleeved on the slide bar is arranged at the other slide carriage, the second connecting plate is fixed on the slide bar through a second fixing handle, and the other first cylinder is arranged on the second connecting plate and connected with the other slide carriage.

6. The double-station multi-dimensional high-precision manipulator according to claim 1, wherein a sliding block is arranged in the sliding seat, and a sliding rail embedded with the sliding block is arranged on the fixed rod along the length direction.

7. The double-station multi-dimensional high-precision manipulator according to claim 1, wherein the pneumatic clamping assembly comprises: locate dead lever one end bear the frame, locate bear the second motor of a terminal surface, the cover is located connection piece on the second motor output, locate connection piece both ends and radian are relative setting's arc connecting rod, connect in arc connecting rod and slidingtype assemble in bear the removal seat of frame, locate remove the seat and be the clamping jaw that sets up in opposite directions be equipped with the suction nozzle in the clamping jaw the zigzag setting is personally submitted to the clamping of clamping jaw.