CN206085033U - Manipulator assembly - Google Patents

Abstract

The utility model discloses a manipulator assembly, include the N level manipulator of arranging in proper order along same direction, adjacent level's manipulator passes through connecting portion telescopic connection. The driving device drives the first-stage mechanical arm to move, the first clamping jaw pulls the first synchronous belt on the first-stage mechanical arm to move, then the first synchronous belt drives the second clamping jaw on the first-stage mechanical arm to move towards the direction of the second synchronous belt wheel on the first-stage mechanical arm, and the second clamping jaw drives the second mechanical arm to move, so that the rest can be done in the same way. Can control drive arrangement's movement distance as required in this scheme, and then control the reach of N level manipulator, adjust the reach of N level manipulator as required, and the adjustment be the whole length of N level manipulator, can not increase its space that occupies in vertical direction, for manipulator assembly among the prior art, do not receive the restriction in vertical direction space, improved the commonality that the manipulator used.

Description

A mechanical arm assembly

technical field

The utility model relates to the technical field of lithium battery production, in particular to a manipulator assembly.

Background technique

The manipulator assembly is a component used to grip a workpiece. The manipulator assembly realizes any position and orientation movement in the grasping space by designing multiple degrees of freedom. The more degrees of freedom of the manipulator assembly, the greater the flexibility and the wider the versatility of the manipulator assembly.

The manipulator assembly in the prior art mainly adjusts its position and orientation through multiple degrees of freedom, but in the process of adjusting the position and orientation of the manipulator assembly, its overall length does not change, and the manipulator assembly in the horizontal direction When the length is shortened, the space it occupies in the vertical direction will inevitably increase, and when the length in the horizontal direction increases, the space occupied in the vertical direction will inevitably decrease, causing the manipulator assembly to be unable to move in the vertical direction. Use in a narrow location affects the versatility of the manipulator assembly.

Therefore, how to improve the versatility of the manipulator assembly has become a technical problem to be solved urgently by those skilled in the art.

Utility model content

In view of this, the utility model provides a manipulator assembly to improve the versatility of the manipulator assembly.

In order to achieve the above object, the utility model provides the following technical solutions:

A manipulator assembly, including N-level manipulators arranged in sequence along the same direction, the first-level manipulators of the N-level manipulators are installed on a vertical mounting plate through a driving device, and the N-level manipulators are telescopically connected through a connecting part , where, N≥3, N is a positive integer;

The connection part includes:

The first synchronous pulley and the second synchronous pulley arranged on the same side of the manipulator, the first synchronous pulley is located at the head end of the manipulator, and the second synchronous pulley is located at the end of the manipulator, so A first synchronous belt is sheathed on the first synchronous pulley and the second synchronous pulley;

The first jaw, one end of the first jaw is connected to the first synchronous belt, and the other end is fixedly connected to the upper-level manipulator. When the N-level manipulator is not extended, the first jaw is connected to the The connection position of the first synchronous belt is close to the second synchronous pulley, and one end of the first jaw provided on the manipulator of the first stage is connected with the first synchronous belt, and the other end is connected with the vertically installed Plate connection, only the first jaw is set on the manipulator at the Nth level;

The second jaw, one end of the second jaw is connected with the first synchronous belt, and the other end is connected with the manipulator of the next stage. The connection position of the first synchronous belt is close to the first synchronous pulley.

Preferably, in the above manipulator assembly, it also includes:

One end is slidingly connected to the vertical mounting plate, and the other end is fixedly connected to the guide plate of the first-stage manipulator, and the guide plate is provided with a first slider that cooperates with the first guide rail of the vertical mounting plate .

Preferably, in the above manipulator assembly, the first jaw is a stepped jaw, the shape of the first jaw is the same as that of the guide plate, and the first jaw is arranged in parallel with the guide plate, And the first jaw is located below the guide plate.

Preferably, in the above manipulator assembly, the first jaw is a U-shaped jaw.

Preferably, in the above manipulator assembly, the manipulators of two adjacent stages are slidably matched with the second slider through the second track.

Preferably, in the above manipulator assembly, there are two second rails, and the two second rails are arranged in parallel.

Preferably, in the above manipulator assembly, the number of manipulators in N stages is 3.

Preferably, in the above manipulator assembly, the drive device includes:

A servo motor, the output end of the servo motor is provided with a third synchronous pulley;

A lead screw, the lead screw is provided with a fourth synchronous pulley cooperating with the third synchronous pulley, and the third synchronous pulley and the fourth synchronous pulley are provided with a second synchronous belt;

A slide block arranged on the lead screw, the slide block is fixedly connected with the first-stage manipulator.

Preferably, in the above-mentioned manipulator assembly, the N-level manipulators are the N-level manipulators arranged in sequence along the horizontal direction, and also include the N-level vertical manipulators arranged vertically with the N-level manipulators, and the N-level vertical manipulators are arranged vertically with the N-level manipulators. The manipulator of the first stage of the straight manipulator is connected with the manipulator of the Nth stage of the N-stage manipulator through the connecting part, and the manipulator of the adjacent stage of the N-stage vertical manipulator passes through the said manipulator of the N-stage manipulator. or, the N-level manipulators are the N-level manipulators arranged in sequence along the vertical direction, and also include the N-level horizontal manipulators arranged vertically with the N-level manipulators, and the N-level horizontal manipulators The manipulator of the first stage of the manipulator is connected with the manipulator of the Nth stage of the manipulator of the N stage through the connecting part, and the manipulator of the adjacent stage of the manipulator of the N stage is connected through the connecting part.

It can be seen from the above technical solution that the manipulator assembly provided by the utility model includes N-level manipulators arranged in sequence along the same direction. , the manipulators of adjacent stages are telescopically connected through the connection part. The connecting part includes a first synchronous pulley, a second synchronous pulley, a first synchronous belt, a first jaw and a second jaw. The driving device drives the first-stage manipulator to move, the first jaw pulls the first synchronous belt on the first-stage manipulator, and then the first synchronous belt drives the second jaw on the first-stage manipulator to the first-stage manipulator. The direction of the two synchronous pulleys moves, the second jaw drives the second manipulator to move, the movement state of the first jaw on the second manipulator is the same as that of the first-level manipulator, and the first jaw on the second manipulator pulls the second manipulator The first synchronous belt on the machine moves, and then drives the second jaw connected to the first synchronous belt on the second manipulator to move, and the second jaw drives the third manipulator to move, and so on. In this solution, the movement distance of the driving device can be controlled according to the needs, and then the extension distance of the N-level manipulator can be controlled, and the extension length of the N-level manipulator can be adjusted according to the needs, and the adjustment is the overall length of the N-level manipulator, which will not increase its Compared with the manipulator assembly in the prior art, the space occupied in the vertical direction is not limited by the space in the vertical direction, which improves the versatility of the manipulator.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic structural view of the manipulator assembly provided by the embodiment of the present invention.

1. The first synchronous pulley, 2. The second synchronous pulley, 3. The first synchronous belt, 4. The first jaw.

detailed description

The utility model discloses a manipulator assembly to improve the generality of use of the manipulator assembly.

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

Please refer to FIG. 1 . FIG. 1 is a schematic structural diagram of the manipulator assembly provided by the embodiment of the present invention.

The utility model discloses a manipulator assembly, which comprises N-level manipulators arranged sequentially along the same direction. The N-level manipulators include N manipulators, and adjacent manipulators are arranged along the same direction.

The first-level manipulator of the N-level manipulator is installed on the vertical mounting plate through the driving device, and the driving device provides the telescopic power for the N-level manipulator. In this scheme, N≥3, and N is a positive integer. The specific N is 3, 4, 5, 6, 7....

The expansion and contraction of the N-level manipulator is realized through the connection part.

In this solution, the connection part includes: the first synchronous pulley 1, the second synchronous pulley 2, the first synchronous belt 3, the first jaw 4 and the second jaw, the first jaw 4 and the second jaw are located On the first timing belt 3. The specific connection structure is as follows:

The first synchronous pulley 1 and the second synchronous pulley 2 are arranged on the same side of the manipulator, the first synchronous pulley 1 is arranged at the head end of the manipulator, and the second synchronous pulley 2 is arranged at the end of the manipulator, that is, the first synchronous belt The wheel 1 and the second synchronous pulley 2 are respectively located at both ends of the manipulator, and the first synchronous belt pulley 1 and the second synchronous pulley 2 are provided with a first synchronous belt 3;

One end of the first jaw 4 is connected to the first synchronous belt 3, and the other end is fixedly connected to the upper-level manipulator. When the N-level manipulator is not stretched, the connection position between the first jaw 4 and the first synchronous belt 3 is close to the second synchronous pulley 2. That is, the connection position between the first jaw 4 and the first synchronous belt 3 is close to the end of the manipulator. It should be noted here that the first-level manipulator has no upper-level manipulator, so the first jaw on the first-level manipulator 4. One end is connected to the first synchronous belt 3, and the other end is connected to the vertical mounting plate; the Nth-level manipulator has no next-level manipulator, so only the first gripper 4 is set on the Nth-level manipulator, and the second gripper is not set;

One end of the second jaw is connected to the first synchronous belt 3, and the other end is connected to the next-level manipulator. When the N-level manipulator is not stretched, the connection position of the second jaw and the first synchronous belt 3 is close to the first synchronous pulley 1. That is to say, the second jaw is the connection position of the first synchronous belt 3 close to the head end of the manipulator.

The manipulators of the middle level are all equipped with connecting parts.

The driving device drives the first-stage manipulator to move. The first-stage manipulator moves relative to the first jaw 4. The first jaw 4 is fixed on the vertical mounting plate and will not move. Pull the first synchronous belt 3 to move, and the first synchronous The belt 3 drives the movement of the second gripper connected to it, and the second gripper drives the movement of the second-stage manipulator connected to it;

The movement of the second-level manipulator drives the movement of the first jaw 4 arranged on it, and the movement of the second-level manipulator relative to the first jaw 4 of the second-level manipulator, the movement of the first jaw 4 of the second-level manipulator The state is the same as that of the first-level manipulator, pulling the first synchronous belt 3 set on the second-level manipulator to move, and the first synchronous belt 3 drives the second jaw on the second-level manipulator connected to it to move, and the second-level manipulator The second jaw on the top drives the movement of the third-stage first manipulator connected to it;

and so on.

In this solution, the expansion and contraction of the N-level manipulator is realized through the connecting part. During the expansion and contraction process of the N-level manipulator, the connection positions of the first jaw 4 and the second jaw and the first synchronous belt 3 remain unchanged, but the first jaw 4 and the position of the second jaw relative to the first synchronous pulley 1 and the second synchronous pulley 2 will change.

The N-level manipulator provided by this solution realizes telescopic movement through the connecting part. During the stretching process, the N-level manipulator stretches in the same direction, which can realize the adjustment of the length of the N-level manipulator in one direction, and the length adjustment process does not occupy The space in the vertical direction of the stretching direction, that is, when the N-level manipulator is arranged in the horizontal direction, the expansion and contraction of the N-level manipulator does not occupy the space in the vertical direction, so that the N-level manipulator can be used in a small vertical space, improving the overall performance of the manipulator. into the versatility.

The N-level manipulator can also shorten the stretching time of the N-level manipulator, which improves work efficiency to a certain extent.

In order to ensure the stability of the first-level manipulator, the manipulator assembly provided by this solution also includes:

One end is slidably connected to the vertical mounting plate, and the other end is fixedly connected to the guide plate of the first-stage manipulator. The guide plate is provided with a first slider that cooperates with the first guide rail of the vertical mounting plate.

The first-stage manipulator is slidably matched with the vertical mounting plate through the guide plate, and the slidably matched is realized through the first guide rail and the first slider.

This setting method reduces the energy loss of the driving device driving the first-stage manipulator, which saves energy, and the first guide rail and the first slider play a guiding role for the movement of the first-stage manipulator, improving the first-stage manipulator. The stability of the movement of the manipulator improves the strength of the manipulator assembly at the same time.

In this scheme, the first jaw 4 has two implementations:

In the first type, the first jaw 4 is a stepped jaw, and the first jaw 4 has the same shape as the guide plate, the first jaw 4 is arranged in parallel with the guide plate, and the first jaw 4 is located below the guide plate, This type of gripper is mainly used between the vertical mounting plate and the first-level manipulator to make up for the height difference between the vertical mounting plate and the first-level manipulator;

In the second type, the first jaw 4 is a U-shaped jaw, and the two vertical plates of the U-shaped jaw are respectively connected with the corresponding manipulator and the first synchronous belt 3. This type of first jaw 4 is mainly used in parallel arrangement between two adjacent manipulators.

In order to further improve the stability of the manipulator assembly, the adjacent two-stage manipulator slides through the second track and the second slider, which can reduce the difficulty of stretching the manipulator assembly to a certain extent, and the second guide rail and the second slider It plays a guiding role in the expansion and contraction of the manipulator, and improves the stability of the expansion and contraction of the manipulator.

Preferably, the number of the second rails is two, and the two second rails are arranged in parallel, and the number of the corresponding second sliders is also two, and are correspondingly matched with the second rails. In this embodiment, two guide rails are provided to further improve the stability of the telescopic movement of the manipulator assembly.

In a specific embodiment of the present invention, the number of stages of N-level manipulators is 3, that is, the manipulator assembly includes three manipulators arranged in the same direction, and the synchronous expansion and contraction of the three manipulators can be realized during one stretching process.

The specific implementation mode of driving device:

The driving device includes a servo motor, a lead screw and a slider.

The output end of the servo motor is provided with a third synchronous pulley, the lead screw is provided with a fourth synchronous pulley matched with the third synchronous pulley, and the third synchronous pulley and the fourth synchronous pulley are provided with a second synchronous pulley. The belt, the slide block is threadedly connected with the lead screw, and the slide block is fixedly connected with the first-stage manipulator.

The rotation of the servo motor drives the third synchronous pulley to rotate, and then realizes the rotation of the fourth synchronous pulley, and the rotation of the fourth synchronous pulley drives the screw drive, and the screw drives the slider to move, and then realizes the movement of the first-stage manipulator.

The N-level manipulator can be an N-level manipulator arranged in sequence along the horizontal direction. At the end of the N-level manipulator arranged in sequence along the horizontal direction, an N-level vertical manipulator arranged vertically with the N-level manipulator can be connected again. The first-level manipulator and the N-level manipulator of the N-level manipulator are connected through the connecting part, and the adjacent vertical manipulators of the N-level vertical manipulator are connected through the connecting part. The transmission mode is the same as that of the N-level manipulator arranged along the same square. The movement mode is the same, and will not be repeated here.

The N-level manipulator can also be an N-level manipulator arranged in sequence along the vertical direction, and the N-level horizontal manipulator arranged vertically with the N-level manipulator can also be connected to the end of the N-level manipulator arranged in the vertical direction. The first-level manipulator of the N-level manipulator and the N-level manipulator of the N-level manipulator are connected through the connecting part, and the adjacent horizontal manipulators of the N-level horizontal manipulator are connected through the connecting part. The transmission mode is the same as that of the N-level manipulator arranged along the same square The method is the same and will not be repeated here.

The above description of the disclosed embodiments enables those skilled in the art to realize or use the utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1. A manipulator assembly, characterized in that it comprises N-level manipulators arranged in sequence along the same direction, the first-level manipulators of the N-level manipulators are installed on a vertical mounting plate by a drive device, and the N-level manipulators are mounted on a vertical mounting plate. The manipulator is telescopically connected through the connecting part, where N≥3, and N is a positive integer; The connection part includes: The first synchronous pulley (1) and the second synchronous pulley (2) arranged on the same side of the manipulator, the first synchronous pulley (1) is located at the head end of the manipulator, and the second synchronous belt The wheel (2) is located at the end of the manipulator, and the first synchronous belt (3) is sheathed on the first synchronous pulley (1) and the second synchronous pulley (2); The first jaw (4), one end of the first jaw (4) is connected to the first synchronous belt (3), and the other end is fixedly connected to the manipulator of the upper level, when the manipulator of the N level is not extended The connection position between the first jaw (4) and the first synchronous belt (3) is close to the second synchronous pulley (2), and the first jaw arranged on the manipulator at the first stage (4) One end is connected to the first synchronous belt (3), the other end is connected to the vertical mounting plate, and only the first jaw (4) is set on the manipulator of the Nth stage; The second jaw, one end of the second jaw is connected with the first synchronous belt (3), and the other end is connected with the manipulator of the next level. When the manipulator of the N level is not extended, the second jaw The connection position with the first synchronous belt (3) is close to the first synchronous pulley (1). 2. The manipulator assembly according to claim 1, further comprising: One end is slidingly connected to the vertical mounting plate, and the other end is fixedly connected to the guide plate of the first-stage manipulator, and the guide plate is provided with a first slider that cooperates with the first guide rail of the vertical mounting plate . 3. The manipulator assembly according to claim 2, characterized in that, the first jaw (4) is a stepped jaw, and the shape of the first jaw (4) is the same as that of the guide plate, so The first jaw (4) is arranged parallel to the guide plate, and the first jaw (4) is located below the guide plate. 4. The manipulator assembly according to claim 2, characterized in that, the first jaw (4) is a U-shaped jaw. 5. The manipulator assembly according to claim 1, wherein the manipulators of two adjacent stages are slidingly matched with the second slider through the second track. 6. The manipulator assembly according to claim 5, wherein there are two second rails, and the two second rails are arranged in parallel. 7. The manipulator assembly according to claim 1, wherein the number of manipulators in N stages is 3. 8. The manipulator assembly according to claim 1, wherein the driving device comprises: A servo motor, the output end of the servo motor is provided with a third synchronous pulley; A lead screw, the lead screw is provided with a fourth synchronous pulley cooperating with the third synchronous pulley, and the third synchronous pulley and the fourth synchronous pulley are provided with a second synchronous belt; A slide block arranged on the lead screw, the slide block is fixedly connected with the first-stage manipulator. 9. The manipulator assembly according to claim 1, wherein: The N-level manipulators are the N-level manipulators arranged in sequence along the horizontal direction, and also include the N-level vertical manipulators arranged vertically with the N-level manipulators, and the first level N-level vertical manipulators of the N-level manipulators The manipulator is connected to the Nth manipulator of the N-level manipulator through the connecting part, and the N-level vertical manipulator is connected to the adjacent vertical manipulator through the connecting part; or, The N-level manipulators are the N-level manipulators arranged in sequence along the vertical direction, and also include the N-level horizontal manipulators arranged vertically with the N-level manipulators, and the first-level manipulators of the N-level horizontal manipulators The manipulator of the Nth stage of the N-stage manipulator is connected by transmission through the connecting part, and the horizontal manipulator of the adjacent stage of the manipulator of the N-stage level is connected by transmission through the connection part.