CN207618651U - A kind of Three Degree Of Freedom electric drive stacking loading and unloading manipulator - Google Patents

Abstract

The utility model discloses a three-degree-of-freedom electric-driven stacking and unloading manipulator, which comprises a vertically arranged bracket, a horizontal arm is arranged on the bracket, a mechanical arm is arranged on the horizontal arm, and a grasping device is arranged at the bottom of the mechanical arm. A DC servo motor for driving the cross arm to rotate is arranged beside the bracket, a first stepping motor for controlling the sliding of the mechanical arm is arranged on the cross arm, and a second stepping motor for controlling the up and down movement of the mechanical arm is arranged on the mechanical arm; The DC servo motor controls the gear pair to drive the cross arm to rotate, the first stepping motor controls the rack and pinion transmission mechanism to drive the mechanical arm to slide left and right, and the second stepping motor controls the rack and pinion transmission mechanism to drive the mechanical arm to move up and down. It can automatically control the movement of the three degrees of freedom of the mechanical arm, which is horizontal expansion, left and right rotation, and up and down lifting, which improves the grasping accuracy. The manipulator responds quickly, has a large driving force, and is convenient for signal detection, transmission, and processing.

Description

A three-degree-of-freedom electric-driven palletizing and unloading manipulator

technical field

The utility model belongs to the field of industrial automation, in particular to a three-degree-of-freedom electric-driven stacking and loading manipulator.

Background technique

Palletizing manipulator is a new model with research and development prospects, with relatively stable quality and high cost performance. It can imitate certain movement functions of the human hand and arm, and grasp and carry objects or operate tools according to a fixed program. Palletizing manipulators can improve production efficiency, thereby reducing the number of workers and reducing costs; and they are safe, thereby improving product quality and enhancing the image of the factory.

For the existing manipulators on the market, most of the existing three-degree-of-freedom manipulator patents are pneumatic manipulators, which have disadvantages such as high air compressibility, poor working stability, difficult speed control, and very difficult to achieve accurate position control.

Utility model content

The purpose of this utility model is to overcome the above-mentioned deficiencies and provide a three-degree-of-freedom electric-driven stacking and unloading manipulator. The manipulator has fast response, large driving force, convenient signal detection, transmission and processing, and can adopt various flexible controls. The scheme can solve the problem of low control precision of the current pneumatic manipulator.

In order to achieve the above object, the utility model includes a vertically arranged bracket, a cross arm is arranged horizontally on the bracket, a mechanical arm is arranged on the cross arm, a grasping device is arranged at the bottom of the mechanical arm, and a device for driving the cross arm to rotate is arranged beside the bracket. A DC servo motor, the cross arm is provided with a first stepping motor for controlling the sliding of the mechanical arm, and the mechanical arm is provided with a second stepping motor for controlling the up and down movement of the mechanical arm;

The DC servo motor is connected to the cross arm through a gear pair, the first stepping motor drives the mechanical arm to slide left and right through the rack and pinion transmission mechanism, and the second stepping motor drives the mechanical arm to move up and down through the rack and pinion transmission mechanism.

The end of the cross arm is provided with a rotating shaft, the rotating shaft is sleeved on the bracket, the DC servo motor is connected to the driving gear, the rotating shaft is sleeved with a rotating gear, and the driving gear and the rotating gear are meshed.

A first rolling bearing and a second rolling bearing are sheathed on the rotating shaft.

The cross arm is provided with a first rack, the first stepping motor is connected with the first gear, and the first gear meshes with the first rack.

The mechanical arm is provided with a second rack, the second stepping motor is connected to the second gear through the gear shaft, the second rack is covered with a deep groove ball bearing, and the deep groove ball bearing is fixed by a bearing retaining ring.

The grabbing device adopts an electromagnetic chuck.

Compared with the prior art, the utility model controls the gear pair to drive the horizontal arm to rotate through the DC servo motor, the first stepping motor controls the rack and pinion transmission mechanism to drive the mechanical arm to slide left and right, and the second stepping motor controls the gear teeth The strip transmission mechanism drives the mechanical arm to move up and down. This device can automatically control the three degrees of freedom of the mechanical arm to perform horizontal expansion, left and right rotation, and up and down movements, which improves the grasping accuracy. The manipulator has fast response, large driving force, and signal detection , transmission and handling are convenient, and a variety of flexible control schemes can be adopted.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the schematic diagram of cross arm of the present utility model;

Fig. 3 is the schematic diagram of the utility model mechanical arm;

Fig. 4 is the schematic diagram of cooperation between the bracket and the cross arm of the utility model;

Among them, 1. DC servo motor; 2 rotating shaft; 3. The first stepping motor; 4. The first rack; 5. The second stepping motor; 7. Grabbing device; 8. Bracket; 9. The first gear; 10, cross arm; 11, deep groove ball bearing; 12, bearing ring; 13, gear shaft; 15, second gear; 16, second rack; 18, mechanical arm; 19, driving gear; 21, rotating gear ; 22, the first rolling bearing; 23, the second rolling bearing.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is further described.

Referring to Fig. 1 to Fig. 4, the utility model comprises the bracket 8 that is vertically arranged, and the horizontal arm 10 is arranged on the bracket 8, and the mechanical arm 18 is arranged on the horizontal arm 10, and the grasping device 7 is arranged on the bottom of the mechanical arm 18, and the bracket 8 is provided with a DC servo motor 1 for driving the cross arm 10 to rotate, the cross arm 10 is provided with a first stepping motor 3 for controlling the sliding of the mechanical arm 18, and the mechanical arm 18 is provided with a first stepping motor 3 for controlling the up and down movement of the mechanical arm. Two stepping motors; DC servo motor 1 is connected with the cross arm 10 through a gear pair, the first stepping motor 3 drives the mechanical arm 18 to slide left and right through the rack and pinion transmission mechanism, and the second stepping motor 5 drives through the rack and pinion transmission mechanism Mechanical arm 18 moves up and down;

The end of the cross arm 10 is provided with a rotating shaft 2, the rotating shaft 2 is sleeved on the bracket 8, the DC servo motor 1 is connected to the driving gear 19, the rotating shaft 2 is provided with a rotating gear 21, the driving gear 19 and the rotating gear 21 mesh, and the rotating shaft 2 The upper sleeve is provided with a first rolling bearing 22 and a second rolling bearing 23 , the cross arm 10 is provided with a first rack 4 , the first stepping motor 3 is connected to the first gear 9 , and the first gear 9 meshes with the first rack 4 .

The mechanical arm 18 is provided with a second rack 16, the second stepper motor 5 is connected to the second gear 15 through the gear shaft 13, the second rack 16 is covered with a deep groove ball bearing 11, and the deep groove ball bearing 11 passes through the bearing block. Circle 12 is fixed.

Preferably, the grabbing device 7 adopts an electromagnetic chuck.

During use, the drive gear 19 is driven by the DC servo motor 1 to rotate, the drive gear 19 drives the rotation gear 21 to rotate, the rotation gear 21 drives the cross arm 10 to rotate around the shaft 2, and the first stepper motor 3 drives the first gear 9 to rotate. The gear 9 drives the first rack 4 to move back and forth, the first gear drives the cross arm 10 to move back and forth, the second stepping motor 5 drives the second gear 15 to rotate, the second gear 15 drives the second rack 16 to move up and down, the second gear Bar 16 drives the mechanical arm to move up and down; controls the electromagnetic sucker to grab the workpiece to realize the transfer of the workpiece.

Claims (6)

1. A three-degree-of-freedom electric drive palletizing loading and unloading manipulator, is characterized in that, comprises the support (8) that vertically arranges, and horizontal arm (10) is arranged on the support (8), is provided with on the transverse arm (10) There is a mechanical arm (18), a grasping device (7) is arranged at the bottom of the mechanical arm (18), a DC servo motor (1) for driving the cross arm (10) to rotate is arranged beside the support (8), and the cross arm (10) A first stepping motor (3) for controlling the sliding of the mechanical arm (18) is arranged on the top, and a second stepping motor for controlling the up and down movement of the mechanical arm is arranged on the mechanical arm (18); The DC servo motor (1) is connected to the cross arm (10) through a gear pair, the first stepping motor (3) drives the mechanical arm (18) to slide left and right through the rack and pinion transmission mechanism, and the second stepping motor (5) passes through the gear The rack drive mechanism drives the mechanical arm (18) to move up and down. 2. A kind of three-degree-of-freedom electric-driven palletizing and loading and unloading manipulator according to claim 1, characterized in that, the end of the cross arm (10) is provided with a rotating shaft (2), and the rotating shaft (2) is sleeved on the bracket ( 8), the DC servo motor (1) is connected with the driving gear (19), and the rotating shaft (2) is sheathed with a rotating gear (21), and the driving gear (19) meshes with the rotating gear (21). 3. A three-degree-of-freedom electric-driven palletizing loading and unloading manipulator according to claim 2, characterized in that a first rolling bearing (22) and a second rolling bearing (23) are sheathed on the rotating shaft (2). 4. A kind of three-degree-of-freedom power-driven palletizing loading and unloading manipulator according to claim 1, characterized in that, the cross arm (10) is provided with a first rack (4), a first stepper motor (3) Connect the first gear (9), the first gear (9) meshes with the first rack (4). 5. A kind of three-degree-of-freedom power-driven stacking and unloading manipulator according to claim 1, characterized in that, the mechanical arm (18) is provided with a second rack (16), and the second stepper motor (5) The second gear (15) is connected through the gear shaft (13), and the second rack (16) is covered with a deep groove ball bearing (11), and the deep groove ball bearing (11) is fixed by a bearing retaining ring (12). 6. A three-degree-of-freedom electric-driven palletizing loading and unloading manipulator according to claim 1, characterized in that the grabbing device (7) adopts an electromagnetic chuck.