CN209648711U - A kind of adjustable manipulator of mechanical arm position - Google Patents

Abstract

The utility model discloses a manipulator with an adjustable position of a mechanical arm, which relates to the field of conveying devices; it comprises a transverse beam on which an X transverse block is slidably connected, and the X transverse block is provided with two parallel supports, and the support and the transverse beam Vertical, the bracket is slidingly connected to the upper side of the X horizontal block, the Y horizontal rail parallel to the horizontal beam is fixed on the bracket, two mechanical arms are slidably connected to the Y horizontal rail, and the X horizontal block is fixedly connected to drive the X horizontal block. For the first driving machine of the movement, a fixed piece is fixedly connected to both ends of each bracket, and an adjustment shaft is arranged between the two fixed pieces of each bracket, and the two ends of each adjustment shaft are connected to the corresponding fixed piece Rotational connection, an adjusting nut, an adjusting bushing and another adjusting nut are sequentially set on the adjusting shaft. All are fixedly connected on the X horizontal block, and the utility model can adjust the position of the mechanical arm.

Description

A mechanical arm with adjustable position

technical field

The utility model belongs to the field of handling devices, in particular to a manipulator with an adjustable position of a manipulator.

Background technique

In production, when the injection molding machine completes the product, it is necessary to use the robot to move the product from one place to another.

Chinese Patent Authorization Announcement No. CN206066442U, authorized publication date 20170405, discloses "an M-type longitudinal walking manipulator", including a supporting beam part and a transverse beam part, and the transverse beam part is installed and fixed on the top of the supporting beam part by bolts, so The M-type longitudinal manipulator is also provided with a manipulator control system, and an M-shaped rotating part is arranged on the transverse beam part. The manipulator control system controls the M-shaped rotating part. The M-shaped rotating part and the transverse beam part slide coupling, so that the M-shaped rotating part can slide along the direction of the X horizontal axis; the M-shaped rotating part includes a sliding horizontal assembly connected to the horizontal beam part, an M rotating shaft assembly and an H rotating shaft assembly, and the H rotating shaft The bottom end of the assembly is provided with a jig for grabbing items, the M rotation axis assembly drives the jig to rotate around the Y axis, the H rotation axis assembly drives the jig to rotate around the Z axis, and the manipulator control system controls the sliding traverse assembly Linked with the M rotation axis assembly, it drives the H rotation axis assembly to perform linear lifting motion in the vertical direction, so that the jig can realize X-axis lateral movement, Y-axis rotation, Z-axis lifting movement, and when the Z-axis is vertically lifted Its horizontal position remains unchanged; the M-shaped rotating part also includes a connecting rod 1 and a connecting rod 2, and the connecting rod 1 and the connecting rod 2 are arranged on the side of the M rotating shaft assembly in an end-to-end movably coupled manner. The end of the first rod is connected to the side of the H rotating shaft assembly, and the front end of the second connecting rod is arranged on the sliding horizontal assembly; although this invention improves the production efficiency, when the projected distance from the product to the horizontal beam is large, often The position of the transverse beam needs to be adjusted, which is very troublesome to adjust, and the position of the mechanical arm of this invention cannot be adjusted.

Utility model content

The purpose of the utility model is to provide a manipulator with an adjustable position of the manipulator in order to overcome the disadvantage that the position of the manipulator in the prior art cannot be adjusted.

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

A manipulator with an adjustable position of the mechanical arm, comprising a transverse beam on which an X transverse block is slidably connected, and the X transverse block is provided with two parallel supports, the supports are perpendicular to the transverse beam, and the The bracket is slidably connected to the upper side of the X horizontal block, and the Y horizontal rail parallel to the horizontal beam is fixedly connected to the bracket. Two mechanical arms are slidably connected to the Y horizontal rail, and the X horizontal block is fixedly connected with a The first driving machine that drives the movement of the X horizontal block, a fixed piece is fixedly connected to both ends of each bracket, and an adjustment shaft is arranged between the two fixed pieces of each bracket, and the two ends of each adjustment shaft are connected to the The corresponding fixed pieces are rotationally connected, and an adjusting nut, an adjusting bushing, and another adjusting nut are sequentially set on the adjusting shaft. Lean on the adjusting bushing, and the adjusting bushings are fixed on the X horizontal blocks.

The X horizontal block can slide on the horizontal beam under the action of the first driving machine. When it slides to the product position, the X horizontal block stops sliding. After the two mechanical arms clamp the product, the X horizontal block continues to slide and slides to the designated place. Afterwards, the mechanical arm releases the product, and carries the product in this way. The two mechanical arms can slide on the Y horizontal block, so that the distance can be changed to adapt to different products. When it is necessary to adjust the mechanical arm, just turn the adjustment nut so that The adjusting nut is separated from the adjusting bushing, and then the adjusting shaft is moved. The adjusting shaft is fixedly connected to the bracket, and the bracket is connected to the mechanical arm, so the mechanical arm is finally driven to move. After moving to the desired position, the adjusting nut is tightened, and the adjusting nut is against Adjust the bushing, thereby fixing the bracket on the X horizontal block, thereby adjusting the position of the mechanical arm. The utility model can change the position of the mechanical arm, which is very convenient.

The mechanical arm includes an arm moving rod and a Y horizontal block slidingly connected with the arm moving rod, the arm moving rod is perpendicular to the horizontal beam, the Y horizontal block is slidingly connected with the Y horizontal rail, and the Y horizontal block is provided with A second driving machine and a third driving machine, the second driving machine is connected with the Y horizontal block through the first drag chain, the third driving machine is connected with the arm moving rod through the second drag chain, and the arm moves The bottom end of the rod is provided with a clamping device.

The second driving machine drives the Y horizontal block to slide on the Y horizontal rail through the first drag chain, and the third driving machine drives the arm moving rod to slide on the Y horizontal block through the second drag chain, thereby changing the height of the arm moving rod, so that it can be The utility model has the advantage of simple structure for holding and placing products of different heights.

A standby adjustment group is fixedly connected to the Y transverse rail.

A standby adjustment group is added, so that the working and standby time of the utility model can be controlled, and the utility model has a high degree of automation.

The beneficial effects of the utility model are as follows: (1) Turn the adjusting nut so that the adjusting nut is separated from the adjusting bushing, then move the adjusting shaft to the desired position, then tighten the adjusting nut, and the adjusting nut leans against the adjusting bushing , so that the bracket is fixed on the X horizontal block, thereby adjusting the position of the mechanical arm. The utility model can change the position of the mechanical arm, which is very convenient; (2) Change the height of the arm moving rod, so that products of different heights can be placed , the utility model has the advantage of simple structure; (3) a standby adjustment group is added, so that the working and standby time of the utility model can be controlled, and it has a high degree of automation.

Description of drawings

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

Fig. 2 is the structural representation of support and transverse beam;

Fig. 3 is the structural representation of the first drag chain and the Y transverse rail;

Fig. 4 is the structural representation of mechanical arm;

Fig. 5 is a structural schematic diagram of an adjusting nut, an adjusting shaft and an adjusting bush.

In the figure: horizontal beam 1, X horizontal block 2, bracket 3, Y horizontal rail 4, first driving machine 5, fixed piece 6, adjusting bush 7, adjusting shaft 8, adjusting nut 9, arm moving rod 10, Y horizontal Block 11, the second driving machine 12, the third driving machine 13, the first drag chain 14, the second drag chain 15, and the standby adjustment group 16.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the utility model is further elaborated:

Figures 1 to 5 are a manipulator with an adjustable position of the mechanical arm, including a transverse beam 1 on which an X transverse block 2 is slidably connected, and the X transverse block 2 is provided with two parallel supports 3 , the support 3 is perpendicular to the transverse beam 1, the support 3 is slidably connected to the upper side of the X transverse block 2, and the support 3 is fixed with a Y transverse rail 4 parallel to the transverse beam 1, and the Y transverse rail 4 Two mechanical arms are slidably connected on the upper side, and the first driving machine 5 for driving the movement of the X horizontal block 2 is fixedly connected to the X horizontal block 2, and a piece of fixed piece 6 is fixedly connected to both ends of each bracket 3, each An adjustment shaft 8 is arranged between the two fixed pieces 6 of the bracket 3, and both ends of each adjustment shaft 8 are rotatably connected with the corresponding fixed piece 6, and an adjustment nut is sleeved on the adjustment shaft 8 in turn. 9. An adjusting bush 7 and another adjusting nut 9, the adjusting nuts 9 are screwed with the corresponding adjusting shaft 8, and the adjusting nuts 9 all lean against the adjusting bush 7, and the adjusting bush 7 All are fixed on the X row block 2.

The X horizontal block can slide on the horizontal beam under the action of the first driving machine. When it slides to the product position, the X horizontal block stops sliding. After the two mechanical arms clamp the product, the X horizontal block continues to slide and slides to the designated place. Afterwards, the mechanical arm releases the product, and carries the product in this way. The two mechanical arms can slide on the Y horizontal block, so that the distance can be changed to adapt to different products. When it is necessary to adjust the mechanical arm, just turn the adjustment nut so that The adjusting nut is separated from the adjusting bushing, and then the adjusting shaft is moved. The adjusting shaft is fixedly connected to the bracket, and the bracket is connected to the mechanical arm, so the mechanical arm is finally driven to move. After moving to the desired position, the adjusting nut is tightened, and the adjusting nut is against Adjust the bushing, thereby fixing the bracket on the X horizontal block, thereby adjusting the position of the mechanical arm. The utility model can change the position of the mechanical arm, which is very convenient.

The mechanical arm includes an arm moving bar 10 and a Y horizontal block 11 slidably connected with the arm moving bar 10. The arm moving bar 10 is perpendicular to the horizontal beam 1, and the Y horizontal block 11 is slidably connected with the Y horizontal rail 4. The Y horizontal block 11 is provided with a second driving machine 12 and a third driving machine 13, the second driving machine 12 is connected with the Y horizontal block 11 through the first drag chain 14, and the third driving machine 13 passes The second drag chain 15 is connected with the arm moving rod 10, and the bottom end of the arm moving rod 10 is provided with a clamping device.

The second driving machine drives the Y horizontal block to slide on the Y horizontal rail through the first drag chain, and the third driving machine drives the arm moving rod to slide on the Y horizontal block through the second drag chain, thereby changing the height of the arm moving rod, so that it can be The utility model has the advantage of simple structure for holding and placing products of different heights.

A standby adjustment group 16 is fixedly connected to the Y traverse rail 4 .

A standby adjustment group is added to control the working and standby time of the utility model, which has a high degree of automation.

Claims (3)

1. a kind of adjustable manipulator of mechanical arm position, including row beam, which is characterized in that slidably connected on the row beam X row block, the X row block are equipped with two parallel brackets, and the bracket is vertical with row beam, the bracket slide connection On the upside of X row block, it is connected with the Y row rail with row Liangping row on the bracket, slidably connects two on the Y row rail A mechanical arm, the first driving machine for driving X row block to move is connected on the X row block, and each bracket both ends are solid Be connected to a piece of fixinig plate, be equipped with an adjustment axis between two fixinig plates of each bracket, the both ends of every adjustment axis with The rotation connection of corresponding fixinig plate is successively arranged with an adjusting nut, an adjusting bushing and another in the adjustment axis A adjusting nut, the adjusting nut are threadedly engaged with corresponding adjustment axis, and the adjusting nut is resisted against adjusting bushing On, the adjusting bushing is fixed on X row block.

2. the adjustable manipulator of a kind of mechanical arm position according to claim 1, which is characterized in that the mechanical arm includes One arm mobile bar and a Y row block being slidably connected with arm mobile bar, the arm mobile bar is vertical with row beam, The Y row block is slidably connected with Y row rail, and the Y row block is equipped with second driving machine and a third driving machine, Second driving machine is connect by the first drag chain with Y row block, and the third driving machine is mobile by the second drag chain and arm Bar connection, arm mobile bar bottom end are equipped with clamping device.

3. the adjustable manipulator of a kind of mechanical arm position according to claim 1 or 2, which is characterized in that the Y row rail On be connected with standby adjusting group.