CN211250062U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN211250062U CN211250062U CN201921714684.6U CN201921714684U CN211250062U CN 211250062 U CN211250062 U CN 211250062U CN 201921714684 U CN201921714684 U CN 201921714684U CN 211250062 U CN211250062 U CN 211250062U
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- adjusting mechanism
- plate
- guide rail
- fixing plate
- picking
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Abstract
The utility model relates to a manipulator, include: a fixing plate; a plurality of picking assemblies connected with the fixed plate and capable of moving along a first direction relative to the fixed plate; the adjusting mechanism comprises a track plate and a plurality of guide wheels, a plurality of sliding grooves are formed in the track plate and are radially distributed at intervals along the second direction, the guide wheels are slidably arranged in the sliding grooves respectively, and the guide wheels are connected with the picking assemblies respectively; and the driving mechanism is used for driving the track plate to move along a second direction relative to the fixed plate so that the guide wheel moves along the sliding groove to drive the picking assemblies to approach or move away from each other. The manipulator is provided with the coarse adjustment moving mechanism and the adjusting mechanism, the coarse adjustment moving mechanism is adjusted to be close to a workpiece to be taken, then the workpiece is sucked and transferred by the adjusting mechanism, the sucker can be well aligned with the workpiece, and the picking and placing efficiency is high.
Description
Technical Field
The utility model relates to a manipulator technical field especially relates to a manipulator.
Background
The manipulator can realize that the product work piece snatchs and transfers the action, and then reduces the artifical transport in the middle link of transferring. However, when the robot arm of the prior art simultaneously picks a plurality of workpieces, the pitch between the picking assemblies for picking up the workpieces cannot be adjusted, and only the workpieces with fixed intervals can be picked up. When picking up the work piece to different intervals, need the dismouting to adjust the position of picking up the subassembly, it is very inconvenient to operate, and the manipulator picks up work piece inefficiency.
SUMMERY OF THE UTILITY MODEL
Therefore, it is necessary to provide a robot to solve the problems that the robot cannot change the pitch and pick up the workpiece inaccurately.
A manipulator, comprising:
a fixing plate;
a plurality of picking assemblies connected with the fixed plate and capable of moving along a first direction relative to the fixed plate;
the adjusting mechanism comprises a track plate and a plurality of guide wheels, a plurality of sliding grooves are formed in the track plate, the sliding grooves are radially distributed at intervals along a second direction, the second direction is perpendicular to the first direction, the guide wheels are slidably arranged in the sliding grooves respectively, and the guide wheels are connected with the picking assemblies respectively; and
and the driving mechanism is used for driving the track plate to move along a second direction relative to the fixed plate so that the guide wheel moves along the sliding groove to drive the picking assemblies to approach or move away from each other.
The manipulator is provided with the plurality of picking assemblies and the adjusting mechanism, the distance change of the manipulator can be realized through the adjusting mechanism, the picking assemblies pick and move the workpieces, and the workpiece picking accuracy is improved.
In one embodiment, the sliding groove is linear, arc-shaped, wave-shaped or zigzag.
In one embodiment, the adjusting mechanism further includes a first guide rail disposed on the fixing plate, the first guide rail extends along the first direction, and the plurality of picking assemblies are disposed side by side and slidably disposed on the first guide rail.
In one embodiment, the adjusting mechanism further includes a plurality of supporting rods, the plurality of supporting rods are detachably connected to the plurality of picking assemblies respectively, and the plurality of supporting rods are distributed side by side and slidably disposed on the first guide rail.
In one embodiment, each of the support rods is provided with an extending end, the picking assembly comprises a vacuumizing piece, a sucking disc and a pipeline, the pipeline is clamped at the extending end, the end part of the pipeline is exposed out of the extending end, one end of the pipeline is connected with the vacuumizing piece, and the other end of the pipeline is connected with the sucking disc.
In one embodiment, the adjusting mechanism further includes a second guide rail disposed on the fixing plate, the second guide rail extends along the second direction, the track plate is slidably connected to the second guide rail, and the guide wheel is convexly disposed on the supporting rod.
In one embodiment, the driving mechanism includes a driving member and a screw assembly, the driving member is disposed on the fixing plate, and the screw assembly drives the track plate to move relative to the fixing plate.
In one embodiment, the device further comprises a moving mechanism connected with the fixing plate, and the moving mechanism can drive the adjusting mechanism to move.
In one embodiment, the device further comprises a control system, wherein the control system comprises a control panel, a transmission module and a control module which are electrically connected, and the control module is electrically connected with the adjusting mechanism and the moving mechanism respectively.
In one embodiment, the track board further comprises photoelectric sensing devices, and the photoelectric sensing devices are arranged at two ends of the track board.
Drawings
Fig. 1 is a combined perspective view of the robot in this embodiment (the guide wheel is located at the top end of the chute);
fig. 2 is a combined perspective view of the robot in this embodiment (the guide wheel is located at the bottom end of the chute);
fig. 3 is an assembled front view of the robot of fig. 1 (without the track board to show the component structure).
Detailed Description
Referring to fig. 1 and 2, a robot 10 according to an embodiment includes a fixing plate 100, a picking assembly 200, an adjusting mechanism 300, a driving mechanism 400, and a moving mechanism 500.
Referring to fig. 1, a plurality of picking assemblies 200 are connected to the fixing plate 100 and can move relative to the fixing plate 100 along a first direction.
Specifically, the adjustment mechanism 300 includes a first rail 310, a plurality of first sliders 320, and a plurality of struts 330. The first guide rail 310 is fixed to the fixing plate 100, the first guide rail 310 extends along a first direction, the plurality of supporting rods 330 are respectively and fixedly connected to the plurality of first sliders 320, the plurality of first sliders 320 are distributed side by side and slidably disposed on the first guide rail 310, and a picking assembly 200 is detachably disposed at an end of each supporting rod 330, so that the plurality of picking assemblies 200 can move along the first direction relative to the fixing plate 100 along with the corresponding supporting rod 330. Referring to fig. 1, the supporting rod 330 has an extending end 331, the extending end 331 is provided with a first hole (not shown in the drawings), the picking assembly 200 includes a vacuum-pumping member (not shown in the drawings), a suction cup 210 and a pipeline 210, the pipeline 210 is clamped in the first hole, an end portion of the pipeline is exposed out of the extending end 331, an upper end of the pipeline 210 is connected with the vacuum-pumping member, a lower end of the pipeline 210 is connected with the suction cup 210, when the suction cup 210 is close to a workpiece to be transferred, the vacuum-pumping member performs vacuum pumping through the pipeline 210 to form negative pressure in the suction cup 210, so as to suck the workpiece to be processed.
The first guide rail 310 may be provided in plurality, and the plurality of first guide rails 310 are disposed in parallel and spaced apart from each other on the fixing plate 100, so that when the picking assembly 200 is slidably connected to the fixing plate 100 through the plurality of first guide rails 310, the stability of the picking assembly 200 sliding with respect to the fixing plate 100 can be enhanced. For example, as shown in fig. 3, two first guide rails 310 are disposed on the fixing plate 100, and the supporting rod 330 is slidably disposed on the two first guide rails 310, so that when the supporting rod 330 slides along the first direction relative to the fixing plate 100, the two first guide rails 310 can prevent the sliding and clamping phenomena caused by the deflection of the supporting rod 330, so as to effectively improve the sliding stability of the supporting rod 330 relative to the fixing plate 100.
In this embodiment, there is one suction cup 210 on each protruding end 331. In other embodiments, the number of the suction cups 210 on each protruding end 331 can be multiple, and multiple suction cups 210 are arranged on the protruding end 331 side by side at intervals to enhance the suction effect on the workpiece. In this embodiment, the pipe 210 is engaged with the protruding end 331. In other embodiments, the conduit 210 may also be riveted with the protruding end 331.
Referring to fig. 1, the adjusting mechanism 300 includes a track plate 340 and a plurality of guide wheels 350, wherein the track plate 340 is provided with a plurality of sliding slots 341, the plurality of sliding slots 341 are radially spaced along a second direction, and the second direction is perpendicular to the first direction. For example, as shown in the combined front view of the robot in fig. 3, the left-right direction is the first direction, and the up-down direction is the second direction. The guiding wheels 350 are convexly disposed on the supporting rod 330, the guiding wheels 350 are slidably disposed in the sliding grooves 341, the guiding wheels 350 are connected to the picking assemblies 200, and the driving mechanism 400 is configured to drive the track plate 340 to move along the second direction relative to the fixing plate 100, so that the guiding wheels 350 move along the sliding grooves 341 to drive the picking assemblies 300 to approach or move away from each other.
Specifically, referring to fig. 3, the driving mechanism 400 includes a driving member 410 and a screw assembly 420, the driving member 410 is disposed on the fixing plate 100, the screw assembly 420 includes two fixing bases 421, a screw 422 and a screw nut 423, the two fixing bases 421 are respectively fixed to the top end and the bottom end of the fixing plate 100, the screw nut 423 is sleeved on the screw 422, the screw nut 423 is connected to the track plate 340, the driving member 410 is connected to the screw 422 to drive the screw 422 to rotate, and drive the screw nut 423 to move along the second direction, so as to drive the track plate 340 to slide along the second direction, so that the guide wheel 350 moves along the sliding groove 341 to drive the pickup assembly 300 to approach or move away from each other. In this embodiment, the driving member 410 is a servo motor. In other embodiments, the driver 410 may also be a drive cylinder.
Further, in order to facilitate guiding, the adjusting mechanism 300 further includes a second guide rail 360 and a second slider 370, the second guide rail 360 is disposed on the fixing plate 100, the second guide rail 360 extends along the second direction and is parallel to the screw 422, the second guide rail 360 and the second slider 370 are slidably connected, and the track plate 340 is fixedly connected to the second slider 370. For example, as shown in fig. 2 and 3, the track plate 340 is slidably connected to the fixing plate 100 through two second guide rails 360 arranged in parallel and at an interval, so that the stability of the track plate 340 sliding with respect to the fixing plate 100 is improved by the two second guide rails 360.
When the plurality of first guide rails 310 are provided on the fixing plate 100, the guide wheels 350 are positioned between the first guide rails 310 on the supporting rod 330. Specifically, the position of the guide wheel 350 on the supporting rod 330 is located between the two outermost first guide rails 310 on the fixing plate 100, so that when the track plate 340 slides along the second direction relative to the fixing plate 100 to make the guide wheel 350 slide along the sliding groove 341, so that the guide wheel 350 located between the first guide rails 310 drives the corresponding supporting rod 330 to slide along the first guide rails 310, the guide wheel 350 located between the first guide rails 310 can apply force to the approximately middle position of the supporting rod 330, thereby avoiding the situation that the supporting rod 330 swings to one side to generate large friction when sliding along the first guide rails 310, and further under the structural arrangement, the guide wheel 350 can drive the supporting rod 330 linked with the guide wheel 350 to slide relative to the fixing plate 100 more stably, thereby improving the position adjustment stability and precision of the picking assembly 200 connected with the supporting rod 330.
In this embodiment, the sliding groove 341 penetrates the track board 340 from the front side to the back side and is linear, and the plurality of sliding grooves 341 are radially distributed at intervals along the second direction, so that when the guide wheel 350 slides along the sliding groove 341, the plurality of picking assemblies 200 can simultaneously move along the first direction, and when the positions of the guide wheel 350 in the sliding groove 341 are different, the horizontal distances between the plurality of picking assemblies 200 are different. For example, when the guide wheel 350 is positioned at the top end of the chute 341, the horizontal spacing between the plurality of picking assemblies 200 is maximized, as shown in fig. 1; the screw assembly 420 is connected with the track plate 340 to drive the track plate 340 to move upwards, the chute 341 slides upwards relative to the guide wheel 350, and the plurality of picking assemblies 200 move along a first direction and the horizontal spacing gradually decreases; when the guide wheel 350 is positioned at the bottom end of the chute 341, the horizontal spacing between the plurality of picking assemblies 200 is minimized, as shown in fig. 2. In other embodiments, the sliding groove 341 may also be curved, wavy or zigzag to meet different horizontal spacing requirements. In the present embodiment, the inner wall of the chute 341 abuts against the guide wheel 350. In other embodiments, a plurality of ball grooves may be further provided on the inner wall of the sliding groove 341 to receive balls, so as to reduce resistance when the guide wheel 350 slides along the sliding groove 341.
In order to detect the sliding position of the track board 340, a photoelectric sensing device (not shown in the figure) is further arranged, the photoelectric sensing device comprises a photoelectric switch and a photoelectric sensing piece which are electrically connected, the photoelectric switch is arranged at two ends of the track board 340, the photoelectric sensing piece is arranged at the top end or the bottom end of the track board 340, the photoelectric sensing piece can trigger the photoelectric switch when moving to the photoelectric switch, and the photoelectric switch is turned off when the photoelectric sensing piece is far away from the photoelectric switch. Further, a moving mechanism 500 is further provided, and the moving mechanism 500 is connected to the fixing plate 100 to drive the adjusting mechanism 300 to move spatially.
Furthermore, in order to precisely control the horizontal spacing of the plurality of picking assemblies 200, a control system (not shown) is further provided, the control system includes a control panel, a transmission module and a control module, the control panel is electrically connected to the driving member 410 to control the displacement of the screw assembly 420 and the displacement of the track board 340, so as to control the horizontal spacing of the plurality of picking assemblies 200, the transmission module is used for transmitting displacement information, and displacement parameters can be set on the control panel.
The use process of the manipulator is as follows: the control system sends out an instruction to drive the moving mechanism 500 to drive the adjusting mechanism 300 to move, so that the plurality of picking assemblies 200 are positioned near the positions to be picked; the control system sends out an instruction to drive the driving mechanism 400 again, sets parameters of the screw rod assembly 420 through the control panel, drives the track board 340 to move along the second direction through the screw rod assembly 420, the guide wheel 350 slides in the sliding groove 341, the plurality of picking assemblies 200 approach to or move away from each other to a proper distance along the first direction, and the vacuumizing piece is started to form negative pressure in the suction cup 210 so as to suck the workpiece to be processed; when the workpiece to be processed is transferred to the workpiece to be processed position accessory, the parameters of the screw rod assembly 420 are set through the control panel again, so that the horizontal distance between the plurality of picking assemblies 200 is adjusted to be proper, the vacuumizing piece is stopped, the workpiece to be processed is completely separated from the sucking disc 210, and the workpiece to be processed is located at the workpiece to be placed position.
The manipulator is provided with the adjusting mechanism 300 and the moving mechanism 500, so that the picking assembly 200 can be aligned with the workpiece well, the workpiece picking accuracy is improved, the manipulator is subjected to variable pitch through the matching of the adjusting mechanism 300 and the driving mechanism 400, the workpieces with different pitches are picked, and the picking assembly 200 picks and transfers the workpieces, so that the time is saved, the structure is compact, and the occupied space is small.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. A manipulator, characterized by comprising:
a fixing plate;
a plurality of picking assemblies connected with the fixed plate and capable of moving along a first direction relative to the fixed plate;
the adjusting mechanism comprises a track plate and a plurality of guide wheels, a plurality of sliding grooves are formed in the track plate, the sliding grooves are radially distributed at intervals along a second direction, the second direction is perpendicular to the first direction, the guide wheels are slidably arranged in the sliding grooves respectively, and the guide wheels are connected with the picking assemblies respectively; and
and the driving mechanism is used for driving the track plate to move along a second direction relative to the fixed plate so that the guide wheel moves along the sliding groove to drive the picking assemblies to approach or move away from each other.
2. The robot hand of claim 1, wherein the slide groove is linear, arcuate, wavy, or zigzag.
3. The manipulator according to claim 1, wherein the adjusting mechanism further includes a first guide rail disposed on the fixed plate, the first guide rail extends along the first direction, and the plurality of picking assemblies are disposed side by side and slidably disposed on the first guide rail.
4. The manipulator according to claim 3, wherein the adjusting mechanism further comprises a plurality of support rods, the plurality of support rods are detachably connected to the plurality of picking assemblies respectively, and the plurality of support rods are distributed side by side and slidably disposed on the first guide rail.
5. The manipulator according to claim 4, wherein each of the support rods has an extended end, the pick-up assembly includes a vacuum-pumping member, a suction cup, and a pipe clamped to the extended end and having an end exposed outside the extended end, one end of the pipe is connected to the vacuum-pumping member, and the other end of the pipe is connected to the suction cup.
6. The manipulator according to claim 4, wherein the adjusting mechanism further includes a second guide rail disposed on the fixing plate, the second guide rail extends along the second direction, the track plate is slidably connected to the second guide rail, and the guide wheel is protruded from the supporting rod.
7. The manipulator of claim 1, wherein the driving mechanism includes a driving member and a lead screw assembly, the driving member is disposed on the fixing plate, and the lead screw assembly drives the track plate to move relative to the fixing plate.
8. The manipulator according to claim 1, further comprising a moving mechanism connected to the fixing plate, wherein the moving mechanism is capable of moving the adjusting mechanism.
9. The manipulator according to claim 8, further comprising a control system, wherein the control system comprises a control panel, a transmission module and a control module, the control panel, the transmission module and the control module are electrically connected to the adjusting mechanism and the moving mechanism, respectively.
10. The manipulator according to claim 1, further comprising photoelectric sensing devices provided at both ends of the track plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921714684.6U CN211250062U (en) | 2019-10-14 | 2019-10-14 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921714684.6U CN211250062U (en) | 2019-10-14 | 2019-10-14 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211250062U true CN211250062U (en) | 2020-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921714684.6U Active CN211250062U (en) | 2019-10-14 | 2019-10-14 | Mechanical arm |
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| CN (1) | CN211250062U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112658383A (en) * | 2020-11-24 | 2021-04-16 | 丁永雄 | Distance cutting equipment is used in aluminium alloy processing |
| CN113246163A (en) * | 2021-06-02 | 2021-08-13 | 昆山嘉华捷锐智能科技有限公司 | Full-automatic material snatchs adjusting device |
| CN113996542A (en) * | 2021-09-24 | 2022-02-01 | 苏州浪潮智能科技有限公司 | Move and carry module and have this testing arrangement who moves and carry module |
-
2019
- 2019-10-14 CN CN201921714684.6U patent/CN211250062U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112658383A (en) * | 2020-11-24 | 2021-04-16 | 丁永雄 | Distance cutting equipment is used in aluminium alloy processing |
| CN112658383B (en) * | 2020-11-24 | 2023-12-26 | 佛山都晓装饰材料科技有限公司 | Distance cutting equipment is used in aluminium alloy processing |
| CN113246163A (en) * | 2021-06-02 | 2021-08-13 | 昆山嘉华捷锐智能科技有限公司 | Full-automatic material snatchs adjusting device |
| CN113246163B (en) * | 2021-06-02 | 2021-09-21 | 昆山嘉华捷锐智能科技有限公司 | Full-automatic material snatchs adjusting device |
| CN113996542A (en) * | 2021-09-24 | 2022-02-01 | 苏州浪潮智能科技有限公司 | Move and carry module and have this testing arrangement who moves and carry module |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220822 Address after: 518000 workshop 501, building 3, intelligent manufacturing center park, No. 12, Chongqing Road, Heping community, Fuhai street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Han's lithium battery intelligent equipment Co.,Ltd. Address before: 518051 Dazu laser building, 9 new West Road, North Nanshan District high tech park, Shenzhen, Guangdong Patentee before: HAN'S LASER TECHNOLOGY INDUSTRY GROUP Co.,Ltd. |
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| TR01 | Transfer of patent right |