CN211254349U - Rotary manipulator - Google Patents
Rotary manipulator Download PDFInfo
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- CN211254349U CN211254349U CN201921587715.6U CN201921587715U CN211254349U CN 211254349 U CN211254349 U CN 211254349U CN 201921587715 U CN201921587715 U CN 201921587715U CN 211254349 U CN211254349 U CN 211254349U
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Abstract
The utility model relates to a rotary manipulator, include: the clamping mechanism, the rotating mechanism and the lifting mechanism are provided with a lifting seat, and the clamping mechanism is connected with the lifting seat. When the rotary manipulator is used, the rotating mechanism drives the lifting mechanism to rotate; the lifting mechanism drives the clamping mechanism to lift; the chips are clamped and put down through the clamping mechanism, so that the turnover of the chips is realized; the rotary manipulator realizes the turnover of the chip, does not need to be matched with a plurality of manipulators, is beneficial to the miniaturization of the sorting machine, and reduces the production cost.
Description
Technical Field
The utility model belongs to the technical field of the separation and test equipment and specifically relates to a rotatory manipulator.
Background
A robot is an automatic manipulator that can simulate some motion functions of a human arm and is used for grabbing, carrying objects or operating tools according to a fixed program. In modern chip sorting and detecting equipment, a mechanical arm is an important tool for realizing chip position movement. By manipulating the manipulator, mechanization and automation of chip detection and sorting can be achieved. In the existing sorting equipment, in order to improve the space utilization rate, a feeding station, a detection station and a grading station are generally set to be a cycle, a manipulator is installed on a linear module or a linear guide rail and can only move in one dimension, and in order to realize the turnover of chips, a plurality of manipulators are required to be matched, so that the miniaturization of a sorting machine is not facilitated, and the production cost is also improved; therefore, in order to overcome the above disadvantages, it is necessary to provide a solution, which is a problem to be solved urgently.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a rotary manipulator to overcome not enough among the prior art.
The utility model discloses a concrete technical scheme is:
a rotary manipulator, comprising: the clamping mechanism, the rotating mechanism and the lifting mechanism are provided with a lifting seat, and the clamping mechanism is connected with the lifting seat. When the rotary manipulator is used, the rotating mechanism drives the lifting mechanism to rotate; the lifting mechanism drives the clamping mechanism to lift; the chips are clamped and put down through the clamping mechanism, so that the turnover of the chips is realized; the rotary manipulator realizes the turnover of the chip, does not need to be matched with a plurality of manipulators, is beneficial to the miniaturization of the sorting machine, and reduces the production cost.
Preferably, the rotating mechanism includes: the device comprises a mounting seat provided with a transverse plate and a mounting plate, a speed reducer provided with a rotary driving motor and connected with the mounting plate, a rotary disc of a rotary shaft pivoted with the transverse plate at the upper end, and couplers respectively connected with the lower end of an output shaft of the speed reducer and the upper end of the rotary shaft. The rotary driving motor of the rotary mechanism drives the turntable to rotate through the speed reducer, the coupler and the rotating shaft, and the rotating precision is high.
Preferably, the lifting mechanism includes: the lifting mechanism comprises a connecting seat connected with the lower end of a rotary table, a plurality of vertical linear guide rails connected with the front side of the connecting seat, a vertical rack arranged on the front side of the connecting seat, a lifting gear meshed with the vertical rack, and a lifting driving motor connected with the back side of the connecting seat; an output shaft of the lifting driving motor penetrates through the connecting seat to be connected with the lifting gear; the slide block and the vertical rack of the vertical linear guide rail are respectively connected with the lifting seat; the lower end of the vertical linear guide rail is provided with an oil leakage prevention protective cover, and a limiting column which is positioned on one side of the oil leakage prevention protective cover and is connected with the connecting seat. An output shaft of a lifting driving motor of the lifting mechanism drives a lifting gear to rotate, and a lifting seat is driven to lift through a vertical rack, so that the lifting precision is high; the lower end of the vertical linear guide rail is provided with an oil leakage prevention protective cover which is used for preventing the slider from being polluted due to oil leakage when sliding on the linear guide rail; the limiting column limits the sliding block and improves safety.
Preferably, the lifting mechanism further comprises: two upper spring seats which are correspondingly connected with the two side ends of the connecting seat one by one, two lower pull rods which are connected with the lifting seat, and two tension springs; two ends of one tension spring are correspondingly connected with an upper spring seat and a lower pull rod one by one; and two ends of the other tension spring are correspondingly connected with the other upper spring seat and the other lower pull rod one by one. When the lifting driving motor loses power, the tension spring pulls the lifting seat to move upwards to reset, so that the clamping manipulator 23 and the chip cannot collide with other components on the machine table, and the safety is better.
Preferably, the gripping mechanism includes: a plurality of clamping devices which are arranged transversely and vertically; the clamping device comprises: the clamping manipulator is arranged on the fixed seat, the wiring groove and the plurality of adjusting screws are arranged on the fixed seat; the lifting seat is provided with waist-shaped holes which have the same number as the adjusting screws and are in one-to-one correspondence with the adjusting screws; a screw rod of the adjusting screw penetrates through the waist-shaped hole and is in threaded connection with the lifting seat; the wiring groove is positioned on the upper side of the clamping manipulator and is connected with the lifting seat. The wiring groove of the clamping mechanism is favorable for neatly and stably routing the air circuit and the circuit; the screw rod of the adjusting screw penetrates through the waist-shaped hole and is in threaded connection with the lifting seat, so that the position of the clamping manipulator can be adjusted conveniently.
Preferably, the rotary robot further includes: an electrical box; the mounting seat is provided with a plurality of supporting rods connected with the electric box. The electric box is used for controlling the operation of the rotating mechanism, the lifting mechanism and the clamping mechanism; the electric box is connected with a plurality of supporting rods arranged on the mounting seat, and circuit wiring of the rotary manipulator is shortened.
Compared with the prior art, the beneficial effects of the utility model are that: the rotary manipulator realizes the turnover of the chip, does not need to be matched with a plurality of manipulators, is beneficial to the miniaturization of the sorting machine, and reduces the production cost. The rotary driving motor of the rotary mechanism drives the turntable to rotate through the speed reducer, the coupler and the rotating shaft, and the rotating precision is high. An output shaft of a lifting driving motor of the lifting mechanism drives a lifting gear to rotate, and a lifting seat is driven to lift through a vertical rack, so that the lifting precision is high; the lower end of the vertical linear guide rail is provided with an oil leakage prevention protective cover which is used for preventing the slider from being polluted due to oil leakage when sliding on the linear guide rail; the limiting column limits the sliding block and improves safety. When the lifting driving motor loses power, the tension spring pulls the lifting seat to move upwards to reset, so that the clamping manipulator 23 and the chip cannot collide with other components on the machine table, and the safety is better. The wiring groove of the clamping mechanism is favorable for neatly and stably routing the air circuit and the circuit; the screw rod of the adjusting screw penetrates through the waist-shaped hole and is in threaded connection with the lifting seat, so that the position of the clamping manipulator can be adjusted conveniently. The electric box is used for controlling the operation of the rotating mechanism, the lifting mechanism and the clamping mechanism; the electric box is connected with a plurality of supporting rods arranged on the mounting seat, and circuit wiring of the rotary manipulator is shortened.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the elevating mechanism.
In the figure: the electric box 1, the clamping mechanism 2, the clamping device 21, the fixing seat 22, the clamping manipulator 23, the wiring groove 24, the kidney-shaped hole 25, the rotating mechanism 3, the transverse plate 31, the mounting plate 32, the mounting seat 33, the rotary driving motor 34, the speed reducer 35, the rotating shaft 36, the rotating disc 37, the coupling 38, the supporting rod 39, the vertical plate 310, the triangular supporting plate 311, the lifting mechanism 4, the lifting seat 41, the connecting seat 42, the vertical linear guide rail 43, the vertical rack 44, the lifting gear 45, the lifting driving motor 46, the through hole 47, the sliding block 48, the oil leakage prevention protective cover 49, the limiting column 410, the upper spring seat 411 and the tension spring 412.
Detailed Description
The invention will be further described with reference to the drawings.
As shown in the attached figures 1 and 2: a rotary manipulator, comprising: the clamping mechanism 2, the rotating mechanism 3 and the lifting mechanism 4 with the lifting seat 41 are arranged, and the clamping mechanism 2 is connected with the lifting seat 41.
The rotating mechanism 3 comprises: the device comprises a mounting seat 33 provided with a transverse plate 31 and a mounting plate 32 positioned above the transverse plate 31, a speed reducer 35 provided with a rotary driving motor 34 and screwed with the mounting plate 32, a rotary disc 37 provided with a rotating shaft 36 pivoted with the transverse plate 31 through a bearing at the upper end, and a coupling 38 respectively connected with the lower end of an output shaft of the speed reducer 35 and the upper end of the rotating shaft 36. The rotation driving motor 34 is a servo motor.
The lifting mechanism 4 comprises: a connecting seat 42 in threaded connection with the lower end of the rotary table 37, two vertical linear guide rails 43 in threaded connection with the front surface of the connecting seat 42, a vertical rack 44 arranged on the front surface of the connecting seat 42 and positioned between the two vertical linear guide rails 43, a lifting gear 45 meshed with the vertical rack 44, and a lifting driving motor 46 in threaded connection with the back surface of the connecting seat 42; an output shaft of the lifting driving motor 46 passes through a through hole 47 formed in the connecting seat 42 and is connected with the lifting gear 45 in a key mode; the slide block 48 and the vertical rack 44 of the vertical linear guide rail are respectively in threaded connection with the lifting seat 41; the lower end of the vertical linear guide rail 43 is provided with an oil leakage prevention protective cover 49, and a limit column 410 which is positioned at one side of the oil leakage prevention protective cover 49 and connected with the connecting seat 42. The elevation drive motor 46 is a servo motor.
The lifting mechanism 4 further comprises: two upper spring seats 411 screwed with both side ends of the connecting seat 42 in a one-to-one correspondence, two lower links (not shown) screwed with the elevating seat 41 in a one-to-one correspondence, and two tension springs 412; both ends of a tension spring 412 are correspondingly connected with an upper spring seat 411 and a lower pull rod one by one; both ends of the other tension spring 412 are connected with the other upper spring seat 411 and the other lower tension rod in a one-to-one correspondence.
The gripping mechanism 2 comprises: four gripping devices 21 arranged laterally and side by side; the gripping device 21 includes: a fixed seat 22, a clamping manipulator 23 mounted on the fixed seat 22, a wiring groove 24, and six adjusting screws (not shown); the lifting seat 41 is provided with the waist-shaped holes 25 which have the same number as the adjusting screws and are in one-to-one correspondence with the adjusting screws; the screw rod of the adjusting screw passes through the waist-shaped hole 25 and is in threaded connection with the lifting seat 41; the wiring groove 24 is positioned on the upper side of the clamping manipulator 23 and is in threaded connection with the lifting seat 41.
The rotary manipulator further comprises: an electrical box 1; the mounting base 33 is provided with two support rods 39 which are screwed with the electrical box 1.
The mounting seat 33 includes: the vertical plates 310 are in screw joint with one end of the transverse plate 31 and one end of the mounting plate 32 on the front surface, and the two triangular support plates 311 are arranged on two sides of the speed reducer 35 in a one-to-one correspondence manner; the triangular support plate 311 is respectively screwed with the vertical plate 310 and the transverse plate 31; one end of the support rod 39 is screwed with the reverse side of the vertical plate 310.
When the rotary manipulator is used, a rotary driving motor 34 of the rotary mechanism 3 drives a turntable 37 to rotate through a speed reducer 35, a coupler 38 and a rotating shaft 36, and drives a connecting seat 42 of the lifting mechanism 4 to rotate; an output shaft of a lifting driving motor 46 of the lifting mechanism 4 drives a lifting gear 45 to rotate, and the clamping mechanism 2 is driven to lift by a vertical rack 44 and a lifting seat 41; the clamping mechanism 2 clamps and puts down the chip through the clamping manipulator 23, and the chip turnover is realized.
In addition to the above embodiments, the technical features or technical data of the present invention can be selected and combined again within the scope disclosed in the claims and the specification of the present invention to constitute new embodiments, which can be realized by those skilled in the art without creative efforts, and therefore, the embodiments of the present invention not described in detail should be regarded as specific embodiments of the present invention and within the protection scope of the present invention.
Claims (6)
1. A rotary manipulator, comprising: get mechanism, characterized by, rotatory manipulator still include: the rotating mechanism is provided with a lifting mechanism of the lifting seat, and the clamping mechanism is connected with the lifting seat.
2. A rotary manipulator according to claim 1, wherein the rotating mechanism comprises: the device comprises a mounting seat provided with a transverse plate and a mounting plate, a speed reducer provided with a rotary driving motor and connected with the mounting plate, a rotary disc of a rotary shaft pivoted with the transverse plate at the upper end, and couplers respectively connected with the lower end of an output shaft of the speed reducer and the upper end of the rotary shaft.
3. A rotary manipulator according to claim 2, wherein the elevating mechanism comprises: the lifting mechanism comprises a connecting seat connected with the lower end of a rotary table, a plurality of vertical linear guide rails connected with the front side of the connecting seat, a vertical rack arranged on the front side of the connecting seat, a lifting gear meshed with the vertical rack, and a lifting driving motor connected with the back side of the connecting seat; an output shaft of the lifting driving motor penetrates through the connecting seat to be connected with the lifting gear; the slide block and the vertical rack of the vertical linear guide rail are respectively connected with the lifting seat; the lower end of the vertical linear guide rail is provided with an oil leakage prevention protective cover, and a limiting column which is positioned on one side of the oil leakage prevention protective cover and is connected with the connecting seat.
4. The rotary robot of claim 3, wherein said elevating mechanism further comprises: two upper spring seats which are correspondingly connected with the two side ends of the connecting seat one by one, two lower pull rods which are connected with the lifting seat, and two tension springs; two ends of one tension spring are correspondingly connected with an upper spring seat and a lower pull rod one by one; and two ends of the other tension spring are correspondingly connected with the other upper spring seat and the other lower pull rod one by one.
5. The rotary manipulator according to claim 1, 2, 3 or 4, wherein said gripping mechanism comprises: a plurality of clamping devices which are arranged transversely and vertically; the clamping device comprises: the clamping manipulator is arranged on the fixed seat, the wiring groove and the plurality of adjusting screws are arranged on the fixed seat; the lifting seat is provided with waist-shaped holes which have the same number as the adjusting screws and are in one-to-one correspondence with the adjusting screws; a screw rod of the adjusting screw penetrates through the waist-shaped hole and is in threaded connection with the lifting seat; the wiring groove is positioned on the upper side of the clamping manipulator and is connected with the lifting seat.
6. The rotary robot of claim 2, 3 or 4, further comprising: an electrical box; the mounting seat is provided with a plurality of supporting rods connected with the electric box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921587715.6U CN211254349U (en) | 2019-09-23 | 2019-09-23 | Rotary manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921587715.6U CN211254349U (en) | 2019-09-23 | 2019-09-23 | Rotary manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211254349U true CN211254349U (en) | 2020-08-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921587715.6U Active CN211254349U (en) | 2019-09-23 | 2019-09-23 | Rotary manipulator |
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| CN (1) | CN211254349U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110712199A (en) * | 2019-09-23 | 2020-01-21 | 杭州长川科技股份有限公司 | Rotary manipulator |
-
2019
- 2019-09-23 CN CN201921587715.6U patent/CN211254349U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110712199A (en) * | 2019-09-23 | 2020-01-21 | 杭州长川科技股份有限公司 | Rotary manipulator |
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