CN211440018U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN211440018U CN211440018U CN201921637121.1U CN201921637121U CN211440018U CN 211440018 U CN211440018 U CN 211440018U CN 201921637121 U CN201921637121 U CN 201921637121U CN 211440018 U CN211440018 U CN 211440018U
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- moving platform
- arc
- plate
- guide cam
- slider
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Abstract
The utility model relates to a manipulator includes: a frame; the driving device is connected with the frame; the first moving platform is connected with the driving device and can move along a first direction; the second moving platform is connected with the first moving platform and can move along a second direction perpendicular to the first direction; the adsorption component is connected with the second mobile platform; the track plate is arranged on the rack and provided with an arc-shaped groove; and the guide cam is connected with the second moving platform and is arranged in the arc-shaped groove in a sliding manner, and when the driving device drives the first moving platform to move along the first direction, the guide cam is driven to slide along the arc-shaped groove, and meanwhile, the second moving platform and the adsorption assembly are driven to move along the second direction. Foretell manipulator is equipped with first moving platform, second moving platform, direction cam and arc wall, can make adsorption component remove in two not equidirectionals simultaneously through a drive arrangement, and the energy consumption is little, and the rate of motion is fast, and is efficient.
Description
Technical Field
The utility model relates to a manipulator technical field especially relates to a manipulator.
Background
In the production process of products, the workpieces to be processed need to be transported. The manual handling cost is higher and inefficiency, adopts traditional manipulator transport, if will realize the displacement of work piece two equidirectional not, needs two or more drive arrangement drives, and the energy consumption is big and occupation space is big.
SUMMERY OF THE UTILITY MODEL
Therefore, it is necessary to provide a manipulator for solving the problem of large energy consumption when the manipulator realizes displacement in two different directions.
A manipulator, comprising:
a frame;
the driving device is connected with the rack;
the first moving platform is connected with the driving device and can move along a first direction;
the second moving platform is connected with the first moving platform and can move along a second direction perpendicular to the first direction;
the adsorption component is connected with the second moving platform;
the track plate is arranged on the rack and provided with an arc-shaped groove; and
the guide cam is connected with the second moving platform and is arranged in the arc-shaped groove in a sliding mode, when the driving device drives the first moving platform to move in the first direction, the guide cam is driven to slide along the arc-shaped groove, and meanwhile the second moving platform and the adsorption component are driven to move in the second direction.
Foretell manipulator is equipped with first moving platform, second moving platform, direction cam and arc wall, can make adsorption component remove in two not equidirectionals simultaneously through a drive arrangement, and the energy consumption is little, and the rate of motion is fast, and is efficient.
In one embodiment, the size of the arc-shaped groove is matched with that of the guide cam, and the arc-shaped groove is in an upward convex arc shape, a downward concave arc shape or a wavy arc shape.
In one embodiment, the track board comprises a front surface and a back surface, and the arc-shaped groove penetrates through the track board from the front surface to the back surface.
In one embodiment, the mobile platform further comprises a first fixing plate, the first mobile platform comprises a first guide rail and a first sliding block, the first guide rail extends along the first direction, the first guide rail is fixed to the frame, and the first sliding block is fixed to the back surface of the first fixing plate.
In one embodiment, the second fixing plate further comprises a second guide rail and a second sliding block, the second guide rail extends along the second direction, the second guide rail is fixed to the front surface of the first fixing plate, and the second sliding block is fixed to the back surface of the second fixing plate, so that the first fixing plate and the second fixing plate are in a stacked position.
In one embodiment, the second fixing plate includes a connecting portion and a transition portion connected to each other, the transition portion is located below the connecting portion, the second slider is disposed on a back surface of the connecting portion, the guide cam is disposed on the back surface of the transition portion and extends along a third direction, and the third direction is perpendicular to both the first direction and the second direction.
In one embodiment, the front surface of the transition part is provided with a protruding end protruding out of the front surface of the transition part, and the adsorption component is detachably arranged at the protruding end.
In one embodiment, the adsorption assembly comprises a vacuum pumping device, a sucker and a pipeline, the pipeline is clamped at the extending end, the end part of the pipeline is exposed out of the extending end, the upper end of the pipeline is connected with the vacuum pumping device, and the lower end of the pipeline is connected with the sucker.
In one embodiment, the device further comprises a photoelectric sensing device, wherein the photoelectric sensing device comprises a photoelectric switch and a photoelectric sensing sheet which are electrically connected, the photoelectric switch is arranged at two ends of the track board, and the photoelectric sensing sheet is arranged below the first moving platform so as to detect the sliding position of the guide cam.
In one embodiment, the rack further comprises a buffering limiting device, the buffering limiting device comprises a limiting plate and a buffering end, the limiting plate is connected with the rack, and the buffering end is connected with the limiting plate and protrudes out of the limiting plate.
Drawings
Fig. 1 is an isometric view of a robot in accordance with this embodiment;
fig. 2 is a front view of fig. 1.
Detailed Description
Referring to fig. 1 and 2, a robot 10 according to an embodiment includes a frame 100, a driving device 200, a first moving platform 300, a second moving platform 400, a track plate 500, a guide cam 600, and an adsorption assembly 700.
Referring to fig. 1, the rack 100 includes two upright columns 110 and two mounting plates 120, the two upright columns 110 are spaced side by side, and the mounting plates 120 are disposed between the two upright columns 110. In the present embodiment, the mounting plate 120 is provided with a mounting hole (not shown), the upright post 110 is provided with a through hole (not shown), and the mounting plate 120 and the upright post 110 are connected by a fastener (not shown) penetrating the mounting hole and the through hole. The fastener is a screw or a bolt. In other embodiments, mounting plate 120 and upright 110 may also be riveted or formed as a unitary structure.
Specifically, referring to fig. 1, the driving device 200 includes a body 210 and a rod 220 connected to each other, the rod 220 penetrates through the body 210, the rod 220 is fixed to the top of the mounting plate 120, the rod 220 extends along a first direction (i.e., a horizontal direction), and the body 210 is sleeved on the rod 220 and can slide along the rod 220. In the present embodiment, the driving device 200 is a driving cylinder. In other embodiments, the driving device 200 may also be a servo motor, and the driving device 200 may also be a screw rod assembly, that is, the rod 220 is replaced by a screw rod, the body 210 is replaced by a screw rod nut, the screw rod is connected with a synchronous belt transmission assembly, the screw rod nut is sleeved on the screw rod, and the screw rod is driven to rotate by the synchronous belt transmission assembly, so that the screw rod nut slides along the screw rod.
The first moving platform 300 is connected to the driving device 200 and can move in a first direction. Specifically, referring to fig. 1, a first fixing plate 130 is further provided, the first moving platform 300 includes a first guide rail 310 and a first slider 320, the first guide rail 310 extends along a first direction, the first guide rail 310 is slidably connected to the first slider 320, the first guide rail 310 is fixedly disposed on the mounting plate 120, the first slider 320 is fixed to the back surface of the first fixing plate 130, and the first fixing plate 130 is connected to the body 210 of the driving device 200, so that when the driving device 200 drives the body 210 to slide along the first direction, the first slider 320 and the first fixing plate 130 are driven to slide along the first direction at the same time.
In this embodiment, in order to ensure the stability of the movement of the first fixing plate 130, the number of the first sliding blocks 320 is two, and the two first sliding blocks 320 are respectively located at the upper side and the lower side of the back surface of the first fixing plate 130, and the number of the first guide rails 310 is also two and are arranged in parallel at intervals to be matched with the first sliding blocks 320. In other embodiments, the number of the first sliding blocks 320 and the first sliding rails 310 may also be one or more than two to meet the actual requirement. In the present embodiment, the first rail 310 is provided with a first hole 311, the mounting plate 120 is provided with a fixing hole (not shown), and the first rail 310 and the mounting plate 120 are connected by a fastener (not shown) passing through the first hole 311 and the fixing hole, the fastener being a screw or a bolt. In other embodiments, the first rail 310 may also be connected to the mounting plate 120 by a snap or rivet connection. In this embodiment, the first slider 320 is fixedly connected to the first fixing plate 130 by a fastener (not shown). In other embodiments, the first sliding block 320 may be fixed to the first fixing plate 130 by an integral structure, or the first sliding block 320 is clamped to the first fixing plate 130 for easy assembly and disassembly.
The second moving platform 400 is connected to the first moving platform 300 and is capable of moving in a second direction (i.e., a vertical direction) perpendicular to the first direction. Specifically, referring to fig. 1, a second fixing plate 140 is further disposed, the second fixing plate 140 and the first fixing plate 130 are in a front-back stacking position relationship, so as to make the structure compact and reduce the occupied space, the second fixing plate 140 includes a connecting portion 141 and a transition portion 142 connected to each other, the transition portion 142 is located below the connecting portion 141, the second moving platform 400 includes a second guide rail 410 and a second slider 420, the second guide rail 410 is fixed to the front surface of the first fixing plate 130, the second guide rail 410 extends in a second direction, the second slider 420 is fixed to the back surface of the connecting portion 141, and the second slider 420 can slide in the second direction. In this embodiment, in order to ensure the stability of the movement of the second fixing plate 140, the number of the second sliding blocks 420 is two, and the two second sliding blocks 420 are respectively located on the left side and the right side of the back surface of the connecting portion 141, and the number of the second guide rails 410 is also two and are arranged in parallel at intervals to be matched with the second sliding blocks 420. In other embodiments, the number of the second sliding blocks 420 and the second sliding rails 410 may also be one or more than two to meet the actual requirement.
Referring to fig. 1, the track plate 500 is fixed on the mounting plate 120 of the rack 100 and located below the first guide rail 310, and an arc-shaped slot 510 is formed on the track plate 500 to cooperate with the guide cam 600. In the present embodiment, the track board 500 is provided with a second hole 520, the mounting plate 120 is provided with a third hole (not shown), and the track board 500 and the mounting plate 120 are connected by a fastener (not shown) passing through the second hole 520 and the third hole. In other embodiments, the track pad 500 and the mounting plate 120 may be connected by riveting or integrally formed.
In this embodiment, the arc-shaped groove 510 is an upwardly convex arc, and the start point and the end point of the arc are located at the same height position. In other embodiments, the arc-shaped groove 510 may also be a downward concave arc, and the start point and the end point of the arc may not be at the same height position, so as to expand the sliding range of the guide cam 600, and the arc-shaped groove 510 may also be a wavy arc. In the present embodiment, the inner wall of the arc-shaped groove 510 abuts against the guide cam 600. In other embodiments, a plurality of ball grooves may be further provided on the inner wall of the arc-shaped groove 510 to place balls, so as to reduce resistance when the guide cam 600 slides along the arc-shaped groove 510. In this embodiment, the height of the track pad 500 is not adjustable. In other embodiments, the track pad 500 may be slidably disposed on the rack 100, so as to adjust the height position of the track pad 500 to better meet the requirement.
Referring to fig. 1, the guide cam 600 can slide along the arc-shaped slot 510, and the guide cam 600 extends along a third direction, which is perpendicular to both the first direction and the second direction. Specifically, the guide cam 600 is disposed on the back surface of the transition portion 142 of the second fixing plate 140 and below the second slider 410, the guide cam 600 is slidably disposed in the arc-shaped groove 510, and when the driving device 200 drives the body 210 to slide along the first direction, the first slider 320 and the first fixing plate 130 are driven to slide along the first direction, so as to drive the guide cam 600 to slide along the arc-shaped groove 510 and drive the second slider 420 to move along the second direction.
Further, in order to detect the sliding position of the guide cam 600, a photoelectric sensing device 610 is further provided, the photoelectric sensing device 610 includes a photoelectric switch 611 and a photoelectric sensing piece 612, the photoelectric switch 611 is disposed at two ends of the track board 500, the photoelectric sensing piece 612 is disposed below the first fixing plate 130, the photoelectric switch 611 can be triggered when the photoelectric sensing piece 612 moves to the photoelectric switch 611, and the photoelectric switch 611 is turned off when the photoelectric sensing piece 612 moves away from the photoelectric switch 611. Furthermore, still be equipped with spacing buffer 620 in order to be used for accurate spacing guide cam 600's maximum displacement, spacing buffer 620 includes limiting plate 621 and buffering end 622, limiting plate 521 is fixed in the both ends of mounting panel 120, buffering end 521 card is located limiting plate 521 and protrusion in limiting plate 521, when first slider 310 and first fixed plate 130 left and right sides slip striking buffering end 521, in this embodiment, buffering end 521 can the reconversion when deformation owing to have elasticity and receive the striking, can effectively avoid damaging first slider 310 and first fixed plate 130, increase of service life. In other embodiments, the buffering end 521 may not have elasticity, and the limiting and buffering device 620 is a hydraulic buffer, which can achieve the effect of limiting and buffering the first sliding block 310.
Referring to fig. 1, a suction assembly 700 is further provided, and the suction assembly 700 is detachably disposed on the second fixing plate 140. Specifically, the front surface of the transition portion 142 of the second fixing plate 140 is provided with a protruding end 143, the protruding end 143 extends outward in a direction perpendicular to the second fixing plate 140, the protruding end 143 is provided with a fourth hole (not shown in the drawings), the vacuum suction assembly 700 includes a vacuum pumping device (not shown in the drawings), a suction cup 710 and a pipeline 720, the pipeline 720 is clamped in the fourth hole, an end portion of the pipeline 720 is exposed out of the protruding end 143, an upper end of the pipeline 720 is connected with the vacuum pumping device, a lower end of the pipeline 720 is connected with the suction cup 710, and when the suction cup 720 is close to a workpiece to be transferred, the vacuum pumping device performs vacuum pumping through the pipeline 720 to form negative pressure in the suction cup 710, so as to suck the workpiece 20 to. In this embodiment, the suction cups 710 are provided in a plurality and spaced apart from each other on the extension end 143. In other embodiments, the number of suction cups 710 may also be one. In this embodiment, the number of the protruding ends 143 is one. In other embodiments, the number of the protruding ends 143 may also be multiple, and multiple protruding ends 143 are arranged side by side at intervals, so as to suck multiple workpieces to be processed simultaneously, thereby improving efficiency. In this embodiment, the tube 720 is engaged with the protruding end 143. In other embodiments, the conduit 720 may also be riveted with the protruding end 143.
The use process of the manipulator is as follows: when the workpiece 20 to be machined flows to the material waiting position, the driving device 200 is started to drive the first slider 320 and the first fixing plate 130 to slide along the first direction (i.e. the horizontal direction), the guide cam 600 slides along the arc-shaped groove 510, and simultaneously the second slider 420 and the second fixing plate 140 slide along the second direction (i.e. the vertical direction), so that after the suction cup 710 is attached to the workpiece, the vacuumizing device is started to vacuumize, the suction cup 710 sucks the workpiece 20 to be machined, the guide cam 600 continues to slide along the arc-shaped groove 510, and after the workpiece 20 to be machined is moved to the material waiting position, the vacuumizing device is stopped, so that the workpiece 20 to be machined is completely separated from the suction cup 710, and the workpiece 20 to be machined is located at the material placing position.
The manipulator 10 is provided with the first moving platform 300, the second moving platform 400, the guide cam 600 and the arc-shaped groove 510, and the workpiece can be moved in two different directions through one driving device 200, so that the energy consumption is low, the movement speed is high, and the picking and placing efficiency is high; the first and second movable platforms 300 and 400 are disposed on the first and second fixing plates 130 and 140, so that the first and second fixing plates 130 and 140 are in a front-back stacked position relationship, and have a compact structure and a small occupied space.
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 frame;
the driving device is connected with the rack;
the first moving platform is connected with the driving device and can move along a first direction;
the second moving platform is connected with the first moving platform and can move along a second direction perpendicular to the first direction;
the adsorption component is connected with the second moving platform;
the track plate is arranged on the rack and provided with an arc-shaped groove; and
the guide cam is connected with the second moving platform and is arranged in the arc-shaped groove in a sliding mode, when the driving device drives the first moving platform to move in the first direction, the guide cam is driven to slide along the arc-shaped groove, and meanwhile the second moving platform and the adsorption component are driven to move in the second direction.
2. The robot hand of claim 1, wherein the arc-shaped slot is sized to match the guide cam, and the arc-shaped slot has an upwardly convex arc shape, a downwardly concave arc shape, or a wavy arc shape.
3. The robot of claim 1, wherein the track plate includes a front side and a back side, and the arcuate slot extends through the track plate from the front side to the back side.
4. The robot hand of claim 1, further comprising a first fixed plate, wherein the first moving platform comprises a first rail and a first slider, the first rail extends in the first direction, the first rail is fixed to the frame, and the first slider is fixed to a back surface of the first fixed plate.
5. The robot hand of claim 4, further comprising a second fixed plate, wherein the second movable platform comprises a second rail extending in the second direction and a second slider fixed to a front surface of the first fixed plate, and wherein the second slider is fixed to a rear surface of the second fixed plate so that the first fixed plate and the second fixed plate are in a stacked positional relationship.
6. The robot hand of claim 5, wherein the second fixing plate includes a connecting portion and a transition portion connected to each other, the transition portion is located below the connecting portion, the second slider is disposed on a back surface of the connecting portion, the guide cam is disposed on a back surface of the transition portion and extends in a third direction, and the third direction is perpendicular to both the first direction and the second direction.
7. The manipulator according to claim 6, wherein the front surface of the transition portion is provided with a protruding end protruding from the front surface of the transition portion, and the suction assembly is detachably disposed at the protruding end.
8. The manipulator according to claim 7, wherein the suction assembly includes a vacuum pumping device, a suction cup, and a pipe, the pipe is clamped at the protruding end, the end of the pipe is exposed out of the protruding end, the upper end of the pipe is connected to the vacuum pumping device, and the lower end of the pipe is connected to the suction cup.
9. The manipulator according to claim 1, further comprising a photoelectric sensing device, wherein the photoelectric sensing device comprises a photoelectric switch and a photoelectric sensing sheet, the photoelectric switch and the photoelectric sensing sheet are electrically connected, the photoelectric switch is disposed at two ends of the track plate, and the photoelectric sensing sheet is disposed below the first moving platform to detect the sliding position of the guide cam.
10. The manipulator according to claim 1, further comprising a buffer limiting device, wherein the buffer limiting device comprises a limiting plate and a buffer end, the limiting plate is connected with the frame, and the buffer end is connected with the limiting plate and protrudes from the limiting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921637121.1U CN211440018U (en) | 2019-09-29 | 2019-09-29 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921637121.1U CN211440018U (en) | 2019-09-29 | 2019-09-29 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211440018U true CN211440018U (en) | 2020-09-08 |
Family
ID=72319589
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921637121.1U Active CN211440018U (en) | 2019-09-29 | 2019-09-29 | Mechanical arm |
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| Country | Link |
|---|---|
| CN (1) | CN211440018U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112317625A (en) * | 2020-09-15 | 2021-02-05 | 天津英利模具制造有限公司 | Automatic blowing device of riveting product |
-
2019
- 2019-09-29 CN CN201921637121.1U patent/CN211440018U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112317625A (en) * | 2020-09-15 | 2021-02-05 | 天津英利模具制造有限公司 | Automatic blowing device of riveting product |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220831 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 |