CN211545183U - Carrying manipulator - Google Patents
Carrying manipulator Download PDFInfo
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- CN211545183U CN211545183U CN201921785845.0U CN201921785845U CN211545183U CN 211545183 U CN211545183 U CN 211545183U CN 201921785845 U CN201921785845 U CN 201921785845U CN 211545183 U CN211545183 U CN 211545183U
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Abstract
The utility model relates to a carrying manipulator, which comprises a mounting seat, a rotating arm and a workpiece taking hand; the rotating arm is provided with two ends, one end of the rotating arm is rotatably connected with the mounting seat, and the other end of the rotating arm is rotatably connected with the workpiece taking hand; in addition, the device also comprises a linkage assembly, wherein the linkage assembly comprises a rotary cylinder, a fixed wheel, a rotating wheel with the same diameter as that of the fixed wheel and a synchronizing piece; the fixed wheel is fixedly connected with the mounting seat, the rotating wheel is fixedly connected with the workpiece taking hand, and the synchronous part is in transmission connection with the fixed wheel and the rotating wheel; the drive rotating part fixed connection of revolving cylinder the swinging boom, the rotation axis of drive rotating part with the wheel core coaxial arrangement of tight pulley. The utility model discloses simple structure, low cost, and can keep the material not take place the upset in handling.
Description
Technical Field
The utility model relates to a mechanical automation field especially relates to a transport manipulator.
Background
The manipulator is a novel device developed in the mechanical and automatic production process. In the modern production process, the mechanical arm is widely applied to an automatic production line, the development and production of a robot become a new technology which is rapidly developed in the high-tech field, and the development of the mechanical arm is promoted, so that the mechanical arm can be organically combined with mechanization and automation better. Although the manipulator is not as flexible as a human hand, the manipulator has the characteristics of being capable of continuously and repeatedly working and working, being not tired, being not afraid of danger, and having larger force for grabbing heavy objects than the human hand, so the manipulator is more and more widely applied.
For materials with high requirements on stability, the materials are required to be kept in a translation state and cannot be turned over in the carrying process. At present, a screw rod module is generally adopted for carrying the screw rod module, and the screw rod module consists of two screw rod assemblies which are vertical to each other and are respectively responsible for realizing the vertical motion and the horizontal motion of materials. The module is complex in structure, needs two driving pieces, is easy to wear and is high in debugging and control cost.
SUMMERY OF THE UTILITY MODEL
Therefore, the conveying manipulator capable of keeping materials from turning over in the conveying process is needed to solve the problems that a screw rod module is complex in structure, easy to wear and high in debugging and control cost.
In order to solve the technical problem, the utility model discloses a following technical scheme:
a handling robot, comprising: the functional assembly comprises a mounting seat, a rotating arm and a pickup hand; the rotating arm is provided with two ends, one end of the rotating arm is rotatably connected with the mounting seat, and the other end of the rotating arm is rotatably connected with the workpiece taking hand; the linkage assembly comprises a rotary cylinder, a fixed wheel, a rotating wheel with the same diameter as the fixed wheel and a synchronizing piece; the fixed wheel is fixedly connected with the mounting seat, the rotating wheel is fixedly connected with the workpiece taking hand, and the synchronous part is in transmission connection with the fixed wheel and the rotating wheel; the drive rotating part fixed connection of revolving cylinder the swinging boom, the rotation axis of drive rotating part with the wheel core coaxial arrangement of tight pulley.
The carrying manipulator adopts the rotary cylinder as a driving element, so that the carrying manipulator is low in cost and convenient to install, and a complex linkage mechanism is omitted. In addition, the fixed wheel and the rotating wheel with the same radius are adopted, synchronous linkage of the synchronizing pieces is utilized, so that when the rotating arm rotates for any angle in any direction, the picking hand also rotates for the same angle in the opposite direction, the picking end of the picking hand is ensured to be unchanged, and materials are not overturned. The principle can be similar to the relation of the moon on the earth, and only the same hemisphere face of the moon can be seen on the earth.
In some embodiments, the mounting seat further comprises a limiting plate and a limiting member, wherein the limiting plate is fixedly connected with the mounting seat; the limiting part is installed on the limiting plate, is located on the same plane with the rotating surface of the rotating arm and is used for limiting the rotating angle of the rotating arm.
In some embodiments, the limiting members include a taking limiting member and a placing limiting member, and the taking limiting member and the placing limiting member are located on the same horizontal plane and are respectively disposed on two sides of the fixed wheel.
In some embodiments, a buffer member is disposed on the limiting plate, and the buffer member is located on the same plane as the rotating surface of the rotating arm, so as to reduce the impact force immediately before the rotating arm is limited.
In some embodiments, there are two buffer members, which are a taking buffer member and a placing buffer member, respectively, and the taking buffer member and the placing buffer member are located on the same horizontal plane and are respectively disposed on two sides of the fixed wheel.
In some embodiments, the picking hand comprises a connecting plate and a picking part connected to the connecting plate, wherein the connecting plate is rotatably connected with the rotating arm and fixedly connected with the rotating wheel.
In some embodiments, the pick part is a pick chuck or a jaw.
In some embodiments, the pick-off component is connected to the connecting plate by a direct buffer.
In some embodiments, the synchronous belt further comprises a tension pulley disposed between the fixed pulley and the rotating pulley and abutting against the synchronous belt for tensioning the synchronous belt.
In some embodiments, the synchronizing member is a timing belt that passes around the fixed wheel and the rotating wheel for transmission between the fixed wheel and the rotating wheel.
In some embodiments, there are two of the tension wheels, and the two tension wheels are elastically connected and arranged in a mirror image manner about a connecting line of the axes of the fixed wheel and the rotating wheel.
Drawings
Fig. 1 is an isometric view of the overall structure of a handling robot in accordance with an embodiment of the present invention;
fig. 2 is a schematic view of a tensioning wheel of a handling robot and a structural relationship thereof according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a first stage of a material handling process of a handling robot according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a second stage of the material handling process of the handling robot according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a third stage of a material handling process of a handling robot according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a final stage of the material handling process of the handling robot according to an embodiment of the present invention.
Reference numerals:
1, mounting a column; 2, mounting a base;
3, limiting the plate; 301, placing a piece limiting part; 302, placing a piece buffer; 303, taking a piece limiting part; 304, a part taking limiting part;
4, rotating the arm;
5, taking a workpiece; 501, connecting plates; 502, taking a piece and sucking disc;
6, rotating the cylinder;
701, a fixed wheel; 702, a rotating wheel; 703, a synchronous belt;
8, a tension wheel;
9, and (3) preparing materials.
Detailed Description
Preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or intervening elements may also be present, and the fixing is limited only to the direction in which it acts, and is not limited to other directions that do not affect the effectiveness of the solution. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and similar directional or positional expressions are used herein for purposes of illustration only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The term "fixed" in the context of the "fixed wheel" means that the part of the "fixed wheel" that is used for transmission does not rotate relative to the mounting base.
The term "rotation" in the context of the "rotating wheel" means that the part of the "rotating wheel" that is used for transmission is rotated relative to the rotating arm.
In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings.
Referring to fig. 1, a carrying manipulator is divided into a functional component and a linkage component, wherein the functional component is equivalent to a skeleton of a human arm and plays a role in supporting or fixing, and the linkage component is equivalent to a muscle of the human arm and plays a role in movement, coordination and transmission. In addition, the carrying manipulator is mounted on a mounting column 1, and the mounting column 1 corresponds to the human body and is used for providing position reference and supporting for the carrying manipulator.
The functional components comprise a mounting seat 2, a rotating arm 4 and a pickup hand 5; the rotating arm 4 has two ends, one end of which is rotatably connected with the mounting seat 2, and the other end of which is rotatably connected with the pick-up hand 5.
The linkage assembly comprises a rotary cylinder 6, a fixed wheel 701, a rotating wheel 702 with the same wheel diameter as the fixed wheel 701 and a synchronous piece; the fixed wheel 701 is fixedly connected with the mounting seat 2, the rotating wheel 702 is fixedly connected with the workpiece taking hand 5, and when the rotating wheel 702 and the rotating arm 4 rotate relatively, the workpiece taking hand 5 rotates relatively with the rotating wheel 702 and the rotating arm 4 along with the rotating wheel 702; the synchronous piece is in transmission connection with the fixed wheel 701 and the rotating wheel 702; the rotary arm 4 is fixedly connected to a driving rotary portion of the rotary cylinder 6, and the rotary shaft of the driving rotary portion is arranged coaxially with the wheel center of the fixed wheel 701.
The carrying manipulator adopts the rotary cylinder 6 as a driving element, so that the carrying manipulator is low in cost and convenient to install, and a complex linkage mechanism is omitted. In addition, the fixed wheel 701 and the rotating wheel 702 with the same radius are adopted, synchronous linkage of the synchronous pieces is utilized, so that the rotation angular speed of the pickup hand 5 relative to the rotating arm 4 is equal to that of the rotating arm 4 relative to the mounting seat 2, when the rotating arm 4 rotates at any angle in any direction, the pickup hand 5 also rotates at the same angle in the opposite direction, and therefore the direction of the pickup end of the pickup hand 5 is ensured to be unchanged, and materials are not overturned. The principle of the moon-based lunar surface vision simulation experiment can be similar to the relation of the moon on the earth, and because the rotation period of the moon is exactly equal to the revolution period of the moon around the earth, only the same hemisphere surface of the moon can be seen on the earth.
Optionally, the synchronizing member is a timing belt 703, and the timing belt 703 bypasses the fixed wheel 701 and the rotating wheel 702 for transmission between the fixed wheel 701 and the rotating wheel 702. The synchronous belt 703 is suitable for the transmission occasion with a large center distance between two shafts. In the conveying manipulator, the axis distance between the fixed wheel 701 and the rotating wheel 702 is large, the flexible synchronous belt 703 can save complex and expensive linkage components, the transmission is stable and noiseless during working, the effects of buffering and vibration absorption can be achieved, and meanwhile, the conveying manipulator has the characteristics of low manufacturing cost, no need of lubrication, easiness in maintenance and the like.
In one embodiment, referring to fig. 2, the handling robot further includes a tensioning wheel 8, and the tensioning wheel 8 is disposed between the fixed wheel 701 and the rotating wheel 702 and abuts against the timing belt 703 for tensioning the timing belt 703. The synchronous belt 703 is gradually loosened along with the increase of the service time, and in order to prevent the synchronous belt 703 from sliding with the fixed wheel 701 and the rotating wheel 702, a tension pulley 8 for tensioning the synchronous belt 703 is arranged between the fixed wheel 701 and the rotating wheel 702, when the synchronous belt 703 is loosened, the tension pulley 8 can re-tension the synchronous belt 703, so that the rotation synchronization of the pick-up hand 5 and the rotating arm 4 is ensured. The tension of the tension pulley 8 may be a conservative force such as gravity or elastic force.
Specifically, referring to fig. 2, two identical tensioning wheels 8 are disposed on the rotating arm 4, the two tensioning wheels 8 are elastically connected to each other, for example, by using a spring, the two tensioning wheels 8 are disposed in mirror image with respect to the axis connecting line of the fixed wheel 701 and the rotating wheel 702, and the synchronous belt 703 bypasses the two tensioning wheels 8 from between the two tensioning wheels 8.
Optionally, the synchronizing member is a gear set, gears among the gear sets are meshed with each other and are respectively meshed with the fixed wheel 701 and the rotating wheel 702, the gear sets are used for rotating transmission between the fixed wheel 701 and the rotating wheel 702, the comprehensive transmission ratio is 1:1, the gears are meshed with each other, and the long-term stable transmission relationship between the fixed wheel 701 and the rotating wheel 702 is guaranteed.
In one embodiment, referring to fig. 1, the pick-up hand 5 includes a connection plate 501 and a pick-up component connected to the connection plate 501, and the connection plate 501 is rotatably connected to the rotation arm 4 and is fixedly connected to the rotation wheel 702. Will get a 5 components of a whole that can function independently and set up to connecting plate 501 and get a part, connecting plate 501 is used for connecting relevant part, gets a part full time in getting and put the material, and the components of a whole that can function independently sets up makes and gets 5 arrangement manufacturing cost reductions of a hand to the convenience is according to the nimble kind and the mounted position of arranging getting a part of actual demand. For example, the pick-up component may be the pick-up chuck 502 or the gripper, wherein the pick-up chuck 502 is suitable for picking and placing materials with smooth surfaces, such as a mobile phone screen; the clamping jaw is suitable for grabbing materials with small volume, such as batteries.
In one embodiment, a buffer is arranged between the picking suction cup 502 and the connecting plate 501, and the picking suction cup 502 is connected with the connecting plate 501 through the buffer. When the pickup suction cup 502 is pressed to the material, the buffer can reduce the impact force of the pickup suction cup, and the pickup suction cup 502 is prevented from damaging the material.
In one embodiment, please refer to fig. 1, further comprising a limiting plate 3 and a limiting member, such as a member-placing limiting member 301. The position of the limiting plate 3 is fixed on the mounting seat 2, and the limiting plate can also be directly mounted on the mounting seat 2; the limiting part is installed on the limiting plate 3, is in the same plane with the rotating surface of the rotating arm 4, and is used for limiting the rotating angle of the rotating arm 4. The rotating cylinder 6 has the characteristics of fast action and difficulty in controlling speed and angle, so that before use, the rotating angle of the rotating cylinder 6 can be adjusted to be slightly larger than a required angle, and then the rotating angle of the rotating cylinder 6 is limited by the limiting piece so as to meet the requirement.
Because the carrying manipulator needs to take or put materials on two opposite production lines, two limiting parts are provided, namely a taking limiting part 303 and a putting limiting part 301, and the taking limiting part 303 and the putting limiting part 301 are located on the same horizontal plane and are respectively arranged on two sides of the fixed wheel 701. The pick-up limiting member 303 is used to limit the position of the rotating arm 4 when the pick-up hand 5 picks up the pick-up, and the placement limiting member 301 is used to limit the position of the rotating arm 4 when the pick-up hand 5 places the pick-up.
In an embodiment, referring to fig. 1, the limiting plate 3 is provided with a buffer, such as a placing buffer 302, which is located on the same plane as the rotating surface of the rotating arm 4 for reducing the impact force of the rotating arm 4 immediately before the rotating arm is limited, so as to prevent the material from being damaged by the excessive impact force when the picking hand 5 picks and places the material. Meanwhile, the buffer part can also play a limiting role, so that the buffer part can be a special limiting part.
Because the carrying manipulator needs to take or put materials on two opposite production lines, two buffering members are arranged, namely a taking buffering member 304 and a putting buffering member 302, and the taking buffering member 304 and the putting buffering member 302 are positioned on the same horizontal plane and are respectively arranged on two sides of the fixed wheel 701. The element taking buffer 304 is used for buffering the impact force when the element taking hand 5 takes the elements, and the element placing buffer 302 is used for buffering the impact force when the element taking hand 5 places the elements.
In the case where the buffer member and the stopper member are present at the same time, the buffer member contacts the rotating arm 4 earlier than the stopper member during the rotational movement of the rotating arm 4.
The operation mode of the carrying manipulator is as follows: referring to fig. 3, when the rotary cylinder 6 is at the material taking position, the material taking suction cup 502 sucks and carries the material, and at this time, the rotary cylinder 6 starts to rotate and drives the rotary arm 4 to rotate towards the material placing side, as shown in fig. 4. At this time, the fixed wheel 701 is kept still, the rotating wheel 702 rotates relative to the rotating arm 4, and the rotating wheel 702 rotates with the rotating arm 4 by the timing belt 703, rotates around the fixed wheel 701 at a constant angular velocity, and also rotates at an angular velocity equal to the rotational angle around the fixed wheel, and the like, so that the pick-up hand 5 fixed to the rotating wheel 702 always holds the pick-up suction cup 502 downward as shown in fig. 5 to 6 up to the discharge position. The mechanical structure of the carrying manipulator is simplified, the technical effect that carried materials are not turned over is ingeniously achieved through a synchronous wheel (namely the fixed wheel 701 and the rotating wheel 702) and a synchronous belt 703 synchronous transmission mode, and the transfer conveying of the carried materials is well completed.
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 handling robot, comprising:
the functional assembly comprises a mounting seat, a rotating arm and a pickup hand; the rotating arm is provided with two ends, one end of the rotating arm is rotatably connected with the mounting seat, and the other end of the rotating arm is rotatably connected with the workpiece taking hand;
the linkage assembly comprises a rotary cylinder, a fixed wheel, a rotating wheel with the same diameter as the fixed wheel and a synchronizing piece; the fixed wheel is fixedly connected with the mounting seat, the rotating wheel is fixedly connected with the workpiece taking hand, and the synchronous part is in transmission connection with the fixed wheel and the rotating wheel; the drive rotating part fixed connection of revolving cylinder the swinging boom, the rotation axis of drive rotating part with the wheel core coaxial arrangement of tight pulley.
2. The transfer robot of claim 1, wherein: the mounting seat is fixedly connected with the mounting seat; the limiting part is installed on the limiting plate, is located on the same plane with the rotating surface of the rotating arm and is used for limiting the rotating angle of the rotating arm.
3. The transfer robot of claim 2, wherein: the locating part is including getting a locating part and putting a locating part, get a locating part with put a locating part and be located same horizontal plane, and set up respectively the both sides of tight pulley.
4. The transfer robot of claim 2, wherein: the limiting plate is provided with a buffer piece, and the buffer piece and the rotating surface of the rotating arm are located on the same plane and used for reducing the impact force of the rotating arm immediately before the rotating arm is limited.
5. The transfer robot of claim 4, wherein: the buffer parts are two, namely a taking buffer part and a placing buffer part, the taking buffer part and the placing buffer part are located on the same horizontal plane and are respectively arranged on two sides of the fixed wheel.
6. The transfer robot of claim 1, wherein: the part taking hand comprises a connecting plate and a part taking part connected to the connecting plate, and the connecting plate is connected with the rotating arm and the rotating wheel in a rotating mode.
7. The transfer robot of claim 6, wherein: the part taking part is a part taking sucker or a clamping jaw.
8. The transfer robot of claim 6, wherein: the part taking component is connected with the connecting plate through a buffer.
9. The transfer robot of claim 1, wherein: the synchronizing member is a synchronous belt, and the synchronous belt bypasses the fixed wheel and the rotating wheel and is used for transmission between the fixed wheel and the rotating wheel.
10. The transfer robot of claim 9, wherein: the tension pulley is arranged between the fixed pulley and the rotating pulley, abuts against the synchronous belt and is used for tensioning the synchronous belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921785845.0U CN211545183U (en) | 2019-10-23 | 2019-10-23 | Carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921785845.0U CN211545183U (en) | 2019-10-23 | 2019-10-23 | Carrying manipulator |
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| Publication Number | Publication Date |
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| CN211545183U true CN211545183U (en) | 2020-09-22 |
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| CN201921785845.0U Active CN211545183U (en) | 2019-10-23 | 2019-10-23 | Carrying manipulator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112659172A (en) * | 2020-12-11 | 2021-04-16 | 苏州贝康智能制造有限公司 | Carrier rod clamping device with stable clamping jaw angle |
| CN112978313A (en) * | 2021-04-15 | 2021-06-18 | 上海胤勤自动化科技有限公司 | Wide-angle tilting mechanism and automatic infantees machine of detaining |
| CN113386155A (en) * | 2021-07-07 | 2021-09-14 | 上海贝林尔智能系统有限公司 | Synchronous belt angle automatic compensation grabbing manipulator |
| CN114700934A (en) * | 2022-04-14 | 2022-07-05 | 湖南工业智能体创新研究院有限公司 | Small-sized mechanical arm |
| CN115367197A (en) * | 2022-08-16 | 2022-11-22 | 珠海奇川精密设备有限公司 | Automatic packaging machine |
-
2019
- 2019-10-23 CN CN201921785845.0U patent/CN211545183U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112659172A (en) * | 2020-12-11 | 2021-04-16 | 苏州贝康智能制造有限公司 | Carrier rod clamping device with stable clamping jaw angle |
| CN112978313A (en) * | 2021-04-15 | 2021-06-18 | 上海胤勤自动化科技有限公司 | Wide-angle tilting mechanism and automatic infantees machine of detaining |
| CN113386155A (en) * | 2021-07-07 | 2021-09-14 | 上海贝林尔智能系统有限公司 | Synchronous belt angle automatic compensation grabbing manipulator |
| CN114700934A (en) * | 2022-04-14 | 2022-07-05 | 湖南工业智能体创新研究院有限公司 | Small-sized mechanical arm |
| CN115367197A (en) * | 2022-08-16 | 2022-11-22 | 珠海奇川精密设备有限公司 | Automatic packaging machine |
| CN115367197B (en) * | 2022-08-16 | 2024-05-24 | 珠海奇川精密设备有限公司 | Automatic packing machine |
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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. |