CN211678536U - Mechanical arm and dispensing device - Google Patents

Abstract

The utility model provides an arm and adhesive deposite device relates to the point and glues technical field. The mechanical arm comprises a mounting seat, a mechanical arm, a support column, a lifting mechanism, a translation mechanism and a clamping mechanism; the lifting mechanism is arranged on the support column, is connected with one end of the manipulator and is used for driving the manipulator to move in the vertical direction; the translation mechanism is arranged on the mounting seat, is connected with the supporting column and is used for driving the supporting column and the manipulator to move along the horizontal direction; the clamping mechanism is arranged at the other end of the manipulator and used for clamping and releasing the workpiece. The utility model provides an arm, its manipulator can carry out vertical and horizontally combined motion on the space, accomplishes the work piece clamp and gets the operation with the release, has improved the artifical problem of getting the work efficiency low that the work piece leads to of pressing from both sides, and the application is on some adhesive deposite devices, has improved the precision of gluing more.

Description

Mechanical arm and dispensing device

Technical Field

The utility model relates to a glue technical field, particularly, relate to a mechanical arm and adhesive deposite device.

Background

Dispensing, also known as glue spreading, glue dispensing, glue dripping, etc., refers to spreading or dripping glue onto a predetermined position of a workpiece. However, in the existing factory, the workpiece needing dispensing is manually placed on a dispenser for dispensing. For the existing mechanical production line, the manual workpiece clamping step is low in efficiency, and the workpiece can have difference in the placement position every time, so that the dispensing accuracy of the workpiece is reduced, and the quality of the product is affected finally.

SUMMERY OF THE UTILITY MODEL

The utility model provides an arm and adhesive deposite device aims at improving prior art and adopts artifical clamp to get the work piece and carry out the point and glue, problem that work efficiency is low.

In order to solve the technical problem, the utility model provides a mechanical arm, which comprises a mounting seat, a mechanical arm, a support column, a lifting mechanism, a translation mechanism and a clamping mechanism; the lifting mechanism is arranged on the support column, is connected with one end of the manipulator and is used for driving the manipulator to move in the vertical direction; the translation mechanism is mounted on the mounting seat, connected with the supporting column and used for driving the supporting column and the manipulator to move in the horizontal direction; the clamping mechanism is arranged at the other end of the manipulator and used for clamping and releasing the workpiece.

As a further optimization, the lifting mechanism comprises a first power device, a first slide rail arranged along the vertical direction, a first slide block connected to the first slide rail in a sliding manner, a driving wheel connected to an output shaft of the first power device and located at the bottom of the support column, a driven wheel located at the top of the support column, a transmission belt wound around the driving wheel and the driven wheel, and a first fixed block fixedly connected to the transmission belt; the first sliding rail is fixed on the supporting column, one end of the manipulator is connected with the first sliding block and the first fixed block, the first power device drives the driving wheel to rotate and drives the transmission belt to operate, so that the first fixed block is driven to lift, the manipulator moves along the vertical direction along with the first fixed block, and the manipulator moves along the vertical direction

As a further optimization, the first power device is a motor.

As a further optimization, the translation mechanism comprises a supporting seat, a second slide rail which is fixed on the mounting seat through the supporting seat and is arranged along the horizontal direction, a second slide block which is connected to the second slide rail in a sliding manner, a ball screw which is arranged in parallel with the second slide rail, a second fixed block which is sleeved on the ball screw and is fixedly connected with the second slide block, and a second power device which drives the ball screw to rotate; the support column is fixedly connected with the second fixed block, the second power device drives the ball screw to rotate, and the second fixed block, the support column connected with the second fixed block and the manipulator arranged on the second support column are driven to move in the horizontal direction.

As a further optimization, the second power device is a motor.

Preferably, the clamping mechanism comprises two clamping pieces and a third power device, wherein the two clamping pieces are arranged oppositely, and the third power device drives the two clamping pieces to move close to or away from each other so as to clamp or release the workpiece.

As a further optimization, the third power device is a cylinder.

The utility model also provides a glue dispensing device, which comprises a controller, a transmission belt, a base, a glue dispenser arranged on the base and the mechanical arm;

wherein the two mechanical arms are oppositely arranged;

the base is used for providing a working cavity and support;

the glue dispenser is arranged on the base and used for dispensing a workpiece;

the conveying belt is arranged at the bottom of the base and positioned below the mechanical arm in the vertical direction and is used for conveying workpieces;

the controller is respectively electrically connected with the transmission belt, the dispensing machine and the mechanical arm to control one mechanical arm to clamp the workpieces which are not dispensed on the transmission belt to be dispensed on the dispensing machine, and control the other mechanical arm to clamp the workpieces which are dispensed on the dispensing machine to be conveyed to the transmission belt and transmitted to the next procedure.

Preferably, two guide grooves symmetrically arranged in a splayed manner are arranged at the inlet of the conveying belt and used for guiding the workpiece below the mechanical arm.

As a further optimization, the guide groove is provided with an infrared sensing device.

By adopting the technical scheme, the utility model discloses can gain following technological effect:

the utility model provides a mechanical arm, when in work, after a translation mechanism drives a mechanical arm to move to a workpiece placing position along the horizontal direction, a lifting mechanism drives the mechanical arm to move downwards along the vertical direction, and a clamping mechanism clamps and takes a workpiece; then, the manipulator is driven by the translation mechanism and the lifting mechanism to move the workpiece to a workpiece processing position, the clamping mechanism releases the workpiece, and the workpiece is processed at the processing position; after the machining is finished, the mechanical arm operates again, the machined workpiece is placed on the conveying belt, and the workpiece is conveyed to the next procedure. According to the arrangement, the manipulator can perform vertical and horizontal combined movement in space, the operation of clamping and releasing the workpiece is completed, the problem of low working efficiency caused by manually clamping the workpiece is solved, the working time is shortened, and the labor force is reduced.

Furthermore, the utility model provides a dispensing device presss from both sides through the arm and gets and place the in-process of work piece, and the manipulator adopts the fixed point to place the work piece, and the point of guaranteeing the work piece is glued the position and is accurate, guarantees the quality of product, has improved holistic benefit for the enterprise.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural view of a mechanical arm provided by the present invention at a first viewing angle;

fig. 2 is a schematic structural view of the robotic arm provided by the present invention at a first viewing angle (with the housing and the track removed);

fig. 3 is a schematic structural view of the mechanical arm provided by the present invention at a second viewing angle (removing the housing, the track, the manipulator, and the gripping mechanism);

fig. 4 is a schematic structural view of the mechanical arm provided by the present invention at a third viewing angle;

fig. 5 is a schematic structural view of the dispensing device provided by the present invention.

The labels in the figure are: 1-a mechanical arm; 11-a mounting seat; 12-a crawler belt; 13-a housing; 14-a robot arm; 15-a support column; 16-a lifting mechanism; 161-a first power plant; 162-a first slide rail; 163-a first slider; 164-a capstan; 165-driven wheel; 166-a drive belt; 167-a first fixation block; 17-a translation mechanism; 171-a support base; 172-a second slide rail; 173-second slider; 174-ball screw; 175-a second fixed block; 176-a second power plant; 18-a gripping mechanism; 181-clamp; 182-a third power plant; 19-origin position sensor; 2-a base; 3-a glue dispenser; 4-a guide groove; 5-window.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

The invention will be described in further detail with reference to the following detailed description and accompanying drawings:

as shown in fig. 1 to 4, the present invention provides a robot arm 1, which includes a mounting base 11, a robot arm 14, a support column 15, a lifting mechanism 16, a translation mechanism 17, and a gripping mechanism 18. The elevating mechanism 16 is installed on the supporting column 15, and is connected to one end of the robot 14 for driving the robot 14 to move in a vertical direction. The translation mechanism 17 is installed on the installation base 11 and connected with the supporting column 15, and is used for driving the supporting column 15 and the manipulator 14 to move in the horizontal direction. A gripping mechanism 18 is mounted at the other end of the robot 14 for gripping and releasing the workpiece.

Specifically, in the present embodiment, as shown in fig. 1 and 2, the mount 11 is used to provide support for the entire robot arm 1, and ensure that the entire robot arm 1 operates stably. The support columns 15 provide support for the robot 14 to ensure smooth operation of the robot 14 during movement. The manipulator 14 has a "l" shape, and one end in the horizontal direction thereof is connected to the lifting mechanism 16, and the other end in the vertical direction thereof is connected to the gripping mechanism 18. When the mechanical arm 1 works, after the translation mechanism 17 drives the mechanical arm 14 to move to a workpiece placing position along the horizontal direction, the lifting mechanism 16 drives the mechanical arm 14 to move vertically downwards, and the clamping mechanism 18 clamps the workpiece; then, the mechanical arm 14 is driven by the translation mechanism 17 and the lifting mechanism 16 to move the workpiece to a workpiece processing position, the clamping mechanism 18 releases the workpiece, and the workpiece is processed at the processing position; after the machining is finished, the robot arm 1 is operated again, and the machined workpiece is placed on the conveying belt and conveyed to the next process. According to the setting, the manipulator 14 can perform vertical and horizontal combined movement in space, and the operation of clamping and releasing the workpiece is completed, so that the problem that the work efficiency is low due to the fact that the workpiece is clamped manually is solved, in the workpiece releasing process, the manipulator 14 places the workpiece at a fixed point, the machining position of the workpiece is accurate, the quality of products is guaranteed, and the overall benefit is improved for enterprises.

As a further optimization, in a preferred embodiment of the present invention, as shown in fig. 2 and 3, the lifting mechanism 16 includes a first power device 161, a first slide rail 162 disposed along the vertical direction, a first slide block 163 slidably connected to the first slide rail 162, a driving wheel 164 connected to an output shaft of the first power device 161 and located at the bottom of the supporting column 15, a driven wheel 165 located at the top of the supporting column 15, a transmission belt 166 wound around the driving wheel 164 and the driven wheel 165, and a first fixing block 167 fixedly connected to the transmission belt 166; wherein, first slide rail 162 is fixed on support column 15, and the one end and first slider 163 and first fixed block 167 of manipulator 14 are connected, and first power device 161 drive belt 166 operates, drives first fixed block 167 and goes up and down to drive manipulator 14 and follow first fixed block 167 and move along vertical direction.

Specifically, the first power unit 161 is preferably a motor. When the motor operates, the driving wheel 164 located below the supporting column 15 is driven to operate, and the driving wheel 164 drives the transmission belt 166 and the driven wheel 165 located above the supporting column 15 to operate, so that the first fixing block 167 fixed on the transmission belt 166 ascends or descends along with the transmission belt 166, and finally the manipulator 14 connected with the first fixing block 167 moves along the vertical direction of the first slide rail 162. More preferably, as shown in fig. 3, two sets of first sliding rails 162 are vertically arranged on the supporting column 15, and each first sliding rail 162 is provided with at least one first sliding block 163 connected with the manipulator 14, so as to ensure the smooth operation of the manipulator 14 during the lifting process. In addition, as shown in fig. 1, the detachable housing 13 is arranged outside the supporting column 15 and the lifting mechanism 16, so that on one hand, the lifting mechanism 16 is not interfered by the external factory environment in the operation process of the mechanical arm 1, and the service life is prolonged; on the other hand, the mechanical arm 1 is convenient to disassemble and overhaul subsequently.

As a further optimization, as shown in fig. 4, the translation mechanism 17 includes a supporting seat 171, a second sliding rail 172 fixed on the mounting seat 11 through the supporting seat 171 and arranged along the horizontal direction, a second sliding block 173 slidably connected to the second sliding rail 172, a ball screw 174 arranged in parallel with the second sliding rail 172, a second fixed block 175 sleeved on the ball screw 174 and fixedly connected to the second sliding block 173, and a second power device 176 driving the ball screw 174 to rotate; the supporting column 15 is fixedly connected to the second fixing block 175, and the second power device 176 drives the ball screw 174 to rotate, so as to drive the second fixing block 175, the supporting column 15 connected to the second fixing block 175, and the manipulator 14 disposed on the supporting column 15 to move in the horizontal direction.

Specifically, in the present embodiment, as shown in fig. 3, the support column 15 is not connected to the base 2. The second power means 176 is preferably an electric motor. As shown in fig. 4, when the motor is operated, the ball screw 174 is driven to rotate, so that the second fixing block 175 connected to the ball screw 174 moves, and the supporting column 15 and the second slider 173 connected to the second fixing block 175 are driven to move along the horizontal direction of the second slide rail 172, and the supporting column 15 moves horizontally, so that the manipulator 14 connected to the supporting column 15 can move horizontally along with the supporting column 15.

As a further optimization, in a preferred embodiment of the present invention, as shown in fig. 1, the clamping mechanism 18 includes two clamping members 181 and a third power device 182, which are oppositely disposed, and the third power device 182 drives the two clamping members 181 to move toward or away from each other to clamp or release the workpiece. The third power unit 182 is preferably an air cylinder, and the two clamping members 181 approach each other to clamp the workpiece after the robot 14 moves to the corresponding workpiece placing position, and then release the workpiece after moving to the processing position.

As a further optimization, in a preferred embodiment of the present invention, as shown in fig. 4, the robot arm 1 further includes a home position sensor 19 for sensing whether the robot arm 14 returns to the home position after the end of use. It should be noted that the origin sensor 19 may be an infrared sensor or a photoelectric sensor, and is not limited herein.

As a further optimization, as shown in fig. 1, the robot arm 1 further includes a track 12, and an electric wire for connecting the robot arm 1 and an air pipe for connecting the air cylinder are disposed in the track 12, so as to protect the electric wire and the air pipe from being excessively bent during the movement of the robot arm 1, prolong the service life of the electric wire and the air pipe, and make the whole device look cleaner and tidier.

As shown in fig. 5, the present invention further provides a dispensing device, which comprises a controller (not shown), a conveyor (not shown), a base 2, a dispenser 3 disposed on the base 2, and the above-mentioned mechanical arm 1; in which two robot arms 1 are oppositely arranged as shown in fig. 5.

And the base 2 is used for providing support and ensuring that the whole glue dispensing device operates stably.

And the glue dispenser 3 is arranged on the base 2 and used for dispensing the workpieces.

The transmission band sets up in 2 bottoms of base and is located 1 vertical direction below of arm for transmit the work piece.

The controller is electrically connected with the transmission belt, the dispensing machine 3 and the mechanical arm 1 respectively to control one mechanical arm 1 to clamp a workpiece which is not dispensed on the transmission belt to the dispensing machine 3 for dispensing, and control the other mechanical arm 1 to clamp a workpiece which is dispensed on the dispensing machine 3 to the transmission belt and transmit the workpiece to the next working procedure.

Specifically, in the present embodiment, as shown in fig. 5, a dispenser 3 is disposed on a base 2, two robot arms 1 are disposed on two sides of a dispensing station of the dispenser 3, and a mounting seat 11 of each robot arm 1 is fixedly connected to the base 2, so as to ensure centralized arrangement of the entire dispensing apparatus. Two windows 5 are arranged on the base 2, and the two windows 5 are respectively positioned below the two manipulators 14. The transmission band sets up in base 2 below and through 5 below windows, and after the transmission band transported the work piece to 5 departments of window, the controller controlled one of them arm 1 to the work piece get and transport and carry out some glue on the some glue station of point gum machine 3, and then another arm 1 gets the work piece after some glue once more and gets, then places on the transmission band of another window 5 below and transports for next process by the transmission band.

The utility model provides a dispensing device can set up on the assembly line, gets and place the work piece through 1 clamp of arm, replaces the manual work, when having improved work efficiency, because manipulator 14 adopts the fixed point to place the work piece, guarantees that the point of work piece is glued the position accurately, guarantees the quality of product, has improved holistic benefit for the enterprise.

As further optimization, the entrance of the conveying belt is provided with two guide grooves 4 symmetrically arranged in a splayed manner, so that the workpiece is guided to the lower part of the mechanical arm 1, the workpiece positioned on the conveying belt is conveyed to the window 5, and the mechanical arm 1 can be clamped conveniently.

As a further optimization, the guide slot 4 is provided with an infrared sensing device (not shown) for confirming whether the workpiece enters the window 5 below the robot arm 1 through the guide slot 4. More preferably, an infrared sensing device (not shown) is also disposed at the window 5, and is used for sensing whether the workpiece is located on the conveyor belt below the window 5, and sending sensing information to the controller, so that the controller controls the robot arm 1 to clamp the workpiece.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A mechanical arm is characterized by comprising a mounting seat, a mechanical arm, a supporting column, a lifting mechanism, a translation mechanism and a clamping mechanism; the lifting mechanism is arranged on the support column, is connected with one end of the manipulator and is used for driving the manipulator to move in the vertical direction; the translation mechanism is mounted on the mounting seat, connected with the supporting column and used for driving the supporting column and the manipulator to move in the horizontal direction; the clamping mechanism is arranged at the other end of the manipulator and used for clamping and releasing the workpiece.

2. The mechanical arm according to claim 1, wherein the lifting mechanism comprises a first power device, a first slide rail arranged along a vertical direction, a first slide block connected to the first slide rail in a sliding manner, a driving wheel connected to an output shaft of the first power device and positioned at the bottom of the supporting column, a driven wheel positioned at the top of the supporting column, a transmission belt wound on the driving wheel and the driven wheel, and a first fixed block fixedly connected to the transmission belt; the first sliding rail is fixed on the supporting column, one end of the manipulator is connected with the first sliding block and the first fixing block, and the first power device drives the driving wheel to rotate and drive the transmission belt to run, so that the first fixing block is driven to lift, and the manipulator moves along the vertical direction along with the first fixing block.

3. A robotic arm as claimed in claim 2, in which the first motive means is a motor.

4. The mechanical arm according to claim 1, wherein the translation mechanism comprises a support base, a second slide rail fixed on the mounting base through the support base and arranged along a horizontal direction, a second slide block slidably connected to the second slide rail, a ball screw arranged in parallel with the second slide rail, a second fixed block sleeved on the ball screw and fixedly connected with the second slide block, and a second power device for driving the ball screw to rotate; the support column is fixedly connected with the second fixed block, the second power device drives the ball screw to rotate, the second fixed block, the support column connected with the second fixed block and the manipulator arranged on the support column are driven to move in the horizontal direction.

5. A robotic arm as claimed in claim 4, in which the second motive means is a motor.

6. The mechanical arm as claimed in claim 1, wherein the gripping mechanism comprises two jaws oppositely arranged and a third power device, and the third power device drives the two jaws to move close to or away from each other so as to grip or release the workpiece.

7. A robotic arm as claimed in claim 6, in which the third motive means is a pneumatic cylinder.

8. A dispensing device is characterized by comprising a controller, a conveying belt, a base, a dispensing machine arranged on the base and a mechanical arm according to any one of claims 1 to 7; wherein the two mechanical arms are oppositely arranged;

the base is used for providing a working cavity and support;

the glue dispenser is arranged on the base and used for dispensing a workpiece;

the conveying belt is arranged at the bottom of the base and positioned below the mechanical arm in the vertical direction and is used for conveying workpieces;

the controller is respectively electrically connected with the transmission belt, the dispensing machine and the mechanical arm to control one mechanical arm to clamp the workpieces which are not dispensed on the transmission belt to be dispensed on the dispensing machine, and control the other mechanical arm to clamp the workpieces which are dispensed on the dispensing machine to be conveyed to the transmission belt and transmitted to the next procedure.

9. The dispensing apparatus of claim 8, wherein two guide slots are symmetrically arranged in a splayed manner at the entrance of the conveyor belt for guiding the workpiece under the robot arm.

10. Dispensing device according to claim 9, characterized in that the guide slot is provided with infrared sensing means.

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