CN212352056U

CN212352056U - Mechanical arm

Info

Publication number: CN212352056U
Application number: CN202020450737.4U
Authority: CN
Inventors: 陈修恒
Original assignee: Dongguan Hengke Automation Technology Development Co ltd
Current assignee: Dongguan Hengke Automation Technology Development Co ltd
Priority date: 2020-03-31
Filing date: 2020-03-31
Publication date: 2021-01-15
Anticipated expiration: 2030-03-31

Abstract

The utility model discloses a manipulator, it includes: a supporting frame, a Y-axis moving module arranged on the supporting frame, a Z-axis moving module arranged on the Y-axis moving module, and a clamping module arranged on the Z-axis moving module and used for clamping materials, the Y-axis moving module comprises a Y-axis slide rail arranged on the supporting rack, a Y-axis moving seat arranged on the Y-axis slide rail and a Y-axis driving device used for pushing the Y-axis moving seat to move along the Y-axis slide rail, the Y-axis driving device comprises a sliding rod, a first driving device and a second driving device, the sliding rod is installed on the supporting rack and located above the Y-axis sliding rail, the first driving device is installed on the sliding rod in a movable mode and used for pushing the Y-axis moving seat to slide, the second driving device is arranged at one end of the sliding rod and used for pushing the first driving device to move along the sliding rod, and the Z-axis moving module is installed on the Y-axis moving seat.

Description

Mechanical arm

The technical field is as follows:

the utility model relates to an automation equipment technical field refers in particular to a manipulator.

Background art:

the existing mechanical arm on the market at present is complex in structure, large in size and large in assembly space, and particularly for telescopic driving devices such as cylinders, the required movement stroke can be realized only by cylinders with the same length, so that the occupied space is large, and the structure is not compact.

In view of the above, the present inventors propose the following.

The utility model has the following contents:

an object of the utility model is to overcome prior art not enough, provide a manipulator.

In order to solve the technical problem, the utility model discloses a following technical scheme: this manipulator includes: a supporting frame, a Y-axis moving module arranged on the supporting frame, a Z-axis moving module arranged on the Y-axis moving module, and a clamping module arranged on the Z-axis moving module and used for clamping materials, the Y-axis moving module comprises a Y-axis slide rail arranged on the supporting rack, a Y-axis moving seat arranged on the Y-axis slide rail and a Y-axis driving device used for pushing the Y-axis moving seat to move along the Y-axis slide rail, the Y-axis driving device comprises a sliding rod, a first driving device and a second driving device, the sliding rod is installed on the supporting rack and located above the Y-axis sliding rail, the first driving device is installed on the sliding rod in a movable mode and used for pushing the Y-axis moving seat to slide, the second driving device is arranged at one end of the sliding rod and used for pushing the first driving device to move along the sliding rod, and the Z-axis moving module is installed on the Y-axis moving seat.

Furthermore, in the above technical solution, the Z-axis moving module is at least two and is mounted on the Y-axis moving base in a manner of adjusting the distance, and is respectively located at two sides of the supporting rack; the clamping modules are at least provided with two clamping modules and are respectively arranged on the two Z-axis moving modules.

Furthermore, in the above technical solution, the Z-axis moving module includes a support frame slidably mounted on the Y-axis moving base, a Z-axis slider mounted on the support frame, a Z-axis slide rail mounted on the Z-axis slider, and a Z-axis driving device mounted on the support frame and used for pushing the Z-axis slide rail to move along the Z-axis slider, and the clamping module is mounted at a lower end of the Z-axis slide rail.

Furthermore, in the above technical scheme, the clamping module includes a mounting seat mounted on the Z-axis slide rail, a clamping driving device mounted on the mounting seat, and a left clamping jaw and a right clamping jaw mounted on the clamping driving device and used for clamping the material, and lower ends of the left clamping jaw and the right clamping jaw can be relatively folded to clamp the material.

Further, in the above technical solution, the clamping driving device includes a third driving device installed on the mounting base, and a first swinging member and a second swinging member rotatably installed at an output end of the third driving device, and the left clamping jaw and the right clamping jaw are respectively installed on the first swinging member and the second swinging member.

Further, in the above technical solution, a first guide groove and a second guide groove are respectively formed at the upper ends of the first swinging member and the second swinging member, and a first swing arm and a second swing arm are respectively formed at the lower ends of the first swinging member and the second swinging member; the front end of a push rod of the third driving device is respectively provided with a first convex shaft and a second convex shaft which are positioned in the first guide groove and the second guide groove and push the first swinging piece and the second swinging piece to rotate, and the first swinging piece and the second swinging piece are symmetrically installed.

Furthermore, in the above technical solution, the lower ends of the left clamping jaw and the right clamping jaw are respectively formed with a plurality of V-shaped first positioning blocks and second positioning blocks.

Furthermore, in the above technical solution, the first positioning blocks and the second positioning blocks are arranged at equal intervals, and the first positioning blocks and the second positioning blocks are symmetrical and alternately arranged.

Furthermore, in the above technical solution, a fixing plate is disposed on the Y-axis moving seat, the telescopic rod of the first driving device abuts against the fixing plate, and the supporting frame is provided with a mounting groove for being sleeved on the fixing plate.

Furthermore, in the above technical solution, the sliding rod is sleeved with a slidable sliding plate, the first driving device is installed on the sliding plate, and the telescopic rod of the second driving device is pressed and fixed on the sliding plate.

After the technical scheme is adopted, compared with the prior art, the utility model has following beneficial effect: the utility model discloses in through removing the module with Y axle and adopting by first drive arrangement and the superimposed mode of second drive arrangement to realize reaching the motion stroke more than the twice in the space of one time by the slide bar cooperation, saved the assembly space, the flexible and small and exquisite compactness of structure. Secondly, establish the support frame of Z axle removal module on the fixed plate of Y axle removal seat through the mounting groove with the mode cover of portable regulation to realize adjusting the position of Z axle removal module, thereby adapt to different products, and respectively install a Z axle removal module at the both ends of fixed plate, through adjusting the interval between two Z axle removal modules, can cooperate the clamp to get the material of different model sizes. Simultaneously, adopt V word shape and interval alternation and symmetrical arrangement distribution with first locating piece and second locating piece, not only can press from both sides the material location fast tightly, first locating piece and second locating piece can be relatively received and closed the knot and hold together when not pressing from both sides the material moreover, reduce occupation space, make things convenient for the manipulator to remove.

Description of the drawings:

fig. 1 is a perspective view of the present invention;

fig. 2 is a cross-sectional view of the present invention;

fig. 3 is a partially enlarged view of a portion a in fig. 2.

Description of reference numerals:

21Y-axis slide rail of 1-support-rack 2Y-axis moving module

22Y-axis moving seat 221 fixed plate 23Y-axis driving device

231 slide bar 232 first drive device 233 second drive device

234 sliding plate 3Z-axis moving module 31 support frame

32Z-axis slide block 33Z-axis slide rail 34Z-axis driving device

Clamping driving device for 4-clamping module 5 and 6-clamping mounting seat

61 third drive means 611 first protruding shaft 612 second protruding shaft

62 first swinging member 621 first guide groove 622 first swinging arm

63 second swinging member 631 second guide groove 632 second swinging arm

7 left clamping jaw 71, first positioning block 8 and right clamping jaw

81 second positioning block

The specific implementation mode is as follows:

the present invention will be further described with reference to the following specific embodiments and accompanying drawings.

As shown in fig. 1 to 3, a robot arm includes: the clamping device comprises a supporting rack 1, a Y-axis moving module 2 arranged on the supporting rack 1, a Z-axis moving module 3 arranged on the Y-axis moving module 2, and a clamping module 4 arranged on the Z-axis moving module 3 and used for clamping materials, wherein the Y-axis moving module 2 comprises a Y-axis slide rail 21 arranged on the supporting rack 1, a Y-axis moving seat 22 arranged on the Y-axis slide rail 21, and a Y-axis driving device 23 used for pushing the Y-axis moving seat 22 to move along the Y-axis slide rail 21, the Y-axis driving device 23 comprises a slide bar 231 arranged on the supporting rack 1 and positioned above the Y-axis slide rail 21, a first driving device 232 movably arranged on the slide bar 231 and used for pushing the Y-axis moving seat 22 to slide, and a second driving device 233 arranged at one end of the slide bar 231 and used for pushing the first driving device 232 to move along the slide bar 231, the Z-axis moving module 3 is mounted on the Y-axis moving base 22. The Y-axis moving module 2 is overlapped by the first driving device 232 and the second driving device 233, and the sliding rod 231 is matched to achieve more than two times of movement stroke in one time of space, so that the assembly space is saved, and the structure is flexible, small and compact.

The Z-axis moving modules 3 are at least provided with two Z-axis moving modules, are arranged on the Y-axis moving seat 22 in a mode of adjusting the distance, and are respectively positioned on two sides of the supporting rack 1; the clamping modules 4 are at least provided with two and are respectively arranged on the two Z-axis moving modules 3.

The Z-axis moving module 3 includes a supporting frame 31 slidably mounted on the Y-axis moving base 22, a Z-axis slider 32 mounted on the supporting frame 31, a Z-axis slide rail 33 mounted on the Z-axis slider 32, and a Z-axis driving device 34 mounted on the supporting frame 31 and used for pushing the Z-axis slide rail 33 to move along the Z-axis slider 32, and the clamping module 4 is mounted at the lower end of the Z-axis slide rail 33.

The clamping module 4 comprises a mounting seat 5 mounted on the Z-axis slide rail 33, a clamping driving device 6 mounted on the mounting seat 5, and a left clamping jaw 7 and a right clamping jaw 8 which are mounted on the clamping driving device 6 and used for clamping the material, wherein the lower ends of the left clamping jaw 7 and the right clamping jaw 8 can be relatively folded to clamp the material.

The gripping driving device 6 comprises a third driving device 61 mounted on the mounting base 5, and a first swinging member 62 and a second swinging member 63 rotatably mounted on an output end of the third driving device 61, and the left clamping jaw 7 and the right clamping jaw 8 are respectively mounted on the first swinging member 62 and the second swinging member 63.

A first guide groove 621 and a second guide groove 631 are respectively formed at the upper ends of the first swinging member 62 and the second swinging member 63, and a first swing arm 622 and a second swing arm 632 are respectively formed at the lower ends of the first swinging member 62 and the second swinging member 63; the front end of the push rod 610 of the third driving device 61 is respectively provided with a first protruding shaft 611 and a second protruding shaft 612 which are positioned in the first guide groove 621 and the second guide groove 631 and push the first swinging member 62 and the second swinging member 63 to rotate, and the first swinging member 62 and the second swinging member 63 are symmetrically installed.

The lower ends of the left clamping jaw 7 and the right clamping jaw 8 are respectively formed with a plurality of V-shaped first positioning blocks 71 and second positioning blocks 81. The first positioning blocks 71 and the second positioning blocks 81 are arranged at equal intervals, and the first positioning blocks 71 and the second positioning blocks 81 are symmetrical and alternately arranged. The first positioning block 71 and the second positioning block 81 are arranged in a V-shaped and alternate and symmetrical mode at intervals, so that the material can be positioned and clamped quickly, and the first positioning block 71 and the second positioning block 81 can be relatively folded and buckled when the material is not clamped, so that the occupied space is reduced, and the manipulator can move conveniently.

The Y-axis moving base 22 is provided with a fixing plate 221, the telescopic rod of the first driving device 232 is pressed against the fixing plate 221, and the supporting frame 31 is provided with a mounting groove for being sleeved on the fixing plate 221. The support frame 31 of the Z-axis moving module 3 is sleeved on the fixing plate 221 of the Y-axis moving seat 22 in a movable adjusting mode through the mounting groove, so that the position of the Z-axis moving module 3 is adjusted, different products are adapted, the Z-axis moving module 3 is respectively installed at two ends of the fixing plate 221, and materials with different model sizes can be clamped in a matching mode by adjusting the distance between the two Z-axis moving modules 3.

A sliding plate 234 is slidably sleeved on the sliding rod 231, the first driving device 232 is mounted on the sliding plate 234, and the telescopic rod of the second driving device 233 is pressed and fixed on the sliding plate 234.

The first driving device 232, the second driving device 233 and the third driving device 61 are all air cylinders, and the Z-axis driving device 34 is also an air cylinder.

To sum up, the utility model discloses the during operation, to support frame 1 and be fixed in on the lathe, on next step, press from both sides and get drive arrangement 6 drive left clamping jaw 7 and right clamping jaw 8 and open, and remove module 3 by the Z axle and will press from both sides and get module 4 and remove the material top, on next step, close up the lock with right clamping jaw 8 by pressing from both sides drive arrangement 6 drive left clamping jaw 7 and press from both sides the material tightly, and remove module 3 by the Z axle and will press from both sides and get module 4 and upwards mention, on next step, remove module 2 by the Y axle and remove module 3 forward or backward and deliver to discharge mechanism department with the Z axle, on next step, it will press from both sides and get module 4 and deliver to discharge mechanism to remove module 3 by the Z axle, and open drive arrangement 6 drive left clamping jaw 7 and right clamping jaw 8 by pressing from both sides, release.

After the technical scheme is adopted, compared with the prior art, the utility model has following beneficial effect: the utility model discloses in adopt by first drive arrangement 232 and second drive arrangement 233 superimposed mode through removing module 2 with the Y axle to realize reaching the motion stroke more than the twice in the space of one time by the cooperation of slide bar 231, saved the assembly space, the structure is nimble small and exquisite compact. Secondly, establish the support frame 31 of Z axle removal module 3 on the fixed plate 221 of Y axle removal seat 22 with the mode cover that can move the regulation through the mounting groove to realize adjusting the position that Z axle removed module 3, thereby adapt to different products, and respectively install a Z axle removal module 3 at the both ends of fixed plate 221, remove the interval between the module 3 through adjusting two Z axles, can cooperate the clamp to get the material of different model sizes. Meanwhile, the first positioning block 71 and the second positioning block 81 are arranged in a V-shaped and alternate and symmetrical mode at intervals, so that the material can be positioned and clamped quickly, and the first positioning block 71 and the second positioning block 81 can be relatively folded and buckled when the material is not clamped, so that the occupied space is reduced, and the manipulator can move conveniently.

Of course, the above description is only an exemplary embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes and modifications made by the constructions, features, and principles of the present invention in accordance with the claims of the present invention are intended to be included in the scope of the present invention.

Claims

1. A manipulator, characterized by comprising: the clamping device comprises a supporting rack (1), a Y-axis moving module (2) arranged on the supporting rack (1), a Z-axis moving module (3) arranged on the Y-axis moving module (2) and a clamping module (4) arranged on the Z-axis moving module (3) and used for clamping materials, wherein the Y-axis moving module (2) comprises a Y-axis sliding rail (21) arranged on the supporting rack (1), a Y-axis moving seat (22) arranged on the Y-axis sliding rail (21) and a Y-axis driving device (23) used for pushing the Y-axis moving seat (22) to move along the Y-axis sliding rail (21), the Y-axis driving device (23) comprises a sliding rod (231) arranged on the supporting rack (1) and positioned above the Y-axis sliding rail (21), a first driving device (232) arranged on the sliding rod (231) in a movable manner and used for pushing the Y-axis moving seat (22) to slide, and the first driving device (232) arranged on the sliding rod (231) And the second driving device (233) is used for pushing the first driving device (232) to move along the sliding rod (231), and the Z-axis moving module (3) is arranged on the Y-axis moving seat (22).

2. A manipulator according to claim 1, wherein: the Z-axis moving modules (3) are at least provided with two Z-axis moving modules, are arranged on the Y-axis moving seat (22) in a mode of adjusting the distance, and are respectively positioned on two sides of the supporting rack (1); the clamping modules (4) are at least provided with two and are respectively arranged on the two Z-axis moving modules (3).

3. A manipulator according to claim 2, wherein: the Z-axis moving module (3) comprises a support frame (31) which is slidably mounted on the Y-axis moving seat (22), a Z-axis sliding block (32) which is mounted on the support frame (31), a Z-axis sliding rail (33) which is mounted on the Z-axis sliding block (32), and a Z-axis driving device (34) which is mounted on the support frame (31) and used for pushing the Z-axis sliding rail (33) to move along the Z-axis sliding block (32), and the clamping module (4) is mounted at the lower end of the Z-axis sliding rail (33).

4. A manipulator according to claim 3, wherein: the clamping module (4) comprises a mounting seat (5) mounted on the Z-axis sliding rail (33), a clamping driving device (6) mounted on the mounting seat (5), and a left clamping jaw (7) and a right clamping jaw (8) mounted on the clamping driving device (6) and used for clamping the material, wherein the lower ends of the left clamping jaw (7) and the right clamping jaw (8) can be relatively folded to clamp the material.

5. A manipulator according to claim 4, wherein: the clamping driving device (6) comprises a third driving device (61) arranged on the mounting base (5) and a first swinging piece (62) and a second swinging piece (63) which are rotatably arranged at the output end of the third driving device (61), and the left clamping jaw (7) and the right clamping jaw (8) are respectively arranged on the first swinging piece (62) and the second swinging piece (63).

6. A manipulator according to claim 5, wherein: a first guide groove (621) and a second guide groove (631) are respectively formed at the upper ends of the first swinging piece (62) and the second swinging piece (63), and a first swinging arm (622) and a second swinging arm (632) are respectively formed at the lower ends of the first swinging piece (62) and the second swinging piece (63); the front end of a push rod (610) of the third driving device (61) is respectively provided with a first convex shaft (611) and a second convex shaft (612) which are positioned in the first guide groove (621) and the second guide groove (631) and push the first swinging piece (62) and the second swinging piece (63) to rotate, and the first swinging piece (62) and the second swinging piece (63) are symmetrically installed.

7. A manipulator according to claim 6, wherein: the lower ends of the left clamping jaw (7) and the right clamping jaw (8) are respectively formed with a plurality of V-shaped first positioning blocks (71) and second positioning blocks (81).

8. A manipulator according to claim 7, wherein: the first positioning blocks (71) and the second positioning blocks (81) are arranged at equal intervals, and the first positioning blocks (71) and the second positioning blocks (81) are symmetrical and alternately arranged.

9. A manipulator according to claim 3, wherein: the Y-axis moving seat (22) is provided with a fixing plate (221), the telescopic rod of the first driving device (232) abuts against the fixing plate (221), and the supporting frame (31) is provided with a mounting groove used for being sleeved on the fixing plate (221).

10. A manipulator according to claim 1, wherein: the sliding rod (231) is sleeved with a sliding plate (234) capable of sliding, the first driving device (232) is installed on the sliding plate (234), and the telescopic rod of the second driving device (233) is pressed and fixed on the sliding plate (234).