CN212352089U

CN212352089U - Two-stage stretching manipulator

Info

Publication number: CN212352089U
Application number: CN202020599417.5U
Authority: CN
Inventors: 韩铭生; 马帅
Original assignee: Shenzhen Mingte Technology Co ltd
Current assignee: Shenzhen Mingte Technology Co ltd
Priority date: 2020-04-20
Filing date: 2020-04-20
Publication date: 2021-01-15
Anticipated expiration: 2030-04-20

Abstract

The utility model relates to a manipulator is stretched out to two-stage, including bed frame, one-level manipulator, second grade manipulator, one-level manipulator drive arrangement, second grade manipulator drive arrangement, first rail block module, second rail block module and visit the thing sensor, the one-level manipulator slides through first rail block module and sets up on the bed frame, and the second grade manipulator slides through second rail block module and sets up on the one-level manipulator, the second grade manipulator is including getting the thing fork arm, it is getting thing fork arm front end to visit the thing sensor setting. The two-stage stretching manipulator adopts a two-stage stretching structural form, so that the size can be greatly reduced, meanwhile, the two-stage stretching is controlled by the two driving motors to act, the stretching speed and the stretching distance controllability can be effectively improved, particularly, the position of an article can be effectively judged by the object detecting sensor arranged on the object taking fork arm, and the machining error and the assembly error of the whole machine can be effectively avoided through the judgment.

Description

Two-stage stretching manipulator

Technical Field

The utility model relates to an automation equipment technical field especially relates to a manipulator is stretched out to two-stage.

Background

At present, the application range of mechanical equipment is wider and wider, the telescopic manipulator is a mechanical mechanism which is commonly used, the telescopic function is realized by a motor, a screw rod and a guide rod, and the front end goods taking part adopts a mode of copying the taken goods, so that the goods taking action is realized. The existing telescopic manipulator is generally single-stage telescopic, and has the problems of large volume, space occupation, slow telescopic speed, incapability of compensating for telescopic length and the like, and the problems of large overall volume, long goods taking time, incapability of being compatible with mechanical production errors and the like can be derived in the manipulator application scene and need to be improved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a manipulator is stretched out to small, flexible fast, the flexible distance controllable, can effectively avoid the two-stage of the assembly error of machining error and complete machine.

The utility model discloses a realize like this: a two-stage extension manipulator comprises a base frame, a first-stage manipulator, a second-stage manipulator, a first-stage manipulator driving device, a second-stage manipulator driving device, a first guide rail sliding block module, a second guide rail sliding block module and a material detecting sensor, the primary manipulator is arranged on the base frame in a sliding mode through a first guide rail sliding block module, the secondary manipulator is arranged on the primary manipulator in a sliding mode through a second guide rail sliding block module, the primary manipulator driving device is used for driving the primary manipulator to stretch, the secondary manipulator driving device is used for driving the secondary manipulator to stretch, the primary manipulator driving device comprises a first driving motor, a first screw rod and a first screw rod nut, the first driving motor is arranged at the tail end of the base frame, the first screw rod nut is arranged at the tail end of the primary manipulator, the first screw rod is sleeved in the first screw rod nut, and the first driving motor drives the first screw rod to rotate; second grade manipulator drive arrangement includes second driving motor, second lead screw and second screw-nut, second driving motor sets up at one-level manipulator front end, second screw-nut sets up the tail end at the second grade manipulator, the second lead screw cover is established in second screw-nut, second driving motor drives the second lead screw rotatory, the second grade manipulator is including getting the thing yoke, it is getting the thing fork front end to visit thing sensor setting.

The two-stage stretching manipulator further comprises a camera support and a code reading camera, the camera support is arranged on the base frame, and the code reading camera is arranged at the upper end of the camera support.

The two-stage extension manipulator further comprises a first-stage manipulator in-place sensor and a second-stage manipulator in-place sensor, the first-stage manipulator in-place sensor is used for detecting whether the first-stage manipulator retracts in place, and the second-stage manipulator in-place sensor is used for detecting whether the second-stage manipulator retracts in place.

The utility model has the advantages that: the two-stage stretching manipulator adopts a two-stage stretching structure, so that the size can be greatly reduced, the two-stage stretching is controlled by two driving motors to act, the stretching speed and the stretching distance controllability can be effectively improved, particularly, the position of an article can be effectively judged by the article detecting sensor arranged on the article taking fork arm, the machining error and the assembly error of the whole machine can be effectively avoided through the judgment, and the specific judgment process is as follows: the object detection device comprises a first-stage mechanical arm, a second-stage mechanical arm, an object detection sensor, a driving motor, a detection object sensor and a logic mode of detecting the object, wherein the detection object sensor is in an unfired state after detecting the object, the detection object sensor is close to the object (the object to be taken) and continuously in the unfired state after detecting the object, the detection object sensor is in the unfired state after detecting the object, the mechanical arm can be judged to be in the in-place state after detecting the object by two times of triggering and the step number of the driving motor, and meanwhile, the standard value can be compared by time and the step number to judge whether the object is in a correct station and is deformed.

Drawings

Fig. 1 is a schematic structural diagram of an initial state of an embodiment of the two-stage stretching manipulator of the present invention;

fig. 2 is a schematic structural diagram of an extending state of the two-stage extending manipulator according to the embodiment of the present invention;

fig. 3 is a schematic structural view of another angle of the two-stage stretching manipulator according to the embodiment of the present invention;

fig. 4 is an exploded view of an embodiment of the two-stage protracting robot of the present invention;

fig. 5 is a schematic diagram of a state in which the two-stage stretching robot according to the embodiment of the present invention stretches but does not detect an object;

fig. 6 is a schematic diagram of a state in which an object is extended and detected by the two-stage extension manipulator according to the embodiment of the present invention;

fig. 7 is a schematic diagram of a state of the two-stage stretching manipulator according to the embodiment of the present invention when no object is detected again after stretching;

fig. 8 is a schematic diagram illustrating a state where the two-stage stretching robot according to the embodiment of the present invention retracts after picking up an object;

figure 9 is a side view of an embodiment of a two-stage protracting robot of the present invention retracting after picking up an object.

Wherein, 1, a base frame; 2. a first-stage manipulator; 3. a secondary manipulator; 31. fetching fork arms; 4. a primary manipulator drive; 41. a first drive motor; 42. a first lead screw; 43. a first lead screw nut; 5. a secondary manipulator drive; 51. a second drive motor; 52. a second lead screw; 53. a second feed screw nut; 6. a first rail slider module; 7. a second rail slider module; 8. a probe sensor; 9. a camera head bracket; 10. a code reading camera; 11. a first-level manipulator in-place sensor; 12. a secondary manipulator in-place sensor; 100. an object.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As an embodiment of the two-stage extending manipulator of the present invention, as shown in fig. 1 to 9, the two-stage extending manipulator comprises a base frame 1, a first-stage manipulator 2, a second-stage manipulator 3, a first-stage manipulator driving device 4, a second-stage manipulator driving device 5, a first rail slider module 6, a second rail slider module 7 and a detection sensor 8, wherein the first-stage manipulator 2 is slidably disposed on the base frame 1 through the first rail slider module 6, the second-stage manipulator 3 is slidably disposed on the first-stage manipulator 2 through the second rail slider module 7, the first-stage manipulator driving device 4 is used for driving the first-stage manipulator 2 to extend and retract, the second-stage manipulator driving device 5 is used for driving the second-stage manipulator 3 to extend and retract, the first-stage manipulator driving device 4 comprises a first driving motor 41, a first lead screw 42 and a first lead screw nut 43, the first driving motor, the first lead screw nut 43 is arranged at the tail end of the primary manipulator 2, the first lead screw 42 is sleeved in the first lead screw nut 43, and the first driving motor 41 drives the first lead screw 42 to rotate; second grade manipulator drive arrangement 5 includes second driving motor 51, second lead screw 52 and second screw-nut 53, second driving motor 51 sets up at 2 front ends of one-level manipulator, second screw-nut 53 sets up the tail end at second grade manipulator 3, second lead screw 52 cover is established in second screw-nut 53, second driving motor 51 drives second lead screw 52 rotatory, second grade manipulator 3 is including getting thing jibs 31, it sets up and is getting thing jibs 31 front end to visit thing sensor 8.

The two-stage stretching manipulator adopts a two-stage stretching structure, so that the size can be greatly reduced, the two-stage stretching is controlled by two driving motors to act, the stretching speed and the stretching distance controllability can be effectively improved, particularly, the position of an article can be effectively judged by the object detecting sensor 8 arranged on the object taking fork arm 31, the machining error and the assembly error of the whole machine can be effectively avoided through the judgment, and the specific judgment process is as follows: when the first-stage mechanical arm 2 and the second-stage mechanical arm 3 do not extend, the object detecting sensor 8 is in an unfired state, when the first-stage mechanical arm 2 and the second-stage mechanical arm 3 extend gradually and continuously at the same time, the object detecting sensor 8 is close to the object 100 (to be taken), the object 100 is detected and then is in the unfired state, when the first-stage mechanical arm 2 and the second-stage mechanical arm 3 extend continuously, the object detecting sensor 8 cannot detect the object 100 after crossing the object 100, the object 100 is in the unfired state again, the mechanical arm can be judged to be in the in-place extending state at the moment through the triggering time twice and the steps of the two driving motors, and meanwhile, whether the object 100 is in a correct station and is deformed can be judged through comparing standard values of the time and the steps Article placement errors, etc.

In this embodiment, the two-stage extending manipulator further includes a first-stage manipulator in-place sensor 11 and a second-stage manipulator in-place sensor 12, the first-stage manipulator in-place sensor 11 is used for detecting whether the first-stage manipulator 2 retracts in place, and the second-stage manipulator in-place sensor 12 is used for detecting whether the second-stage manipulator 3 retracts in place, and belongs to one of soft limit.

In this embodiment, the two-stage extending manipulator further includes a camera support 9 and a code reading camera 10, the camera support 9 is disposed on the base frame 1, and the code reading camera 10 is disposed at the upper end of the camera support 9. When the object 100 is taken and retracted to the proper position, the code reading camera 10 reads the two-dimensional code on the object to check the article information, and the article taking action is completed after the article information is checked successfully.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A two-stage extending manipulator is characterized by comprising a base frame, a one-stage manipulator, a two-stage manipulator, a one-stage manipulator driving device, a two-stage manipulator driving device, a first guide rail slider module, a second guide rail slider module and a material detecting sensor, wherein the one-stage manipulator is arranged on the base frame in a sliding mode through the first guide rail slider module, the two-stage manipulator is arranged on the one-stage manipulator in a sliding mode through the second guide rail slider module, the one-stage manipulator driving device is used for driving the one-stage manipulator to extend and retract, the two-stage manipulator driving device is used for driving the two-stage manipulator to extend and retract, the one-stage manipulator driving device comprises a first driving motor, a first lead screw and a first lead screw nut, the first driving motor is arranged at the tail end of the base frame, the first lead screw nut is arranged at the tail, the first driving motor drives the first screw rod to rotate; second grade manipulator drive arrangement includes second driving motor, second lead screw and second screw-nut, second driving motor sets up at one-level manipulator front end, second screw-nut sets up the tail end at the second grade manipulator, the second lead screw cover is established in second screw-nut, second driving motor drives the second lead screw rotatory, the second grade manipulator is including getting the thing yoke, it is getting the thing fork front end to visit thing sensor setting.

2. The two-stage extension robot of claim 1, further comprising a camera mount and a code reading camera, wherein the camera mount is disposed on the base frame and the code reading camera is disposed on the upper end of the camera mount.

3. The two-stage reach robot of claim 1, further comprising a primary robot in-position sensor for detecting whether the primary robot is retracted into position and a secondary robot in-position sensor for detecting whether the secondary robot is retracted into position.