CN213829012U

CN213829012U - Automatic feeding and discharging manipulator for curves

Info

Publication number: CN213829012U
Application number: CN202022819632.4U
Authority: CN
Inventors: 严立兵; 葛中雨
Original assignee: Zotao Robot Yancheng Co ltd
Current assignee: Zotao Robot Yancheng Co ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2021-07-30
Anticipated expiration: 2030-11-30

Abstract

The utility model discloses an unloading manipulator in curve automation belongs to manipulator technical field, including motor, first frame and second frame, be fixed with slide and drive channel between first frame and the second frame, the slide sets up to the curve structure, the inside of slide has been seted up and has been held the chamber, the cross section that holds the chamber sets up to be circular. This device passes through the slider and holds the limiting displacement between the chamber for the actuating lever is through slider, rotation seat and oscillating axle when removing and is tensile and the action that promotes with the carriage release lever from the inside of actuating lever, thereby makes the movement track of cylinder be the curve, has realized the curvilinear motion of cylinder, can realize the curved unloading of product after the fixed unloader that goes up of output of cylinder, has reduced the limitation that the manipulator used.

Description

Automatic feeding and discharging manipulator for curves

Technical Field

The utility model relates to a manipulator technical field specifically is an unloading manipulator in curve is automatic.

Background

The manipulator is an automatic operating device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying an object or operating a tool according to a fixed program, and is characterized in that various expected operations can be completed through programming, and the manipulator has the advantages of both a human and a manipulator machine in structure and performance, is the earliest industrial robot and the earliest modern robot, can replace heavy labor of a human to realize mechanization and automation of production, can operate in a harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments;

the existing manipulator mostly carries out linear operation when carrying out loading and unloading operation, and is difficult to make the manipulator carry out curve movement, thereby causing the use of the manipulator to have limitation.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an unloading manipulator in curve is automatic, through the slider and hold the limiting displacement between the chamber for the actuating lever is through the slider when removing, rotates the action that seat and oscillating axle stretch and promote the carriage release lever from the inside of actuating lever, thereby makes the movement track of cylinder be the curve, with the problem of proposing in solving above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a curve automatic loading and unloading manipulator comprises a motor, a first rack and a second rack, wherein a slide way and a driving channel are fixed between the first rack and the second rack, the slide way is of a curve structure, an accommodating cavity is formed in the slide way, and the cross section of the accommodating cavity is circular;

the driving channel is of a U-shaped structure, a rack is fixed at the bottom of the inner wall of the driving channel, two groups of sliding chutes corresponding to the positions of the rack are formed in the surface of the driving channel, an output shaft of the motor penetrates through the inner part of the sliding chutes, a gear is fixed on the output shaft of the motor, the gear and the rack are meshed with each other, and a limiting mechanism is arranged at the bottom of the motor;

the utility model discloses a motor, including motor output shaft, actuating lever, stand, movable rod, cylinder, actuating lever, holding tank, stand, carriage release lever, through-hole, stand, carriage release lever, cylinder, curved moving mechanism, the one end of motor output shaft is rotated and is connected with the actuating lever, the holding tank has been seted up on the surface of actuating lever, the inner wall of holding tank is fixed with the stand, the inner wall block of holding tank has the movable rod, the through-hole has been seted up on the surface of movable rod, the stand is pegged graft in the inside of through-hole, the movable rod can freely slide in the inside of actuating lever, the bottom of movable rod is fixed with the cylinder, the one end of movable rod is provided with curved moving mechanism.

Preferably, the limiting mechanism comprises a limiting block, a groove and a sliding plate, the bottom of the motor is fixedly connected with the sliding plate through a screw, the limiting block is welded on one side of the sliding plate and is of a T-shaped structure, the surface of the driving channel is provided with the groove matched with the limiting block, and the limiting block is clamped inside the groove.

Preferably, the curve moving mechanism comprises a sliding block, a rotating seat and a swinging shaft, the rotating seat is welded at one end of the moving rod, the swinging shaft is hinged to one end of the rotating seat, the sliding block is integrally formed at one end of the swinging shaft and is of a spherical structure, and the sliding block is clamped inside the accommodating cavity.

Preferably, a limiting block is fixed on the side surface of the driving rod, a groove is formed in the surface of one side, opposite to the driving rod, of the driving channel, and the limiting block is clamped inside the groove.

Preferably, the output shaft of the motor is sleeved with a sliding sleeve, the sliding sleeve is clamped on the inner wall of the sliding groove, the two sides of the sliding sleeve are integrally formed with baffles, and the baffles are in contact with the surface of the driving channel.

Preferably, the limiting blocks are arranged in two groups, and the two groups of limiting blocks are symmetrically and uniformly distributed on the side surface of the sliding plate.

Compared with the prior art, the beneficial effects of the utility model are that:

this device passes through the slider and holds the limiting displacement between the chamber for the actuating lever is through slider, rotation seat and oscillating axle when removing and is tensile and the action that promotes with the carriage release lever from the inside of actuating lever, thereby makes the movement track of cylinder be the curve, has realized the curvilinear motion of cylinder, can realize the curved unloading of product after the fixed unloader that goes up of output of cylinder, has reduced the limitation that the manipulator used.

Drawings

Fig. 1 is a schematic top view of the present invention;

FIG. 2 is a schematic sectional view of the driving channel of the present invention;

FIG. 3 is a schematic view of the cross-sectional structure of the curve-removing moving mechanism of the present invention;

fig. 4 is an enlarged schematic view of the area a in fig. 3 according to the present invention.

In the figure: 1. a motor; 2. a first frame; 3. a drive rod; 4. a slideway; 5. a second frame; 6. a drive channel; 7. a limiting block; 8. a groove; 9. a rack; 10. a gear; 11. a sliding plate; 12. a travel bar; 13. a column; 14. a cylinder; 15. an accommodating chamber; 16. a slider; 17. a rotating seat; 18. a swing shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only 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.

Referring to fig. 1 to 4, the present invention provides a technical solution: a curve automatic loading and unloading manipulator comprises a motor 1, a first rack 2 and a second rack 5;

a slide way 4 and a driving channel 6 are fixed between the first frame 2 and the second frame 5, the slide way 4 is of a curve structure, an accommodating cavity 15 is formed in the slide way 4, and the cross section of the accommodating cavity 15 is circular;

the driving channel 6 is set to be of a U-shaped structure, a rack 9 is fixed at the bottom of the inner wall of the driving channel 6, two groups of sliding grooves corresponding in position are formed in the surface of the driving channel 6, an output shaft of the motor 1 penetrates through the inside of the sliding grooves, a gear 10 is fixed on the output shaft of the motor 1, the gear 10 is meshed with the rack 9, a limiting mechanism is arranged at the bottom of the motor 1, the motor 1 drives the gear 10 to rotate on the surface of the rack 9, the gear 10 can move linearly on the surface of the rack 9, and therefore the driving rod 3 drives the moving rod 12 to move linearly;

one end of the output shaft of the motor 1 is rotatably connected with a driving rod 3, the surface of the driving rod 3 is provided with an accommodating groove, the inner wall of the accommodating groove is fixed with an upright post 13, the inner wall of the accommodating groove is clamped with a movable rod 12, the surface of the movable rod 12 is provided with a through hole, the upright post 13 is inserted in the through hole, the movable rod 12 can freely slide in the driving rod 3, the bottom of the movable rod 12 is fixed with a cylinder 14, one end of the movable rod 12 is provided with a curve moving mechanism, the curve moving mechanism comprises a sliding block 16, a rotating seat 17 and a swinging shaft 18, one end of the movable rod 12 is welded with the rotating seat 17, one end of the rotating seat 17 is hinged with the swinging shaft 18, one end of the swinging shaft 18 is integrally formed with the sliding block 16, the sliding block 16 is arranged in a spherical structure, the sliding block 16 is clamped in the accommodating cavity 15, when the driving rod 3 moves, the movable rod 12 drives the sliding block 16 to move in the accommodating cavity 15 through the rotating seat 17 and the swinging shaft 18, because the accommodating cavity 15 is of a curved structure, the movable rod 12 can be pulled by the slider 16, the rotating seat 17 and the swinging shaft 18 to move linearly inside the driving rod 3, so that the motion track of the cylinder 14 at the bottom of the movable rod 12 is curved;

the limiting mechanism comprises a limiting block 7, a groove 8 and a sliding plate 11, the bottom of the motor 1 is fixedly connected with the sliding plate 11 through screws, one side of the sliding plate 11 is welded with the limiting block 7, the limiting block 7 is arranged into a T-shaped structure, the surface of the driving channel 6 is provided with the groove 8 matched with the limiting block 7, the limiting block 7 is clamped inside the groove 8, the limiting blocks 7 are arranged into two groups, the two groups of limiting blocks 7 are symmetrically and uniformly distributed on the side surface of the sliding plate 11, when the driving gear 10 of the motor 1 moves on the surface of the rack 9, the limiting block 7 can be driven by the sliding plate 11 to linearly move inside the groove 8, so as to limit the motor 1, meanwhile, the sliding plate 11 can play a supporting role for the motor 1, the limiting block 7 is fixed on the side surface of the driving rod 3, the groove 8 is arranged on the surface of one side of the driving channel 6 opposite to the driving rod 3, and the limiting block 7 is clamped inside the groove 8, the limiting block 7 can limit the movement of the driving rod 3;

the output shaft of motor 1 has cup jointed the sliding sleeve, and the sliding sleeve block has the baffle in the inner wall of spout, and the both sides integrated into one piece of sliding sleeve has, and the baffle contacts with drive channel 6's surface, can protect motor 1's output shaft, can carry on spacingly to motor 1's output shaft simultaneously, prevents to take place the skew.

The working principle is as follows: during the use, open the switch of motor 1, motor 1 drives gear 10 and rotates at the surface of rack 9, make gear 10 can be at the surperficial rectilinear movement of rack 9, thereby make actuating lever 3 drive carriage release 12 rectilinear movement, when actuating lever 3 removed, carriage release 12 drives slider 16 and is holding the inside removal of chamber 15 through rotating seat 17 and oscillating axle 18, owing to hold chamber 15 and be the curve structure, can pass through slider 16, it pulls carriage release 12 at the inside rectilinear movement of actuating lever 3 to rotate seat 17 and oscillating axle 18, thereby make the motion orbit of carriage release 12 bottom cylinder 14 be the curve, thereby realized the curvilinear movement of cylinder 14.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a unloading manipulator in curve automation, includes motor (1), first frame (2) and second frame (5), its characterized in that: a slide way (4) and a driving channel (6) are fixed between the first rack (2) and the second rack (5), the slide way (4) is of a curve structure, an accommodating cavity (15) is formed in the slide way (4), and the cross section of the accommodating cavity (15) is circular;

the driving channel (6) is of a U-shaped structure, a rack (9) is fixed at the bottom of the inner wall of the driving channel (6), two groups of sliding grooves corresponding in position are formed in the surface of the driving channel (6), an output shaft of the motor (1) penetrates through the inner part of the sliding grooves, a gear (10) is fixed on the output shaft of the motor (1), the gear (10) and the rack (9) are meshed with each other, and a limiting mechanism is arranged at the bottom of the motor (1);

the one end of motor (1) output shaft is rotated and is connected with actuating lever (3), the holding tank has been seted up on the surface of actuating lever (3), the inner wall of holding tank is fixed with stand (13), the inner wall block of holding tank has carriage release lever (12), the through-hole has been seted up on the surface of carriage release lever (12), stand (13) are pegged graft in the inside of through-hole, carriage release lever (12) can freely slide in the inside of actuating lever (3), the bottom of carriage release lever (12) is fixed with cylinder (14), the one end of carriage release lever (12) is provided with curve moving mechanism.

2. The automatic curved feeding and discharging manipulator according to claim 1, wherein: the limiting mechanism comprises a limiting block (7), a groove (8) and a sliding plate (11), the bottom of the motor (1) is fixedly connected with the sliding plate (11) through a screw, the limiting block (7) is welded on one side of the sliding plate (11), the limiting block (7) is arranged to be of a T-shaped structure, the groove (8) matched with the limiting block (7) is formed in the surface of the driving channel (6), and the limiting block (7) is clamped inside the groove (8).

3. The automatic curved feeding and discharging manipulator according to claim 1, wherein: the curve moving mechanism comprises a sliding block (16), a rotating seat (17) and a swinging shaft (18), wherein the rotating seat (17) is welded at one end of the moving rod (12), the swinging shaft (18) is hinged to one end of the rotating seat (17), the sliding block (16) is integrally formed at one end of the swinging shaft (18), the sliding block (16) is of a sphere structure, and the sliding block (16) is clamped inside the accommodating cavity (15).

4. The automatic curved feeding and discharging manipulator according to claim 1, wherein: a limiting block (7) is fixed to the side face of the driving rod (3), a groove (8) is formed in the surface of one side, opposite to the driving rod (3), of the driving channel (6), and the limiting block (7) is clamped inside the groove (8).

5. The automatic curved feeding and discharging manipulator according to claim 1, wherein: the output shaft of the motor (1) is sleeved with a sliding sleeve, the sliding sleeve is clamped on the inner wall of the sliding groove, baffles are integrally formed on two sides of the sliding sleeve, and the baffles are in contact with the surface of the driving channel (6).

6. The automatic curved feeding and discharging manipulator according to claim 2, wherein: the two groups of limiting blocks (7) are arranged, and the two groups of limiting blocks (7) are symmetrically and uniformly distributed on the side surface of the sliding plate (11).