CN213859326U

CN213859326U - Movable mechanical arm

Info

Publication number: CN213859326U
Application number: CN202022474741.7U
Authority: CN
Inventors: 李文磊; 杨益服; 李俊杰
Original assignee: Zhejiang Hoping Machinery Co Ltd
Current assignee: Zhejiang Hoping Machinery Co Ltd
Priority date: 2020-10-31
Filing date: 2020-10-31
Publication date: 2021-08-03
Anticipated expiration: 2030-10-31

Abstract

The utility model relates to a can realize portable manipulator that great scope removed. This kind of portable manipulator is including frame and manipulator main part, its characterized in that: the mechanical arm is characterized in that a transverse guide rail is arranged on the base, a transverse sliding seat is arranged on the transverse guide rail in a sliding mode, the transverse sliding seat is in transmission connection with a transverse power source for driving the transverse sliding seat to move, and the mechanical arm main body is installed on the transverse sliding seat. The movable manipulator has a large moving range, and can place both a paper box placed at the left and the right and lining clapboards into the paper box.

Description

Movable mechanical arm

Technical Field

The utility model relates to a manipulator, concretely relates to transfer manipulator of carton.

Background

Generally, cartons (such as medicine boxes or other small cartons) are packed and packed into cartons, and currently, the packing of the cartons is completed by a carton packing machine, and then the cartons are manually packed. In order to enable automated cartoning, the applicant has devised a fully automatic carton cartoning machine (unpacking and sealing machine) in which one of the processes is to feed cartons and lining partitions into cartons. However, the paper box and the lining partition plate are respectively located at two sides of the paper box and are separated by a certain distance, and in order to absorb the paper box and the lining partition plate, the manipulator must have a large moving range. At present, mechanical arms on the market are of fixed structures and cannot meet requirements.

Disclosure of Invention

In view of the deficiencies in the prior art, the utility model discloses the innovation provides a can realize the portable manipulator that great scope removed.

This kind of portable manipulator is including frame and manipulator main part, its characterized in that: the mechanical arm is characterized in that a transverse guide rail is arranged on the base, a transverse sliding seat is arranged on the transverse guide rail in a sliding mode, the transverse sliding seat is in transmission connection with a transverse power source for driving the transverse sliding seat to move, and the mechanical arm main body is installed on the transverse sliding seat.

The manipulator main part is including mount pad, left upper arm, right upper arm, left lower arm, right lower arm, hookup seat and inhale the utensil, the mount pad is installed on horizontal slide, the left upper arm all articulates on the mount pad with the right upper arm, the upper end of left lower arm articulates on the left upper arm, the upper end of right lower arm articulates on the right upper arm, the lower extreme of left lower arm articulates on the hookup seat, the lower extreme of right lower arm articulates on the hookup seat, inhale the utensil and connect on the hookup seat, the left upper arm is connected with drive left upper arm pivoted left power source transmission, the right upper arm is connected with drive right upper arm pivoted right power source transmission.

The left upper arm articulates the left corner at the triangle connecting piece, the upper corner of triangle connecting piece is articulated with the one end of last parallel connecting rod, the other end of going up parallel connecting rod articulates on the mount pad, the right corner of triangle connecting piece is articulated with the one end of parallel connecting rod down, the other end of parallel connecting rod articulates on the hookup seat down.

The suction tool is a vacuum sponge suction tool.

According to the utility model provides a pair of portable manipulator has great moving range, can all place the carton with inside lining baffle about with in.

Drawings

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

fig. 2 is a top view of the present invention (internal structure visible);

FIG. 3 is a cross-sectional view of a portion of the mount;

fig. 4 is a front view of the present invention;

FIG. 5 is a schematic view of the horizontal hold;

fig. 6 is an operation flowchart of the present invention.

Detailed Description

As shown in fig. 1, the mobile manipulator comprises a base 7 and a manipulator main body 1, as shown in fig. 3, a transverse guide rail 3 is arranged on the base 7, a transverse sliding base 2 is arranged on the transverse guide rail 3 in a sliding manner, the transverse sliding base 2 is in transmission connection with a transverse power source 4 for driving the transverse sliding base 2 to move, and the manipulator main body 1 is mounted on the transverse sliding base 2. As shown in fig. 6, the transverse slide 2 can move on the transverse guide rail 3 along with the robot body 1 by the driving of the transverse power source 4, so that the robot body 1 has a large moving range, and the paper boxes a and the lining partition boards B placed on the left and right can be placed in the paper boxes C.

As shown in fig. 1-3, the manipulator body 1 includes a mounting base 10, a left upper arm 11, a right upper arm 12, a left lower arm 13, a right lower arm 14, a connecting base 15, and a suction tool 16, the mounting base 10 is mounted on the transverse sliding base 2, the left upper arm 11 and the right upper arm 12 are both hinged on the mounting base 10, the upper end of the left lower arm 13 is hinged on the left upper arm 11, the upper end of the right lower arm 14 is hinged on the right upper arm 12, the lower end of the left lower arm 13 is hinged on the connecting base 15, the lower end of the right lower arm 14 is hinged on the connecting base 15, and the suction tool 16 is connected on the connecting base 15, as shown in fig. 2, the left upper arm 11 is in transmission connection with the left power source 5 for driving the left upper arm 11 to rotate, and the right upper arm 12 is in transmission connection with the right power source 6 for driving the right upper arm 12 to rotate. As shown in fig. 6, the left upper arm 22, the right upper arm 12, and the left lower arm 13 can drive the connecting seat 15 and the suction tool 16 to move up and down and left and right by the right lower arm 14 through the driving of the left power source 5 and the right power source 6, and then move on the transverse guide rail 3 through the mounting seat 10, as shown in fig. 6, so that the manipulator body 1 can place the paper boxes a and the lining partition plates B placed left and right into the paper boxes C. The manipulator main body 1 has the advantages of simple structure, lower cost, flexible action, capability of well meeting the transfer of a paper box A and a lining partition plate B, and high cost performance.

As shown in fig. 6, the manipulator needs to let the connection seat 15 and the suction tool 16 remain horizontal all the time in the working process, as shown in fig. 4, the utility model discloses articulate the left upper arm 11 at the left corner of triangle connecting piece 18, the upper corner of triangle connecting piece 18 is articulated with the one end of last parallel connecting rod 17, goes up the other end of parallel connecting rod 17 and articulates on mount pad 10, and the right corner of triangle connecting piece 18 is articulated with the one end of parallel connecting rod 19 down, and the other end of parallel connecting rod 19 articulates on connection seat 15 down.

As shown in fig. 4 and 5, a distance K2 from a hinge point of the upper parallel link 17 and the triangular link 18 to a hinge point of the upper parallel link 17 and the mounting base 10, a distance K1 from a hinge point of the right upper arm 12 and the mounting base 10 to a hinge point of the right upper arm 12 and the left lower arm 14 (i.e., a distance from hinge points at both ends of the right upper arm 12, and a distance K3 from hinge points at both ends of the left lower arm 13 and the left upper arm 18 to a hinge point of the left lower arm 13 and the coupling base 15), a distance K4 from a hinge point of the lower parallel link 19 and the triangular link 18 to a hinge point of the lower parallel link 19 and the coupling base 15, a distance K6 from a hinge point of the upper parallel link 17 and the triangular link 18 to a hinge point of the left lower arm 13 and the triangular link 18, a distance K5 from a hinge point of the upper parallel link 17 and the mounting base 10 to a hinge point of the left upper arm 11 and the mounting base 10, the distance K7 from the hinge point of the left lower arm 13 and the triangular connecting piece 18 to the hinge point of the lower parallel connecting rod 19 and the triangular connecting piece 18, and the distance K8 from the hinge point of the left lower arm 13 and the connecting seat 15 to the hinge point of the lower parallel connecting rod 19 and the connecting seat 15. As shown in fig. 5, the connecting seat and the suction tool can be kept horizontal all the time by letting K1= K2, K3= K4, K5= K6, and K7= K8. It should be noted that the words "left", "right", "upper", "lower", etc. mentioned in this application are only used for distinguishing names, and do not have a limiting effect on the scope of protection.

Finally, it is worth mentioning that the suction device 16 of the present invention is a vacuum sponge suction device. The vacuum sponge suction tool can stably suck a bundle of paper boxes A with gaps.

Claims

1. The utility model provides a portable manipulator, includes frame (7) and manipulator main part (1), its characterized in that: be equipped with transverse guide (3) on frame (7), the slip is equipped with horizontal slide (2) on transverse guide (3), horizontal slide (2) are connected with horizontal power supply (4) transmission that the horizontal slide (2) of drive removed, install on horizontal slide (2) manipulator main part (1).

2. A mobile manipulator according to claim 1, wherein: the manipulator main body (1) comprises a mounting seat (10), a left upper arm (11), a right upper arm (12), a left lower arm (13), a right lower arm (14), a connecting seat (15) and a suction tool (16), the mounting seat (10) is mounted on the transverse sliding seat (2), the left upper arm (11) and the right upper arm (12) are both hinged on the mounting seat (10), the upper end of the left lower arm (13) is hinged on the left upper arm (11), the upper end of the right lower arm (14) is hinged on the right upper arm (12), the lower end of the left lower arm (13) is hinged on the connecting seat (15), the lower end of the right lower arm (14) is hinged on the connecting seat (15), the suction tool (16) is connected on the connecting seat (15), the left upper arm (11) is in transmission connection with a left power source (5) which drives the left upper arm (11) to rotate, the right upper arm (12) is in transmission connection with a right power source (6) which drives the right upper arm (12) to rotate.

3. A mobile manipulator according to claim 2, wherein: the left upper arm (11) articulates the left corner in triangle connecting piece (18), the upper corner of triangle connecting piece (18) is articulated with the one end of last parallel connecting rod (17), the other end of going up parallel connecting rod (17) articulates on mount pad (10), the right corner of triangle connecting piece (18) is articulated with the one end of parallel connecting rod (19) down, the other end of parallel connecting rod (19) articulates on hookup seat (15) down.

4. A mobile manipulator according to claim 2, wherein: the suction device (16) is a vacuum sponge suction device.