CN213971278U

CN213971278U - Manipulator device of synchronous transport of multistation

Info

Publication number: CN213971278U
Application number: CN202022542554.8U
Authority: CN
Inventors: 纪明星; 施卫东
Original assignee: Suzhou Sibeco Automation Technology Co ltd
Current assignee: Suzhou Sibeco Automation Technology Co ltd
Priority date: 2020-11-04
Filing date: 2020-11-04
Publication date: 2021-08-17
Anticipated expiration: 2030-11-04

Abstract

The utility model relates to an automatic production technical field, concretely relates to manipulator device of synchronous transport of multistation. The manipulator comprises a motor for providing power, a swing arm, a manipulator arm, a plurality of manipulator components, a motion arc-shaped groove and a power shaft; the motor drives the swing arm to do arc motion to drive the power shaft to do n-shaped motion along the motion arc-shaped groove, so that the plurality of manipulator assemblies on the manipulator arm are driven to do vertical movement and horizontal movement, and the carrying process of the manipulator assemblies is realized. The utility model discloses a synchronous transport of a plurality of manipulator subassemblies of a set of power device drive, the structure is simpler, and the cost is lower, and efficiency is higher.

Description

Manipulator device of synchronous transport of multistation

Technical Field

The utility model relates to an automatic production technical field, concretely relates to manipulator device of synchronous transport of multistation.

Background

With the application and development of automation technology, more and more automated machines replace manual work, and in the automated machines and devices, a manipulator device serving as a carrying role is indispensable. The existing manipulator carrying device at least adopts two groups of power devices, the grabbing and releasing of materials are realized through a group of vertical power devices, and the translational carrying of the materials is realized through a group of horizontal power devices, so that the two groups of power devices are required to be controlled respectively in the control process, and the cost and the complexity of a control system are increased invisibly.

SUMMERY OF THE UTILITY MODEL

The utility model provides a technical problem provide a realize manipulator device of synchronous transport of multistation through a set of power device.

The utility model provides a technical scheme that its technical problem adopted is:

a multi-station synchronous carrying manipulator device comprises a motor for providing power, a swing arm, a manipulator arm, a plurality of manipulator assemblies, a motion arc-shaped groove and a power shaft; one end of the swing arm is fixedly connected with a power shaft of the motor, the other end of the swing arm is provided with a waist-shaped hole, the motion arc-shaped groove is connected with the waist-shaped hole of the swing arm in a sliding way through the power shaft, so that the motion track of the swing arm is limited to be arc-shaped, and the motion of the power shaft along the track of the motion arc-shaped groove is limited to form an n-shaped motion track; the axis of the power shaft is fixedly connected with the mechanical arm, and the plurality of mechanical arm components are regularly arranged in front of the mechanical arm; the motor drives the swing arm to do arc motion to drive the power shaft to do n-shaped motion along the motion arc-shaped groove, so that the plurality of manipulator assemblies on the manipulator arm are driven to do vertical movement and horizontal movement, and the carrying process of the manipulator assemblies is realized.

Further, the manipulator comprises a horizontal sliding rail and a horizontal sliding block which are matched with each other, and a vertical sliding rail and a vertical sliding block which are matched with each other, wherein the horizontal sliding block and the vertical sliding block are fixedly connected back to back, the horizontal sliding rail is fixed on the back face of the manipulator arm, the vertical sliding rail is fixed on the front panel of the rack, the motor is fixed on the rear panel of the rack, and the motion arc-shaped groove is formed in the front panel of the rack.

Preferably, the manipulator assembly is a suction nozzle manipulator or a clamping jaw manipulator driven by a power device.

Furthermore, a plurality of fixing holes which are convenient for replacing the position and fixing the manipulator assembly are formed in the manipulator arm.

Further, the upper end and the rear end of the rack are provided with motor protection plates for protection.

The utility model has the advantages that:

the swing arm is driven to do arc motion through a group of power devices, a waist-shaped hole is formed in the other end of the swing arm, the waist-shaped hole is connected with a motion arc-shaped groove for controlling the motion trail through a power shaft in a sliding mode, the motion arc-shaped groove is n-shaped, the motion trail of the power shaft is limited to be n-shaped, the axis of the power shaft is fixedly connected with a mechanical arm, a plurality of mechanical arm assemblies are fixed on the mechanical arm, and therefore synchronous carrying work of the mechanical arm assemblies is achieved.

Drawings

FIG. 1 is a three-dimensional structure of the present invention;

FIG. 2 is a perspective view of a hidden portion of the structure of FIG. 1;

labeled as:

1. the device comprises a motor, 2, a swing arm, 3, a mechanical arm, 4, a mechanical arm assembly, 5, a motion arc-shaped groove, 6, a power shaft, 7, a horizontal sliding rail, 8, a horizontal sliding block, 9, a vertical sliding rail, 10, a vertical sliding block, 11 and a rack.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

A multi-station synchronous carrying manipulator device is shown in figures 1 and 2 and comprises a motor 1 for providing power, a swing arm 2, a manipulator arm 3, a plurality of manipulator assemblies 4, a moving arc-shaped groove 5 and a power shaft 6; one end of the swing arm 2 is fixedly connected with a power shaft of the motor 1, the other end of the swing arm is provided with a waist-shaped hole, the moving arc-shaped groove 5 is connected with the waist-shaped hole of the swing arm 2 in a sliding mode through the power shaft 6, the motion track of the swing arm 2 is limited to be arc-shaped, and the power shaft 6 is limited to move along the track of the moving arc-shaped groove 5 to form an n-shaped motion track. The axis of the power shaft 6 is fixedly connected with the mechanical arm 3, and the plurality of mechanical arm components 4 are regularly arranged in front of the mechanical arm 3; the motor 1 drives the swing arm 2 to do arc motion, and drives the power shaft 6 to do n-shaped motion along the motion arc-shaped groove 5, so that the mechanical arm assemblies 4 on the mechanical arm 3 are driven to do vertical movement and horizontal movement, and the carrying process of the mechanical arm assemblies 4 is realized.

In order to realize the carrying work stably, as shown in fig. 2, the robot further comprises a horizontal slide rail 7 and a horizontal slide block 8 which are matched with each other, and a vertical slide rail 9 and a vertical slide block 10 which are matched with each other, wherein the horizontal slide block 8 and the vertical slide block 10 are fixedly connected back to back, the horizontal slide rail 7 is fixed on the back of the manipulator arm 3, the vertical slide rail 9 is fixed on the front panel of a rack 11, the motor 1 is fixed on the rear panel of the rack 11, and the moving arc-shaped groove 5 is arranged on the front panel of the rack 11.

The movement principle of the manipulator carrying device is as follows:

the motor 1 drives the swing arm 2 to do arc motion, the swing arm 2 drives the power shaft 6 to move along the track of the motion arc-shaped groove 5 to do n-shaped motion, vertical motion is done on two sides of the n-shaped motion, horizontal motion is done on the top end of the n-shaped motion, and therefore synchronous carrying of a plurality of mechanical arms is achieved through the power device.

The robot assembly 4 may employ a suction nozzle robot or a jaw robot driven by a power device. Meanwhile, a plurality of fixing holes which are convenient to replace the position and fix with the manipulator assembly 4 are formed in the manipulator arm 3.

In order to improve safety, the upper end and the rear end of the frame 11 are provided with motor guard plates for protection.

As shown in fig. 1, the manipulator assembly 4 is provided with four groups, when the power shaft 6 is arranged on the left side of the moving arc-shaped groove 5, the four groups of manipulators correspond to the first station, the second station, the third station and the fourth station respectively, and when the motor 1 drives the power shaft 6 to move to the right side, the four groups of manipulators synchronously move to the second station, the third station, the fourth station and the fifth station, so that the workpieces at the first station, the second station, the third station and the fourth station are synchronously conveyed to the second station, the third station, the fourth station and the fifth station.

The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a manipulator device of synchronous transport of multistation which characterized in that: comprises a motor (1) for providing power, a swing arm (2), a manipulator arm (3), a plurality of manipulator components (4), a motion arc-shaped groove (5) and a power shaft (6); one end of the swing arm (2) is fixedly connected with a power shaft of the motor (1), the other end of the swing arm is provided with a waist-shaped hole, the moving arc-shaped groove (5) is connected with the waist-shaped hole of the swing arm (2) in a sliding mode through the power shaft (6), so that the moving track of the swing arm (2) is limited to be arc-shaped, and the power shaft (6) is limited to move along the track of the moving arc-shaped groove (5) to form an n-shaped moving track; the axis of the power shaft (6) is fixedly connected with the manipulator arm (3), and the plurality of manipulator components (4) are regularly arranged in front of the manipulator arm (3); the motor (1) drives the swing arm (2) to do arc motion to drive the power shaft (6) to do n-shaped motion along the motion arc-shaped groove (5), so that the plurality of mechanical arm assemblies (4) on the mechanical arm (3) are driven to do vertical movement and horizontal movement, and the carrying process of the mechanical arm assemblies (4) is realized.

2. A multi-station synchronous handling robot apparatus according to claim 1, wherein: still including horizontal slide rail (7) and horizontal slider (8) of mutually supporting and perpendicular slide rail (9) and perpendicular slider (10) of mutually supporting, horizontal slider (8) with perpendicular slider (10) are fixed connection back to back, horizontal slide rail (7) are fixed the back of manipulator arm (3), the front panel in frame (11) is fixed in perpendicular slide rail (9), the rear panel of frame (11) is fixed with motor (1), motion arc wall (5) set up the front panel of frame (11).

3. A multi-station synchronous handling robot apparatus according to claim 2, wherein: the manipulator assembly (4) is a suction nozzle manipulator or a clamping jaw manipulator driven by a power device.

4. A multi-station synchronous handling robot apparatus according to claim 3, wherein: the manipulator arm (3) is provided with a plurality of fixing holes which are convenient for replacing the manipulator assembly (4) with the manipulator assembly and fixing the manipulator assembly.

5. A multi-station synchronous handling robot apparatus according to claim 2, wherein: and motor protection plates for protection are arranged at the upper end and the rear end of the rack (11).