CN214610205U - Accurate automatic feeding and discharging manipulator equipment - Google Patents
Accurate automatic feeding and discharging manipulator equipment Download PDFInfo
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- CN214610205U CN214610205U CN202120254149.8U CN202120254149U CN214610205U CN 214610205 U CN214610205 U CN 214610205U CN 202120254149 U CN202120254149 U CN 202120254149U CN 214610205 U CN214610205 U CN 214610205U
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Abstract
The utility model relates to the technical field of automatic auxiliary equipment, in particular to a precise automatic feeding and discharging mechanical arm device, wherein a clamping mechanism is arranged on a lifting mechanism and is arranged on a supporting truss through the lifting mechanism; be provided with first drive assembly on the truss, elevating system includes second drive assembly, presss from both sides and gets the mechanism and fix in second drive assembly's bottom, and power unit sets up on the connecting plate, including first power assembly and second power assembly, can provide power for first drive assembly and second drive assembly respectively. First drive assembly and second drive assembly can make to press from both sides and get the mechanism and move in horizontal direction and vertical direction, realize pressing from both sides to the clamp of processing part and transport, and wherein drive assembly all sets up to the meshing transmission between tooth and the tooth, makes transmission control more convenient, and the mechanism removal is got to the drive clamp more accurate, has improved machining efficiency when guaranteeing the machining precision.
Description
Technical Field
The utility model relates to an automatic change auxiliary assembly technical field, especially relate to an accurate automatic feeding mechanical arm equipment of unloading.
Background
The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and the figure of the mechanical arm can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like. Although they differ in their morphology, they all share the common feature of being able to receive commands and locate a point in three (or two) dimensional space to perform work.
In the machine manufacturing industry of the society today, the machining and manufacturing of parts are not necessary, wherein the machining and manufacturing of shaft parts are not necessary, and particularly, the occurrence of a numerical control lathe speeds up the whole production process. However, many inconveniences also occur in the application of the numerically controlled lathe, such as: for some shaft parts, the numerical control lathe can only complete one process each time, and can not realize the automatic clamping of the shaft parts. The machining process of the workpiece to be machined, such as feeding and discharging, workpiece transportation and the like occupies a large amount of manpower and material resources, and the fine machining accuracy is not guaranteed due to manual or cylinder driving, so that the machining quality and the machining efficiency are in a lower level.
In view of the above problems, the designer actively makes research and innovation based on the practical experience and professional knowledge that the product engineering is applied for many years, so as to create an accurate and automatic feeding and discharging manipulator device, which is more practical.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is: the feeding and discharging mechanical arm equipment capable of accurately and automatically feeding and discharging is provided, and the displacement of the mechanical arm can be accurately driven.
In order to achieve the above purpose, the utility model adopts the technical scheme that: the utility model provides a feeding mechanical arm equipment in accurate automation, includes: the clamping mechanism is arranged on the lifting mechanism and arranged on the supporting truss through the lifting mechanism;
the supporting truss comprises a supporting cross beam arranged in the horizontal direction and a first driving assembly arranged in the length direction of the supporting cross beam, the lifting mechanism comprises a supporting vertical beam arranged in the vertical direction and a second driving assembly arranged in the length direction of the supporting vertical beam, a connecting plate is arranged on the first driving assembly and is in sliding connection with the first driving assembly, the supporting vertical beam is fixed on the connecting plate, the clamping mechanism is fixed at the bottom end of the second driving assembly, and the second driving assembly is in sliding connection with the supporting vertical beam;
the power mechanism is arranged on the connecting plate and comprises a first power assembly and a second power assembly, the first power assembly can drive the connecting plate to move along the first driving assembly, and the second power assembly can drive the second driving assembly to move along the vertical direction.
Further, the first driving assembly comprises a first rack and a first guide rail which are arranged along the length direction of the supporting beam, a first sliding block which is matched with the first guide rail is arranged on the connecting plate, and the first sliding block is connected with the first guide rail in a sliding manner;
the first power assembly comprises a first motor and a first gear, the first motor is fixed on the connecting plate, the first gear and an output shaft of the first motor rotate coaxially, and the first gear is meshed with the first rack.
Further, the first rack and the first guide rail are arranged on a vertical surface of the supporting cross beam in parallel, the connecting plate is arranged in parallel to the vertical surface of the supporting cross beam, the first motor is fixed on one side, away from the first driving assembly, of the connecting plate, and an output shaft of the first motor is perpendicular to the connecting plate and penetrates through the connecting plate to drive the first gear to be in sliding connection with the first rack.
Furthermore, the second driving assembly comprises a second rack and a second guide rail which are arranged along the length direction of the supporting vertical beam, a second sliding block is arranged on the second guide rail and is connected with the second guide rail in a sliding manner, and the second sliding block is fixedly connected with the connecting plate through a support;
the second power assembly comprises a second motor and a second gear, the second motor is fixed on the connecting plate, the second gear and an output shaft of the second motor rotate coaxially, and the second gear is meshed with the second rack.
Furthermore, the second rack and the second guide rail are arranged in parallel on a plane perpendicular to the supporting vertical beam and on one side of the connecting plate, the second motor is fixed on one side of the connecting plate close to the first driving assembly, and an output shaft of the second motor is perpendicular to the connecting plate and penetrates through the connecting plate to drive the second gear to be in sliding connection with the second rack.
Further, a first guide gear and a second guide gear are respectively arranged on the connecting plate and close to the first driving assembly and the second driving assembly;
the first guide gear and the second guide gear are respectively meshed with the first rack and the second rack and are respectively connected with the connecting plate through a first support and a second support.
Furthermore, the first motor and the second motor are fixed on the connecting plate through a first flange and a second flange respectively, and output shafts of the first motor and the second motor are fixedly connected with the first gear and the second gear through couplers.
Further, the tooth ends of the first rack and the second rack are arranged to be helical tooth structures, the first gear and the first guide gear are arranged to be helical tooth structures meshed with the first rack, and the second gear and the second guide gear are arranged to be helical tooth structures meshed with the second rack.
Furthermore, the number of the first guide rails is two, the two first guide rails are respectively positioned at two sides of the first rack, and the number of the first sliding blocks is two corresponding to the number of the first guide rails;
the second sliding blocks are arranged in two along the vertical direction and are respectively fixedly connected with the connecting plate through the supports.
Furthermore, the clamping mechanism comprises a mounting seat, a rotary cylinder, a connecting seat and a plurality of three-grabbing chucks, the mounting seat is arranged at the bottom end of the second driving assembly, and the rotary cylinder is fixed on the mounting seat and connected with the three-grabbing chucks through the connecting seat;
the connecting seat is provided with a plurality of end faces for fixing the three-grab chuck.
The utility model has the advantages that: in the disclosed manipulator equipment of this application, be provided with first drive assembly and second drive assembly and can make the clamp to get the mechanism and move in horizontal direction and vertical direction, the realization is got and is transported the clamp of processing part, first drive assembly and second drive assembly provide power by first power component and second power component respectively, and drive assembly all sets up to the meshing transmission between tooth and the tooth, it is more convenient to make transmission control, the drive is got the mechanism and is removed more accurately, improved machining efficiency when guaranteeing the machining precision.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of an installation of a robot apparatus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot apparatus according to an embodiment of the present invention;
fig. 3 is a schematic view of an internal structure of a robot apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic view of a portion of the structure of FIG. 3 at A;
figure 5 is a rear view of the robot apparatus of figure 3;
FIG. 6 is a schematic view of a portion of the structure shown at B in FIG. 5;
fig. 7 is a schematic structural view of the robot apparatus in the embodiment of the present invention after the connecting plate is removed;
FIG. 8 is a schematic view of a portion of the structure of FIG. 7 at C;
fig. 9 is a schematic structural view of the clamping mechanism in the embodiment of the present invention.
Reference numerals: 1. supporting the truss; 11. a support beam; 12. a first drive assembly; 121. a first rack; 122. a first guide rail; 2. a connecting plate; 21. a first slider; 22. a support; 23. a first guide gear; 24. a second guide gear; 25. a first bracket; 26. a second bracket; 27. a first flange; 28. a second flange; 3. a lifting mechanism; 31. supporting the vertical beam; 32. a second drive assembly; 321. a second rack; 322. a second guide rail; 323. a second slider; 4. a power mechanism; 41. a first power assembly; 411. a first motor; 412. a first gear; 42. a second power assembly; 421. a second motor; 422. a second gear; 43. a coupling; 5. a gripping mechanism; 51. a mounting seat; 52. a rotating cylinder; 53. a connecting seat; 54. three-grab chuck.
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.
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. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
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.
The precise automatic loading and unloading manipulator equipment shown in fig. 1 to 9 comprises a supporting truss 1, a lifting mechanism 3, a power mechanism 4 and a clamping mechanism 5, wherein the clamping mechanism 5 is arranged on the lifting mechanism 3 and arranged on the supporting truss 1 through the lifting mechanism 3; the supporting truss 1 comprises a supporting cross beam 11 arranged along the horizontal direction and a first driving assembly 12 arranged along the length direction of the supporting cross beam 11, the lifting mechanism 3 comprises a supporting vertical beam 31 arranged along the vertical direction and a second driving assembly 32 arranged along the length direction of the supporting vertical beam 31, a connecting plate 2 is arranged on the first driving assembly 12 and is in sliding connection with the first driving assembly, the supporting vertical beam 31 is fixed on the connecting plate 2, the clamping mechanism 5 is fixed at the bottom end of the second driving assembly 32, and the second driving assembly 32 is in sliding connection with the supporting vertical beam 31; the power mechanism 4 is disposed on the connecting plate 2 and includes a first power assembly 41 and a second power assembly 42, the first power assembly 41 can drive the connecting plate 2 to move along the first driving assembly 12, and the second power assembly 42 can drive the second driving assembly 32 to move along the vertical direction.
In the specific implementation process, the manipulator equipment is installed on the support truss 1, the first driving component 12 is arranged on the support truss 1 and can drive the manipulator to horizontally move on the support truss 1, the second driving component 32 is arranged in the lifting mechanism 3 arranged along the vertical direction and can drive the manipulator to move in the vertical direction, the manipulator is set to be a three-grabbing chuck and can clamp a machined part, and the first driving component 12 and the second driving component 32 are used for clamping and transferring the machined part. First drive assembly and second drive assembly are respectively by first power component and second power component provide power, and drive assembly all sets up to the meshing transmission between tooth and the tooth, make transmission control more convenient, and the mechanism removal is got more accurately to the drive clamp, has improved machining efficiency when guaranteeing the machining precision.
As a preference of the above embodiment, the first driving assembly 12 includes a first rack 121 and a first guide rail 122 arranged along the length direction of the supporting beam 11, a first slider 21 adapted to the first guide rail 122 is arranged on the connecting plate 2, and the first slider 21 is slidably connected with the first guide rail 122; the first power assembly 41 includes a first motor 411 and a first gear 412, the first motor 411 is fixed on the connecting plate 2, the first gear 412 rotates coaxially with the output shaft of the first motor 411, and the first gear 412 is engaged with the first rack 121. Through the meshing transmission between first gear 412 and the first rack 121, realize connecting plate 2 along the ascending removal of first guide rail 122 in the horizontal direction, for first gear 412 provides power through first motor 411, adopt the meshing driven mode between tooth and the tooth to make transmission control more convenient, the drive is got the mechanism and is removed more accurately.
Preferably, the second driving assembly 32 includes a second rack 321 and a second guide rail 322 disposed along the length direction of the supporting vertical beam 31, a second sliding block 323 is disposed on the second guide rail 322 and slidably connected thereto, and the second sliding block 323 is fixedly connected to the connecting plate 2 through the support 22; the second power assembly 42 includes a second motor 421 and a second gear 422, the second motor 421 is fixed on the connecting plate 2, the second gear 422 rotates coaxially with the output shaft of the second motor 421, and the second gear 422 is engaged with the second rack 321. Through the meshing transmission between second gear 422 and the second rack 321, realize connecting plate 2 along the ascending removal of second guide rail 322 in vertical direction, provide power for second gear 422 through second motor 421, adopt the meshing transmission's between tooth and the tooth mode to make transmission control more convenient, the drive is got the mechanism and is removed more accurately.
In a specific implementation process, the first rack 121 and the first guide rail 122 are disposed in parallel on a vertical surface of the supporting beam 11, the connecting plate 2 is disposed in parallel with the vertical surface of the supporting beam 11, the first motor 411 is fixed on a side of the connecting plate 2 away from the first driving assembly 12, and an output shaft of the first motor 411 is disposed perpendicular to the connecting plate 2 and penetrates through the connecting plate 2 to drive the first gear 412 to be slidably connected with the first rack 121.
The second rack 321 and the second guide rail 322 are disposed in parallel on a plane of one side of the vertical supporting beam 31 perpendicular to the connecting plate 2, the second motor 421 is fixed on one side of the connecting plate 2 close to the first driving assembly 12, and an output shaft of the second motor 421 is disposed perpendicular to the connecting plate 2 and passes through the connecting plate 2 to drive the second gear 422 to be connected with the second rack 321 in a sliding manner.
As a preference of the above embodiment, a first guide gear 23 and a second guide gear 24 are provided on the link plate 2 adjacent to the first drive assembly 12 and the second drive assembly 32, respectively; the first guide gear 23 and the second guide gear 24 are engaged with the first rack 121 and the second rack 321, respectively, and are connected to the connection plate 2 through the first bracket 25 and the second bracket 26, respectively. The first guide gear 23 and the second guide gear 24 are respectively disposed in the traveling direction of the first gear 412 and the second gear 422 to maintain stable movement of the connection plate 2 during relative movement with the first driving assembly 12 and the second driving assembly 32, respectively.
Preferably, as for the above embodiment, the first motor 411 and the second motor 421 are fixed on the connecting plate 2 by a first flange 27 and a second flange 28, respectively, and the output shafts of the first motor 411 and the second motor 421 are fixedly connected with the first gear 412 and the second gear 422 by the coupling 43. The first motor 411 and the second motor 421 respectively keep the stability of the fixed connection between themselves and the connecting plate 2 through the first flange 27 and the second flange 28, and ensure the continuous and stable transmission of the output shafts of the motors.
As a preference of the above embodiment, the tooth ends of the first and second racks 121 and 321 are provided in a helical tooth structure, the first gear 412 and the first guide gear 23 are provided in a helical tooth structure engaged with the first rack 121, and the second gear 422 and the second guide gear 24 are provided in a helical tooth structure engaged with the second rack 321. Two first guide rails 122 are arranged in parallel and are respectively located on two sides of the first rack 121, and two first sliding blocks 21 are arranged corresponding to the two first guide rails 122; the second sliding blocks 323 are arranged in two along the vertical direction and are respectively fixedly connected with the connecting plate 2 through the supports 22. The connecting plate 2 can move stably and continuously in the process of moving along the horizontal direction of the first driving assembly 12 and in the process of driving the second driving assembly 32 to move in the vertical direction by the second power assembly 42 fixed on the connecting plate 2.
As a preference of the above embodiment, as shown in fig. 9, the gripping mechanism 5 includes a mounting seat 51, a rotary cylinder 52, a connecting seat 53 and a plurality of three-grip chucks 54, the mounting seat 51 is provided at the bottom end of the second driving assembly 32, and the rotary cylinder 52 is fixed on the mounting seat 51 and connected to the three-grip chucks 54 through the connecting seat 53; the connecting seat 53 is provided with a plurality of end surfaces for fixing the three-grip chuck 54. The three-grab chuck can clamp the machined part, and the first driving assembly 12 and the second driving assembly 32 can clamp and transfer the machined part. The operation is simple and the practicability is better.
It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a feeding mechanical arm equipment in accurate automation which characterized in that includes: the clamping device comprises a supporting truss (1), a lifting mechanism (3), a power mechanism (4) and a clamping mechanism (5), wherein the clamping mechanism (5) is arranged on the lifting mechanism (3) and is arranged on the supporting truss (1) through the lifting mechanism (3);
the supporting truss (1) comprises a supporting cross beam (11) arranged in the horizontal direction and a first driving assembly (12) arranged in the length direction of the supporting cross beam (11), the lifting mechanism (3) comprises a supporting vertical beam (31) arranged in the vertical direction and a second driving assembly (32) arranged in the length direction of the supporting vertical beam (31), a connecting plate (2) is arranged on the first driving assembly (12) and is in sliding connection with the first driving assembly, the supporting vertical beam (31) is fixed on the connecting plate (2), the clamping mechanism (5) is fixed at the bottom end of the second driving assembly (32), and the second driving assembly (32) is in sliding connection with the supporting vertical beam (31);
the power mechanism (4) is arranged on the connecting plate (2) and comprises a first power assembly (41) and a second power assembly (42), the first power assembly (41) can drive the connecting plate (2) to move along the first driving assembly (12), and the second power assembly (42) can drive the second driving assembly (32) to move along the vertical direction.
2. The precise automatic loading and unloading manipulator equipment according to claim 1, wherein the first driving assembly (12) comprises a first rack (121) and a first guide rail (122) arranged along the length direction of the supporting beam (11), a first slider (21) adapted to the first guide rail (122) is arranged on the connecting plate (2), and the first slider (21) is slidably connected with the first guide rail (122);
the first power assembly (41) comprises a first motor (411) and a first gear (412), the first motor (411) is fixed on the connecting plate (2), the first gear (412) rotates coaxially with an output shaft of the first motor (411), and the first gear (412) is meshed with the first rack (121).
3. The precise automatic loading and unloading manipulator equipment according to claim 2, wherein the first rack (121) and the first guide rail (122) are arranged in parallel on a vertical surface of the support beam (11), the connecting plate (2) is arranged in parallel on the vertical surface of the support beam (11), the first motor (411) is fixed on a side of the connecting plate (2) far away from the first driving assembly (12), and an output shaft of the first motor (411) is arranged perpendicular to the connecting plate (2) and penetrates through the connecting plate (2) to drive the first gear (412) to be in sliding connection with the first rack (121).
4. The precise automatic loading and unloading manipulator equipment according to claim 3, wherein the second driving assembly (32) comprises a second rack (321) and a second guide rail (322) which are arranged along the length direction of the supporting vertical beam (31), a second sliding block (323) is arranged on the second guide rail (322) and is connected with the second guide rail in a sliding way, and the second sliding block (323) is fixedly connected with the connecting plate (2) through a support (22);
the second power assembly (42) comprises a second motor (421) and a second gear (422), the second motor (421) is fixed on the connecting plate (2), the second gear (422) and an output shaft of the second motor (421) rotate coaxially, and the second gear (422) is meshed with the second rack (321).
5. The precise automatic loading and unloading manipulator equipment according to claim 4, wherein the second rack (321) and the second guide rail (322) are arranged in parallel on a plane on one side of the supporting vertical beam (31) perpendicular to the connecting plate (2), the second motor (421) is fixed on one side of the connecting plate (2) close to the first driving assembly (12), and an output shaft of the second motor (421) is arranged perpendicular to the connecting plate (2) and penetrates through the connecting plate (2) to drive the second gear (422) to be connected with the second rack (321) in a sliding manner.
6. The robot apparatus according to claim 5, characterized in that a first guide gear (23) and a second guide gear (24) are provided on the connection plate (2) adjacent to the first drive assembly (12) and the second drive assembly (32), respectively;
the first guide gear (23) and the second guide gear (24) are respectively meshed with the first rack (121) and the second rack (321), and are respectively connected with the connecting plate (2) through a first bracket (25) and a second bracket (26).
7. The precise automatic loading and unloading manipulator equipment according to claim 6, wherein the first motor (411) and the second motor (421) are fixed on the connecting plate (2) through a first flange (27) and a second flange (28), respectively, and output shafts of the first motor (411) and the second motor (421) are fixedly connected with the first gear (412) and the second gear (422) through a coupling (43).
8. The robot apparatus of claim 7, wherein the gear ends of the first rack (121) and the second rack (321) are arranged in a helical gear structure, the first gear (412) and the first guide gear (23) are arranged in a helical gear structure engaged with the first rack (121), and the second gear (422) and the second guide gear (24) are arranged in a helical gear structure engaged with the second rack (321).
9. The precise automatic loading and unloading manipulator equipment according to claim 4, wherein the first guide rails (122) are arranged in parallel and are respectively located on two sides of the first rack (121), and the first sliding blocks (21) are arranged in two corresponding to the first guide rails (122);
the number of the second sliding blocks (323) is two along the vertical direction, and the second sliding blocks are respectively fixedly connected with the connecting plate (2) through the support (22).
10. The precise automatic loading and unloading manipulator equipment according to claim 1, wherein the gripping mechanism (5) comprises a mounting seat (51), a rotating cylinder (52), a connecting seat (53) and a plurality of three-gripping chucks (54), the mounting seat (51) is arranged at the bottom end of the second driving assembly (32), and the rotating cylinder (52) is fixed on the mounting seat (51) and connected with the three-gripping chucks (54) through the connecting seat (53);
the connecting base (53) is provided with a plurality of end faces for fixing the three-grab chuck (54).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120254149.8U CN214610205U (en) | 2021-01-28 | 2021-01-28 | Accurate automatic feeding and discharging manipulator equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120254149.8U CN214610205U (en) | 2021-01-28 | 2021-01-28 | Accurate automatic feeding and discharging manipulator equipment |
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| CN214610205U true CN214610205U (en) | 2021-11-05 |
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| CN202120254149.8U Active CN214610205U (en) | 2021-01-28 | 2021-01-28 | Accurate automatic feeding and discharging manipulator equipment |
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| CN (1) | CN214610205U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116901138A (en) * | 2023-08-29 | 2023-10-20 | 南通鑫磁机械制造有限公司 | Truss manipulator with material detection and identification functions |
-
2021
- 2021-01-28 CN CN202120254149.8U patent/CN214610205U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116901138A (en) * | 2023-08-29 | 2023-10-20 | 南通鑫磁机械制造有限公司 | Truss manipulator with material detection and identification functions |
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