CN214924419U - Manipulator for transferring parts - Google Patents

Abstract

The utility model belongs to the technical field of the manipulator and specifically relates to a manipulator for transporting part is related to, and it includes the base, rotates the seat, and the base is fixed in ground, rotates the seat and rotates and connect in the upside of base, rotates a pivoted axis and is vertical setting, is connected with on the base to be used for the drive to rotate a pivoted rotary mechanism. The rotating seat is connected with a large arm along the vertical sliding direction, and the rotating seat is connected with a lifting mechanism for driving the large arm to lift along the vertical direction. The big arm is connected with a middle arm in a sliding mode in the horizontal direction, and a sliding mechanism used for driving the middle arm to slide is connected to the big arm. The middle arm is connected with a small arm in a sliding mode in the horizontal direction, the middle arm is connected with a linkage mechanism used for driving the small arm to slide, and one end of the small arm is connected with a mop. This application has the effect of being convenient for transport the part to appointed processing position.

Description

Manipulator for transferring parts

Technical Field

The application relates to the field of manipulators, in particular to a manipulator for transferring parts.

Background

A manipulator is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing and carrying objects according to a fixed program. The manipulator mainly comprises an actuating mechanism, a driving mechanism and a control system. It can replace human to carry out heavy work to realize mechanization and automation of production, and the manipulator is widely applied to departments of machine manufacturing, light industry, atomic energy and the like.

In an automobile production line, various parts are required to be transported between different stations, and the parts are generally transported by using a suspension arm.

With respect to the related art in the above, the inventors consider that: the suspension arm occupies a large space, so that the part is not convenient to transfer to a specified processing position.

SUMMERY OF THE UTILITY MODEL

In order to facilitate transferring parts to a designated processing location, the present application provides a robot for transferring parts.

The application provides a manipulator for transporting part adopts following technical scheme:

the utility model provides a manipulator for transporting part, the on-line screen storage device comprises a base, the roating seat, the base is fixed in ground, the roating seat rotates the upside of connecting in the base, roating seat pivoted axis is vertical setting, be connected with on the base and be used for driving roating seat pivoted rotary mechanism, it is connected with the forearm to slide along vertical on the roating seat, be connected with on the roating seat and be used for driving the elevating system of big arm along vertical lift, it is connected with well arm to slide along the horizontal direction on the big arm, be connected with the glide machanism who is used for driving well arm and slides on the well arm along the horizontal direction, be connected with the link gear who is used for driving the forearm to slide on the well arm, when the arm slides in the glide machanism drive, link gear drives the forearm simultaneously and slides, well arm is the same for the glide direction of big arm and the slip direction of forearm for well arm, the one end of forearm is connected with drags the hand.

By adopting the technical scheme, the rotating mechanism controls the rotating seat to rotate, and the rotating seat drives the large arm, the middle arm, the small arm and the mop to rotate, so that the mop can be conveniently rotated to a specified angle. The lifting mechanism drives the large arm to lift, and the large arm drives the middle arm, the small arm and the mop to lift vertically, so that the mop can be conveniently moved to a specified height. The middle arm is driven by the sliding mechanism to slide, the small arm is driven by the linkage mechanism to slide, the sliding mechanism and the linkage mechanism are matched with each other, the effect of driving the small arm to move quickly in the horizontal direction is achieved, the small arm drives the mop to move quickly in the horizontal direction, and the mop is convenient to move to the position of the horizontal interval different from the base. When transporting the part, the staff places the part on dragging the hand, through rotary mechanism, elevating system, glide machanism, the mutually supporting of link gear, will drag the hand and remove to appointed position to be convenient for transport the part to appointed processing position.

Optionally, the rotating mechanism includes a rotating motor, a rotating gear and a gear ring, the gear ring is fixed to the bottom of the rotating base, the axis of the gear ring is vertically arranged, the rotating gear is meshed with the gear ring, the rotating motor is fixed to the base, and an output shaft of the rotating motor is coaxially fixed to the rotating gear.

Through adopting above-mentioned technical scheme, when the seat rotates is rotated in the drive of needs, start the rotating electrical machines, the rotating electrical machines drive the rotating gear and rotate, and the rotating gear drives the ring gear and rotates, and the ring gear drives and rotates the seat and rotate, has reached the drive and has rotated seat pivoted effect.

Optionally, the base is connected with a first limit switch and a second limit switch which are electrically connected with the rotating mechanism, the rotating seat is connected with a first induction block and a second induction block, the first induction block and the second induction block are distributed on a circumference which takes the rotating axis of the rotating seat as the center, the first induction block is in induction fit with the first limit switch when rotating along with the rotating seat, and the second induction block is in induction fit with the second limit switch when rotating along with the rotating seat.

Through adopting above-mentioned technical scheme, first response piece cooperatees with first limit switch, and the second response piece cooperatees with second limit switch, has reached the effect of fixing a position the turned angle of roating seat.

Optionally, the bottom of the rotating seat is fixedly connected with a first arc plate and a second arc plate, the first arc plate and the second arc plate are combined to form a circular ring, the outer diameter of the first arc plate is larger than that of the second arc plate, the base is connected with a first proximity switch electrically connected with the rotating mechanism, the first proximity switch is used for sensing the first arc plate, and the first sensing blocks and the second sensing blocks are distributed at two ends of the first arc plate and are spaced from the second arc plate.

Through adopting above-mentioned technical scheme, when rotating the seat and rotating, the outer periphery wall of second arc was towards proximity switch, and when the tip of first arc was close to proximity switch, proximity switch sent the signal of telecommunication to rotary mechanism for rotate the seat and slow down, when first limit switch sensed first response piece or when second limit switch sensed the second response piece, rotated the seat stall. The proximity switch improves the stability of the rotary positioning of the rotary seat.

Optionally, the lifting mechanism comprises a lifting motor, a lifting screw rod and a lifting seat, the lifting motor is fixed on the rotating seat, the lifting screw rod is vertically arranged, the lifting screw rod is rotatably connected to the rotating seat, the lifting seat is in threaded connection with the lifting screw rod, and the lifting seat and the large arm are mutually fixed.

Through adopting above-mentioned technical scheme, when the big arm of needs drive was along vertical lift, elevator motor drive lift lead screw rotated, and the lift lead screw drives the seat that goes up and down along vertical lift, and the seat that goes up and down drives big arm along vertical lift, has reached the effect of the big arm of drive along vertical lift.

Optionally, a third induction block and a fourth induction block are connected to the rotating seat, the third induction block is located above the fourth induction block, a third limit switch and a fourth limit switch which are electrically connected with the lifting mechanism are connected to the large arm, the third limit switch is in induction fit with the third induction block, and the fourth limit switch is in induction fit with the fourth induction block.

Through adopting above-mentioned technical scheme, third limit switch and third response piece response cooperation are fixed a position the ascending distance of big arm, and fourth limit switch and fourth response piece response cooperation are fixed a position the descending distance of big arm, have reached and have gone on the effect of fixing a position when going up and down to big arm.

Optionally, a height approach block is integrally formed on the third induction block, a second approach switch electrically connected with the lifting mechanism is connected to the large arm, an induction head of the second approach switch is located above a contact of the third limit switch, and the second approach switch is used for inducing the height approach block.

Through adopting above-mentioned technical scheme, when big arm rose, the second proximity switch was at first responded to with high proximity block, and the second proximity switch sends the signal of telecommunication to elevating system, makes big arm slow down, and when third limit switch sensed the third and responded to the block, big arm stopped moving. The second proximity switch and the height proximity block are matched with each other, so that the stability of positioning the ascending distance of the large arm is improved.

Optionally, the sliding mechanism includes a driving motor, a driving gear and a driving rack, the driving motor is fixed on the large arm, the driving gear is coaxially fixed on an output shaft of the driving motor, the driving rack is fixed on the middle arm, the driving rack is horizontally arranged, and the driving gear is meshed with the driving rack.

By adopting the technical scheme, when the mop is required to be driven to slide along the horizontal direction, the driving motor drives the driving gear to rotate, the driving gear drives the driving rack to slide, the driving rack drives the middle arm to slide, and the middle arm drives the small arm and the mop to slide.

Optionally, the linkage mechanism comprises a synchronous belt, a first belt wheel and a second belt wheel, the first belt wheel and the second belt wheel are rotatably connected to the middle arm, the synchronous belt is sleeved on the first belt wheel and the second belt wheel, the synchronous belt is meshed with the first belt wheel and the second belt wheel respectively, the big arm is connected with a first fixing plate, the small arm is connected with a second fixing plate, and the first fixing plate and the second fixing plate are fixed to the synchronous belt respectively.

Through adopting above-mentioned technical scheme, when the well arm slided for the big arm, first fixed plate drove the synchronous belt and rotates around first band pulley and second band pulley, and synchronous belt drive second fixed plate slides, and the second fixed plate drives the forearm and slides, and the forearm slides for the speed of sliding of big arm is the sum of the speed of sliding of well arm for the big arm and the speed of sliding of forearm for well arm for the forearm, has reached the effect of drive forearm fast movement, and the forearm drives the hand of towing fast movement to the speed that the hand of towing slided has been improved.

Optionally, the big arm is connected with a fifth limit switch and a sixth limit switch which are electrically connected with the sliding mechanism, the middle arm is connected with a fifth induction block and a sixth induction block, the fifth induction block and the sixth induction block are distributed along the sliding direction of the middle arm, the fifth limit switch is in induction fit with the fifth induction block, and the sixth limit switch is in induction fit with the sixth induction block.

Through adopting above-mentioned technical scheme, fifth limit switch and fifth response piece induction fit, sixth limit switch and sixth response piece induction fit have reached the effect of fixing a position when the centering arm slides.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the rotating seat is driven to rotate by the rotating mechanism, the lifting mechanism drives the large arm to lift, the sliding mechanism drives the middle arm to slide, and the linkage mechanism drives the small arm to slide, so that the mop can be conveniently moved to a specified position, and the transfer of parts is completed;

2. the lifting mechanism comprises a lifting motor, a lifting screw rod and a lifting seat, and achieves the effect of driving the large arm to lift vertically;

3. the sliding mechanism comprises a driving motor, a driving gear and a driving rack, and the effect of driving the middle arm to slide is achieved;

4. the linkage mechanism comprises a synchronous belt, a first belt wheel and a second belt wheel, and the effect of driving the small arm to move quickly is achieved.

Drawings

Fig. 1 is a schematic structural diagram of a robot for transferring parts according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a rotation mechanism according to an embodiment of the present application.

Fig. 3 is a schematic structural diagram of the chassis and the turntable according to the embodiment of the present application.

Fig. 4 is an enlarged view of a point a in fig. 3, and is used for embodying the first limit switch, the second limit switch, and the first sensing block.

Fig. 5 is an enlarged view at B in fig. 3 for embodying the second sensing block.

Fig. 6 is a schematic structural diagram of the lifting mechanism according to the embodiment of the present application.

Fig. 7 is a schematic structural diagram of a support column according to an embodiment of the present application.

Fig. 8 is an enlarged view of C in fig. 7 for embodying a third limit switch, a fourth limit switch, and a fourth sensing block.

Fig. 9 is an enlarged view at D of fig. 7 for embodying a third sensing block, a height approaching block.

Fig. 10 is a schematic diagram of a positional relationship among the supporting column, the first position-limiting column, and the second position-limiting column according to the embodiment of the present application.

Fig. 11 is a sectional view of the upper arm and the middle arm according to the embodiment of the present invention, which is used to embody a slide mechanism and a link mechanism.

Fig. 12 is a schematic structural diagram of a large arm, a medium arm and a small arm according to an embodiment of the present application.

Fig. 13 is an enlarged view of E of fig. 12, for embodying a fifth limit switch, a sixth limit switch, a fifth sensing block, and a sixth sensing block.

Description of reference numerals: 1. a base; 11. a chassis; 12. a support plate; 121. a fixing ring; 13. a balancing weight; 14. a baffle plate; 2. a rotating seat; 21. a turntable; 22. a support pillar; 23. a top plate; 24. a first arc-shaped plate; 25. a second arc-shaped plate; 26. a first limit post; 27. a second limit post; 28. a first rubber pad; 29. a second rubber pad; 3. a rotation mechanism; 31. a rotating electric machine; 32. a rotating gear; 33. a ring gear; 34. a first limit switch; 35. a second limit switch; 36. a first proximity switch; 37. a first sensing block; 38. a second sensing block; 4. a large arm; 41. a first guide rail; 42. a first guide block; 5. a lifting mechanism; 51. a lifting motor; 52. a lifting screw rod; 53. a lifting seat; 54. a lifting speed reducer; 55. a third limit switch; 56. a fourth limit switch; 57. a third induction block; 571. a height approaching block; 58. a fourth sensing block; 59. a second proximity switch; 6. a middle arm; 61. a second guide rail; 62. a second guide block; 63. a first stopper; 64. a first contact block; 65. an installation port; 7. a sliding mechanism; 71. a drive motor; 72. a drive gear; 73. a drive rack; 74. driving a speed reducer; 75. a fifth limit switch; 76. a sixth limit switch; 77. a fifth induction block; 771. a horizontal approach block; 78. a sixth induction block; 79. a third proximity switch; 8. a small arm; 81. dragging the hand; 811. a let position port; 82. a part; 83. a third guide rail; 84. a third guide block; 85. a second limiting block; 86. a second contact block; 9. a linkage mechanism; 91. a synchronous belt; 92. a first pulley; 93. a second pulley; 94. a first fixing plate; 95. and a second fixing plate.

Detailed Description

The present application is described in further detail below with reference to figures 1-13.

The embodiment of the application discloses a manipulator for transporting parts.

Referring to fig. 1 and 2, the manipulator for transferring parts includes a base 1 and a rotating base 2, the rotating base 2 is rotatably connected to the upper side of the base 1, and a rotating mechanism 3 for driving the rotating base 2 to rotate is connected to the base 1. The rotating seat 2 is connected with a large arm 4 along the vertical sliding direction, and the rotating seat 2 is connected with a lifting mechanism 5 for driving the large arm 4 to lift. The large arm 4 is connected with a middle arm 6 in a sliding mode along the horizontal direction, and the large arm 4 is connected with a sliding mechanism 7 used for driving the middle arm 6 to slide. The middle arm 6 is connected with a small arm 8 in a sliding mode along the horizontal direction, and the middle arm 6 is connected with a linkage mechanism 9 used for driving the small arm 8 to slide. When the middle arm 6 slides in the horizontal direction relative to the large arm 4, the linkage mechanism 9 simultaneously drives the small arm 8 to slide relative to the middle arm 6, and the sliding direction of the small arm 8 relative to the middle arm 6 is the same as that of the middle arm 6 relative to the large arm 4. One end of the small arm 8 is fixed with a pulling hand 81 through a bolt, and the pulling hand 81 is used for placing a part 82.

The rotating mechanism 3 is convenient for rotating the mop 81 towards different directions, the lifting mechanism 5 is convenient for moving the mop 81 to different heights, and the sliding mechanism 7 and the linkage mechanism 9 are mutually matched and are convenient for moving the mop 81 to positions away from the rotating seat 2 by different lengths and horizontal distances. The movement of the drag hand 81 is used to facilitate the transfer of the part 82 to a designated machining position.

Referring to fig. 1, a position-giving opening 811 is formed in the middle of the mop 81, and after the component 82 is placed on the mop 81, the bottom of the component 82 is located in the position-giving opening 811. After the part 82 is placed at the designated machining position by the aid of the dragging hand 81, the bottom of the part 82 is matched and positioned with a positioning pin of the machining position, the dragging hand 81 is finally contracted and moves the empty dragging hand 81 to an initial position, the part 82 to be machined is placed in the dragging hand 81 again, and the part 82 is circularly operated to achieve the effect of transferring the part 82.

Referring to fig. 1, a base 1 includes a base frame 11, a support plate 12, the base frame 11 being fixed to the ground by anchor bolts, and the support plate 12 being fixed to the top of the base frame 11 by bolts.

Referring to fig. 2, in order to improve the stability of the base frame 11, a plurality of weights 13 are bolted into the base frame 11.

Referring to fig. 1, the rotating base 2 includes a rotating plate 21 and two supporting columns 22, the rotating plate 21 rotates on the upper side of the supporting plate 12, the two supporting columns 22 are oppositely arranged and fixedly connected to the upper surface of the rotating plate 21, and the top ends of the two supporting columns 22 are bolted with a top plate 23.

Referring to fig. 1 and 2, the rotating mechanism 3 includes a rotating motor 31, a rotating gear 32, and a gear ring 33, wherein an axis of the gear ring 33 is vertically disposed, and the gear ring 33 is fixed on a lower surface of the turntable 21 by a bolt. The upper surface of the support plate 12 is fixedly connected with a fixing ring 121, and the ring gear 33 is rotatably connected in the fixing ring 121. The rotating motor 31 is bolted on the lower surface of the support plate 12, the output shaft of the rotating motor 31 penetrates through the support plate 12 and is rotatably connected with the support plate 12, the rotating gear 32 is coaxially fixed on the output shaft of the rotating motor 31, and the rotating gear 32 is meshed with the gear ring 33.

Referring to fig. 1 and 2, in order to reduce dust in the air from entering the bottom frame 11, baffles 14 are fixedly connected to four sides of the bottom frame 11, and the rotating mechanism 3 is located between the four baffles 14.

When the supporting columns 22 need to be driven to rotate, the rotating motor 31 is started, the rotating motor 31 drives the rotating gear 32 to rotate, the rotating gear 32 drives the gear ring 33 to rotate, the gear ring 33 drives the turntable 21 to rotate, and the turntable 21 drives the two supporting columns 22 to rotate around the axis of the turntable 21.

Referring to fig. 1, in order to reduce the space occupied by the supporting columns 22 in the rotating process, the side surfaces of the two supporting columns 22 which are away from each other are both arc surfaces, and the arc surfaces on the two supporting columns 22 are located on the same circumferential surface.

Referring to fig. 3 and 4, in order to position the rotation angle of the rotary plate 21, a first limit switch 34 and a second limit switch 35 are fixed on the support plate 12, the first limit switch 34 is located above the second limit switch 35, and a first proximity switch 36 is fixed between the first limit switch 34 and the second limit switch 35.

Referring to fig. 2 and 4, the first limit switch 34, the second limit switch 35, and the first proximity switch 36 are electrically connected to the rotating electrical machine 31, respectively.

Referring to fig. 3 and 4, a first arc-shaped plate 24 and a second arc-shaped plate 25 are fixedly connected to the turntable 21, the first arc-shaped plate 24 and the second arc-shaped plate 25 are combined to form a circular ring shape, and the circle centers of the first arc-shaped plate 24 and the second arc-shaped plate 25 are located on the axis of the turntable 21. The outer diameter of the first arcuate plate 24 is greater than the outer diameter of the second arcuate plate 25 and a first proximity switch 36 is used to sense the first arcuate plate 24.

Referring to fig. 4 and 5, a first sensing block 37 is bolted to the upper surface of the first arc-shaped plate 24, a second sensing block 38 is bolted to the lower surface of the first arc-shaped plate 24, and the first sensing block 37 and the second sensing block 38 are distributed on a circumference centered on the axis of the turntable 21. First limit switch 34 is used for responding to first response piece 37, and second limit switch 35 is used for responding to second response piece 38, and first response piece 37 and second response piece 38 are located the both ends of first arc 24 respectively, and first response piece 37 and second response piece 38 have the interval respectively with second arc 25.

The rotating mechanism 3 drives the rotating disc 21 to rotate back and forth within a certain angle, and the first sensing block 37 and the second sensing block 38 limit the rotating angle of the rotating disc 21. When the outer circumferential wall of the second arc-shaped plate 25 faces the first proximity switch 36 during the rotation of the rotary table 21, the first proximity switch 36 cannot sense the second arc-shaped plate 25. The turntable 21 continues to rotate, so that the first arc-shaped plate 24 gradually approaches the first proximity switch 36, and when the first proximity switch 36 senses the end of the first arc-shaped plate 24, the first proximity switch 36 sends an electric signal to the rotating motor 31, so that the rotating speed of the output shaft of the rotating motor 31 is reduced, and the rotating speed of the turntable 21 is reduced. When the first limit switch 34 senses the first sensing piece 37 or the second limit switch 35 senses the second sensing piece 38, the rotation of the rotary plate 21 is stopped.

First limit switch 34 and first response piece 37 induction fit, second limit switch 35 and the response of second response piece 38 induction fit have reached the effect of accurate positioning carousel 21 turned angle. The first proximity switch 36 is in inductive engagement with the first arc 24, which improves stability when positioning the rotation angle of the turntable 21.

In addition, the worker can change the rotation angle of the turntable 21 by replacing the first arc-shaped plate 24 and the second arc-shaped plate 25 with different central angles and changing the positions of the first sensing block 37 and the second sensing block 38.

Referring to fig. 6, the large arm 4 is connected between the two support columns 22 along the vertical sliding direction, the two support columns 22 are fixedly connected with first guide rails 41 on opposite sides, the two sides of the large arm 4 are fixedly connected with first guide blocks 42 respectively, the first guide blocks 42 are in one-to-one correspondence with the first guide rails 41, and the first guide blocks 42 are connected on the first guide rails 41 in the sliding direction, so that the stability of the large arm 4 during lifting is improved.

Referring to fig. 6, the elevation mechanism 5 includes an elevation motor 51, an elevation screw 52, and an elevation base 53, an elevation reducer 54 is bolted to the top plate 23, the elevation motor 51 is bolted to the elevation reducer 54, and an output shaft of the elevation motor 51 is coaxially fixed to an input shaft of the elevation reducer 54. The lifting screw 52 is vertically arranged, the top end of the lifting screw 52 is rotatably connected to the top plate 23, the bottom end of the lifting screw 52 is rotatably connected to the turntable 21, the lifting seat 53 is in threaded connection with the lifting screw 52, and the lifting seat 53 is fixed on the large arm 4 through bolts.

When the large arm 4 needs to be driven to lift, the lifting motor 51 is started, the lifting motor 51 drives the lifting screw 52 to rotate, the lifting screw 52 drives the lifting seat 53 to lift vertically, the lifting seat 53 drives the large arm 4 to lift vertically, and the effect of driving the large arm 4 to lift vertically is achieved.

Referring to fig. 7 and 8, in order to position the lifting distance of the boom 4, a third limit switch 55 and a fourth limit switch 56 are bolted to the lifting base 53, and the third limit switch 55 and the fourth limit switch 56 are electrically connected to the lifting motor 51, respectively.

Referring to fig. 8 and 9, a third sensing block 57 and a fourth sensing block 58 are fixedly connected to one of the supporting posts 22, the third sensing block 57 is located above the fourth sensing block 58, the third limit switch 55 is used for sensing the third sensing block 57, and the fourth limit switch 56 is used for sensing the fourth sensing block 58. The third induction block 57 and the fourth induction block 58 limit the lifting distance of the lifting base 53, and the effect of positioning the lifting distance of the large arm 4 is realized.

Referring to fig. 7 and 8, when the boom 4 is raised, the center of gravity of the robot is raised to make the boom 4 unstable, and in order to improve the stability of the boom 4 when it is positioned at the raised height, the second proximity switch 59 is bolted to the lift base 53, the sensor head of the second proximity switch 59 is positioned above the contact of the third limit switch 55, and the second proximity switch 59 is electrically connected to the lift motor 51.

Referring to fig. 8 and 9, a height approach block 571 is integrally formed on the third sensing block 57, and the second proximity switch 59 is used for sensing the height approach block 571.

When the big arm 4 ascends, the second proximity switch 59 senses the height approach block 571, the second proximity switch 59 sends an electric signal to the lifting motor 51, the rotating speed of the output shaft of the lifting motor 51 is reduced, so that the lifting speed of the big arm 4 is reduced, and when the third limit switch 55 senses the height approach block 571, the third limit switch 55 sends an electric signal to the lifting motor 51, the lifting motor 51 stops working, and the big arm 4 stops moving. The cooperation of the second proximity switch 59 and the height proximity block 571 improves the positioning stability when the large arm 4 is raised to a designated height.

Referring to fig. 10, in order to reduce the possibility of the stroke of the lifting of the large arm 4 exceeding the limit, the lower surface of the top plate 23 is fixedly connected with a first limit column 26, the upper surface of the turntable 21 is fixedly connected with a second limit column 27, and the first limit column 26 and the second limit column 27 are mutually matched to further limit the lifting distance of the large arm 4, so that the possibility of the stroke of the lifting of the large arm 4 exceeding the limit is reduced. In addition, the bottom end of the first limiting column 26 is fixedly connected with a first rubber pad 28, the top end of the second limiting column 27 is fixedly connected with a second rubber pad 29, and the first rubber pad 28 and the second rubber pad 29 play a role in buffering, so that the possibility of damage to the large arm 4 is reduced.

Referring to fig. 11, the inside of the large arm 4 is hollow, the middle arm 6 is inserted into the large arm 4 and slidably connected to the large arm 4 in the horizontal direction, and the longitudinal direction of the middle arm 6 is in the same direction as the sliding direction. The two sides of the middle arm 6 are respectively bolted with a second guide rail 61, and the length direction of the second guide rail 61 is arranged along the horizontal direction. Two relative inside walls of big arm 4 all are fixed with two second guide blocks 62 through the bolt, and every second guide rail 61 corresponds two second guide blocks 62, and second guide block 62 slides and connects on second guide rail 61, has improved the stability when well arm 6 slides.

Referring to fig. 11, the sliding mechanism 7 includes a driving motor 71, a driving gear 72, and a driving rack 73, a driving reducer 74 is bolted to the large arm 4, the driving motor 71 is bolted to the large arm 4, an output shaft of the driving motor 71 is coaxially fixed with an input shaft of the driving reducer 74, an output shaft of the driving reducer 74 is disposed inside the large arm 4 and rotatably connected with the large arm 4, the driving gear 72 is disposed inside the large arm 4 and fixedly sleeved on the output shaft of the driving reducer 74, the driving rack 73 is bolted to the middle arm 6, and the driving gear 72 is engaged with the driving rack 73.

When the middle arm 6 needs to be driven to slide, the driving motor 71 is started, the driving motor 71 drives the driving gear 72 to rotate, the driving gear 72 drives the driving rack 73 to slide, the driving rack 73 drives the middle arm 6 to slide, and the effect of driving the middle arm 6 to stretch along the horizontal direction is achieved.

Referring to fig. 11, the link mechanism 9 includes a timing belt 91, a first pulley 92, and a second pulley 93, the inner portion of the middle arm 6 is hollow, the small arm 8 is slidably inserted into the middle arm 6, and the length direction of the small arm 8 is the same as the length direction of the middle arm 6. Two mounting holes 65 are formed in the bottom of the middle arm 6, the two mounting holes 65 are distributed along the length direction of the middle arm 6, a first belt wheel 92 is rotated in one mounting hole 65, a second belt wheel 93 is rotated in the other mounting hole 65, and the first belt wheel 92 and the second belt wheel 93 are both rotatably connected to the middle arm 6. The synchronous belt 91 is sleeved on the first belt pulley 92 and the second belt pulley 93, and the synchronous belt 91 is meshed with the first belt pulley 92 and the second belt pulley 93 respectively.

Referring to fig. 11, the length direction of the timing belt 91 is the same as the length direction of the middle arm 6, and one side of the timing belt 91 is located inside the middle arm 6 and the other side is located outside the middle arm 6 and inside the large arm 4. The big arm 4 is internally bolted with a first fixing plate 94, the small arm 8 is bolted with a second fixing plate 95, and the first fixing plate 94 and the second fixing plate 95 are both fixed with the synchronous belt 91 through bolts.

When the middle arm 6 slides relative to the big arm 4, the middle arm 6 drives the first belt pulley 92 and the second belt pulley 93 to move, the first fixing plate 94 drives the synchronous belt 91 to rotate around the first belt pulley 92 and the second belt pulley 93, the synchronous belt 91 drives the second fixing plate 95 to move, and the second fixing plate 95 drives the small arm 8 to move relative to the middle arm 6. The sliding direction of the small arm 8 relative to the middle arm 6 is the same as the sliding direction of the middle arm 6 relative to the large arm 4, so that the sliding speed of the small arm 8 relative to the large arm 4 is the sum of the sliding speed of the middle arm 6 relative to the large arm 4 and the sliding speed of the small arm 8 relative to the middle arm 6, and the effect of driving the small arm 8 to move rapidly is achieved.

Referring to fig. 1, the dragging hand 81 is located at one end of the small arm 8 penetrating through the middle arm 6, and the small arm 8 drives the dragging hand 81 to move rapidly, so that the sliding speed of the dragging hand 81 is increased, and the transfer efficiency of the dragging hand 81 to the part 82 is increased.

Referring to fig. 12 and 13, in order to position the telescopic length of the centering arm 6, a fifth limit switch 75 and a sixth limit switch 76 are fixed on the large arm 4, and both the fifth limit switch 75 and the sixth limit switch 76 are electrically connected with the driving motor 71. The middle arm 6 is bolted with a fifth induction block 77 and a sixth induction block 78, and the fifth induction block 77 and the sixth induction block 78 are distributed along the length direction of the driving rack 73. When the middle arm 6 moves towards the direction close to the large arm 4, the fifth limit switch 75 is in induction fit with the fifth induction block 77 to position the contraction distance of the middle arm 6. When the middle arm 6 moves towards the direction away from the large arm 4, the sixth limit switch 76 is in inductive fit with the sixth induction block 78 to position the extending distance of the middle arm 6.

With reference to fig. 1 and 13, in order to reduce the possibility of the part 82 colliding with the large arm 4 when the middle arm 6 is retracted, it is necessary to improve the accuracy of positioning when the middle arm 6 is retracted. A third proximity switch 79 is fixed in the large arm 4, and the third proximity switch 79 is electrically connected to the driving motor 71. The sensing head of the third proximity switch 79 is located on the side of the contact of the fifth limit switch 75 facing the fifth sensing block 77. A horizontal approaching block 771 is integrally formed on the fifth sensing block 77.

When the middle arm 6 contracts, the third proximity switch 79 firstly senses the horizontal proximity block 771, the third proximity switch 79 sends an electric signal to the driving motor 71, the rotating speed of the output shaft of the driving motor 71 is reduced, so that the sliding speed of the middle arm 6 is reduced, and when the fifth limit switch 75 senses the fifth sensing block 77, the middle arm 6 stops moving. The third proximity switch 79 is in induction fit with the horizontal proximity block 771, so that the positioning stability of the centering arm 6 during contraction is improved.

Referring to fig. 11, in order to reduce the possibility that the sliding distance of the middle arm 6 exceeds the limit, two ends of the middle arm 6 are respectively and fixedly connected with a first limiting block 63, two first contact blocks 64 are fixedly connected to the inside of the large arm 4, the two first contact blocks 64 are distributed along the sliding direction of the middle arm 6, and the first limiting blocks 63 are in one-to-one correspondence with the first contact blocks 64. When the sliding distance of the middle arm 6 is too long, the first limiting block 63 abuts against the first abutting block 64, and the sliding distance of the middle arm 6 is limited.

Referring to fig. 11, the two sides of the small arm 8 are fixedly connected with third guide rails 83 respectively, two opposite inner walls of the middle arm 6 are bolted with two third guide blocks 84, the two third guide blocks 84 positioned on the same side of the small arm 8 are connected to the adjacent third guide rails 83 in a sliding manner, so that the stability of the small arm 8 during sliding is improved,

referring to fig. 11, in order to reduce the possibility that the sliding distance of the small arm 8 exceeds the limit, two ends of the small arm 8 in the length direction are respectively and fixedly connected with a second limiting block 85, two second contact blocks 86 are fixedly connected in the middle arm 6, and the two contact blocks are distributed along the sliding direction of the small arm 8. The second limiting blocks 85 correspond to the second contact blocks 86 one by one, and when the sliding distance of the small arm 8 is too long, the second limiting blocks 85 abut against the second contact blocks 86 to limit the sliding distance of the small arm 8.

The implementation principle of the manipulator for transferring the parts in the embodiment of the application is as follows: when the mop 81 needs to be rotated to a specified angle, the rotating motor 31 is started, the rotating motor 31 drives the rotating gear 32 to rotate, the rotating gear 32 drives the gear ring 33 to rotate, the gear ring 33 drives the turntable 21 to rotate, and the turntable 21 drives the two supporting columns 22 to rotate around the axis of the turntable 21. The two support columns 22 drive the large arm 4 to rotate, and the large arm 4 drives the middle arm 6, the small arm 8 and the mop 81 to rotate.

When the mop 81 needs to be lifted to a specified height, the lifting motor 51 is started, the lifting motor 51 drives the lifting screw 52 to rotate, the lifting screw 52 drives the lifting seat 53 to lift vertically, the lifting seat 53 drives the large arm 4 to lift vertically, and the large arm 4 drives the middle arm 6, the small arm 8 and the mop 81 to lift vertically.

When the mop 81 needs to slide to a specified distance in the horizontal direction from the chassis 11, the driving motor 71 is started, the driving motor 71 drives the driving gear 72 to rotate, the driving gear 72 drives the driving rack 73 to slide, the driving rack 73 drives the middle arm 6 to slide, the middle arm 6 drives the first belt pulley 92 and the second belt pulley 93 to move, the first fixing plate 94 drives the synchronous belt 91 to rotate around the first belt pulley 92 and the second belt pulley 93, the synchronous belt 91 drives the second fixing plate 95 to move, and the second fixing plate 95 drives the small arm 8 to move relative to the middle arm 6. The sliding speed of the small arm 8 relative to the large arm 4 is the sum of the sliding speed of the middle arm 6 relative to the large arm 4 and the sliding speed of the small arm 8 relative to the middle arm 6, so that the effect of driving the small arm 8 to move quickly is achieved, the small arm 8 drives the towing hand 81 and the part 82 to slide quickly along the horizontal direction, and the part 82 is convenient to transfer to a specified processing position.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (10)

1. A manipulator for transporting parts which characterized in that: comprises a base (1) and a rotating seat (2), wherein the base (1) is fixed on the ground, the rotating seat (2) is rotatably connected on the upper side of the base (1), the rotating axis of the rotating seat (2) is vertically arranged, a rotating mechanism (3) for driving the rotating seat (2) to rotate is connected on the base (1), a large arm (4) is connected on the rotating seat (2) along vertical sliding, a lifting mechanism (5) for driving the large arm (4) to vertically lift is connected on the rotating seat (2), a middle arm (6) is connected on the large arm (4) along horizontal sliding, a sliding mechanism (7) for driving the middle arm (6) to slide is connected on the large arm (4), a small arm (8) is connected on the middle arm (6) along horizontal sliding, a linkage mechanism (9) for driving the small arm (8) to slide is connected on the middle arm (6), when the sliding mechanism (7) drives the middle arm (6) to slide, the linkage mechanism (9) drives the small arm (8) to slide simultaneously, the sliding direction of the middle arm (6) relative to the large arm (4) is the same as the sliding direction of the small arm (8) relative to the middle arm (6), and one end of the small arm (8) is connected with a mop (81).

2. The robot hand for transferring parts according to claim 1, wherein: the rotating mechanism (3) comprises a rotating motor (31), a rotating gear (32) and a gear ring (33), the gear ring (33) is fixed at the bottom of the rotating base (2), the axis of the gear ring (33) is vertically arranged, the rotating gear (32) is meshed with the gear ring (33), the rotating motor (31) is fixed on the base (1), and the output shaft of the rotating motor (31) is coaxially fixed with the rotating gear (32).

3. The robot hand for transferring parts according to claim 1, wherein: be connected with on base (1) with rotary mechanism (3) electric connection's first limit switch (34), second limit switch (35), be connected with first response piece (37) on rotating seat (2), second response piece (38), first response piece (37) and second response piece (38) distribute on the circumference that uses the axis of rotation of rotating seat (2) as the center, first response piece (37) when rotating seat (2) along with rotate and first limit switch (34) induction fit, second response piece (38) when rotating seat (2) along with rotate and second limit switch (35) induction fit.

4. The robot hand for transferring parts according to claim 3, wherein: the bottom fixedly connected with first arc (24) of rotating seat (2), second arc (25), first arc (24) and second arc (25) combination are the ring form, the external diameter of first arc (24) is greater than the external diameter of second arc (25), be connected with on base (1) with rotary mechanism (3) electric connection's first proximity switch (36), first proximity switch (36) are used for responding to first arc (24), first response piece (37), second response piece (38) distribute in the both ends of first arc (24) and all have the interval with second arc (25).

5. The robot hand for transferring parts according to claim 1, wherein: elevating system (5) are including elevator motor (51), lift lead screw (52), lift seat (53), and elevator motor (51) are fixed on rotating seat (2), and lift lead screw (52) are vertical setting, and lift lead screw (52) rotate to be connected in rotating seat (2), and lift seat (53) threaded connection is in lift lead screw (52), and lift seat (53) and big arm (4) reciprocal anchorage.

6. The robot hand for transferring parts according to claim 1, wherein: rotating seat (2) is last to be connected with third response piece (57) and fourth response piece (58), and third response piece (57) are located the top of fourth response piece (58), be connected with on big arm (4) with elevating system (5) electric connection's third limit switch (55), fourth limit switch (56), third limit switch (55) and third response piece (57) response cooperation, fourth limit switch (56) and fourth response piece (58) response cooperation.

7. The robot hand for transferring parts according to claim 6, wherein: a height approach block (571) is integrally formed on the third induction block (57), a second approach switch (59) electrically connected with the lifting mechanism (5) is connected onto the large arm (4), an induction head of the second approach switch (59) is positioned above a contact of the third limit switch (55), and the second approach switch (59) is used for inducing the height approach block (571).

8. The robot hand for transferring parts according to claim 1, wherein: the sliding mechanism (7) comprises a driving motor (71), a driving gear (72) and a driving rack (73), the driving motor (71) is fixed on the large arm (4), the driving gear (72) is coaxially fixed on an output shaft of the driving motor (71), the driving rack (73) is fixed on the middle arm (6), the driving rack (73) is horizontally arranged, and the driving gear (72) is meshed with the driving rack (73).

9. The robot hand for transferring parts according to claim 1, wherein: link gear (9) include hold-in range (91), first band pulley (92), second band pulley (93) rotate to be connected in well arm (6), hold-in range (91) cover is established on first band pulley (92) and second band pulley (93), hold-in range (91) respectively with first band pulley (92), second band pulley (93) mesh mutually, be connected with first fixed plate (94) on big arm (4), be connected with second fixed plate (95) on forearm (8), first fixed plate (94), hold-in range (91) is fixed in respectively in second fixed plate (95).

10. The robot hand for transferring parts according to claim 1, wherein: be connected with on big arm (4) fifth limit switch (75) with glide machanism (7) electric connection, sixth limit switch (76), be connected with fifth response piece (77) on well arm (6), sixth response piece (78), fifth response piece (77), sixth response piece (78) distribute along the direction of sliding of well arm (6), fifth limit switch (75) and fifth response piece (77) response cooperation, sixth limit switch (76) and sixth response piece (78) response cooperation.

Images