CN215701798U

CN215701798U - Manipulator capable of automatically grabbing and unloading

Info

Publication number: CN215701798U
Application number: CN202120939351.4U
Authority: CN
Inventors: 刘晓霞
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-05-06
Filing date: 2021-05-06
Publication date: 2022-02-01
Anticipated expiration: 2031-05-06

Abstract

The utility model discloses a manipulator capable of automatically grabbing and discharging, which relates to the technical field of manipulators and comprises a strut, a cross arm, a rotating assembly for connecting the strut and the cross arm, an adjusting mechanism arranged on the cross arm, a negative suction assembly, a sleeve assembly for connecting the negative suction assembly and the cross arm, and a controller arranged on the strut, wherein the sleeve assembly comprises a fixed box arranged at the bottom of the adjusting mechanism and a sleeve fixed at the top of the negative suction assembly, and four splicing blocks are arranged at the bottom end of the connecting pipe. To facilitate the use of the robot.

Description

Manipulator capable of automatically grabbing and unloading

Technical Field

The utility model belongs to the technical field of manipulators, and particularly relates to a manipulator capable of automatically grabbing and unloading.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The manipulator mainly comprises an actuating mechanism, a driving mechanism and a control system. But there is certain defect in the manipulator that can snatch automatically and unload in the existing market in the use, for example, negative sucker's quick assembly disassembly can not be realized, the quick replacement of negative sucker is not convenient for, lead to negative sucker's change inefficiency, influence snatching and unloading of goods, in addition, do not filter the air, the dust overflows easily in first motor and the second motor, lead to first motor and second motor heat dispersion to reduce, influence the normal work of first motor and second motor, and, can not realize the quick assembly disassembly of filter screen, the clearance of the filter screen of being not convenient for, lead to the cleaning efficiency of filter screen low, influence the filtration efficiency of filter screen.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a manipulator capable of automatically grabbing and unloading, and aims to solve the problems that quick disassembly and assembly of a negative pressure sucker cannot be realized, quick replacement of the negative pressure sucker is inconvenient, air is not filtered, dust easily overflows into a first motor and a second motor, heat dissipation performance of the first motor and the second motor is reduced, quick disassembly and assembly of a filter screen cannot be realized, and the filter screen is inconvenient to clean in the background art.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a can snatch automatically and unload manipulator of putting, includes pillar, xarm, with pillar and xarm connection's rotating assembly, locate adjustment mechanism on the xarm, the subassembly is inhaled to the burden, inhale subassembly and xarm connection cup joint the subassembly and install the controller on the pillar, cup joint the subassembly including installing in the fixed case of adjustment mechanism bottom and be fixed in the burden sleeve of inhaling the subassembly top, the connecting pipe is installed to the bottom of fixed case, four grafting pieces are installed to the bottom of connecting pipe, and four grafting pieces are the ring array and distribute, the outside of connecting pipe is located to the sleeve cover, and telescopic inner wall set up with the inserting groove of four grafting piece one-to-ones, telescopic outer wall spiro union has four check lock levers, and four check lock levers difference spiro unions four inside of inserting the piece.

Preferably, rotating assembly is used for driving the xarm to rotate, just rotating assembly is including offering in the installation cavity on the inside top of pillar and installing in the connection pad of xarm bottom, the inside of installation cavity is fixed with the second motor, the bottom mounting of connection pad has the connecting axle, and the junction of connecting axle and pillar installs the bearing frame, the bottom of connecting axle extends to in the installation cavity, and the connecting axle is arranged in and is connected through bevel gear group transmission between the main shaft of the inside one end of installation cavity and second motor.

Preferably, the adjusting mechanism is used for driving the negative suction assembly to move and adjust along the transverse direction or the longitudinal direction, and the adjusting mechanism comprises:

the transverse adjusting assembly comprises an inner cavity and a moving groove, wherein the inner cavity and the moving groove are formed in the transverse arm, a screw rod and two polished rods are arranged in the moving groove, the two polished rods are symmetrically distributed on two sides of the screw rod, a moving seat is sleeved outside the transverse arm, a moving block is connected to one side of the moving seat, the moving block is sleeved outside the screw rod and the two polished rods, a first motor is arranged in each inner cavity, and the first motor is used for driving the screw rod to rotate;

the vertical adjusting component comprises an installation box installed at the bottom end of the movable seat, an electric push rod is arranged inside the installation box, and the telescopic end of the electric push rod extends to the lower portion of the installation box.

Preferably, the negative suction assembly comprises an air pump and a negative suction cup, the air pump is mounted inside the fixed box, and a pipeline is connected between the negative suction cup and the air pump.

Preferably, the louvre that is linked together with installation cavity and inner chamber is seted up respectively to the inside one side of pillar and xarm, and the filter frame of establishing the louvre cover is all installed to one side of pillar and xarm, two the filter screen is all installed to the inside of filtering the frame, and just two four corners of filtering frame one side all are fixed with the joggle piece, four joggle grooves have all been seted up to outer wall one side of pillar and xarm, and eight joggle grooves and eight joggle piece one-to-one.

Preferably, the outer wall of joggle piece all installs the sand grip all around, the inner wall in joggle groove all has seted up the recess all around, and recess and sand grip phase-match.

Preferably, four limiting slide blocks are installed at the bottom end of the connecting disc and distributed around the outside of the connecting shaft in an annular array mode, an annular limiting sliding groove is formed in the top end of the bearing seat, and the limiting sliding groove is matched with the limiting slide blocks.

Preferably, the end of the locking rod, which is located outside the sleeve, is provided with a screwing disc, and the outer circumference of the screwing disc is provided with anti-skid threads.

Preferably, the opposite corners of one end of the insertion block, which is far away from the connecting pipe, are all transited by arc chamfers to form an arc part with a smooth surface wall.

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

(1) according to the utility model, through the arrangement of the sleeve, the connecting pipe, the inserting block, the inserting groove and the locking rod, the quick disassembly and assembly of the negative pressure sucker can be realized, so that the negative pressure sucker can be quickly replaced, the replacement efficiency of the negative pressure sucker is effectively improved, the normal use of the negative pressure sucker can be ensured, the grabbing and the unloading of goods are facilitated, and the use of a manipulator is facilitated.

(2) According to the utility model, through the arrangement of the filter frame and the filter screen, air can be filtered to remove dust in the air, so that the dust is prevented from overflowing into the first motor and the second motor, a dustproof effect is achieved, and the normal work of the first motor and the second motor is facilitated;

in addition, through the arrangement of the joggling blocks and the joggling grooves, the filter frame forms a plug-in structure, the filter screen can be quickly disassembled and assembled, the filter screen can be cleaned conveniently, the cleaning efficiency of the filter screen is effectively improved, the filtering efficiency of the filter screen can be ensured, the air can be further filtered conveniently, and the dustproof effect is achieved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an external view of the present invention;

FIG. 3 is a top view of the suction cup of the present invention;

fig. 4 is a bottom view of the interface disc of the present invention;

FIG. 5 is a top view of the bearing housing of the present invention;

FIG. 6 is an enlarged view taken at A in FIG. 1;

FIG. 7 is an enlarged view of FIG. 1 at B;

FIG. 8 is an enlarged view at C of FIG. 1;

FIG. 9 is an enlarged view of FIG. 2 at D;

FIG. 10 is an enlarged view at E in FIG. 3;

in the figure: 1-a pillar; 2-a connecting disc; 3-a joggling block; 4, filtering the filter screen; 5-a filter frame; 6-a first motor; 7-a cross arm; 8-a screw rod; 9-a polish rod; 10-a movable seat; 11-a moving block; 12-mounting a box; 13-an electric push rod; 14-a stationary box; 15-an air pump; 16-negative pressure suction cup; 17-a second electric machine; 18-a connecting shaft; 19-a bearing seat; 20-limiting sliding blocks; 21-a sleeve; 22-a locking lever; 23-a plug-in block; 24-a connecting tube; 25-a limit chute; 26-a groove; 27-convex strips; 28-dovetail grooves; 29-a plug groove; 30-a controller.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-10, the present invention provides the following technical solutions: a manipulator capable of automatically grabbing and unloading comprises a strut 1, a cross arm 7, a rotating assembly connecting the strut 1 and the cross arm 7, an adjusting mechanism arranged on the cross arm 7, a negative suction assembly, a sleeving assembly connecting the negative suction assembly and the cross arm 7, and a controller 30 arranged on the strut 1, wherein the sleeving assembly comprises a fixed box 14 arranged at the bottom of the adjusting mechanism and a sleeve 21 fixed at the top of the negative suction assembly, a connecting pipe 24 is arranged at the bottom end of the fixed box 14, four insertion blocks 23 are arranged at the bottom end of the connecting pipe 24, the four insertion blocks 23 are distributed in an annular array, the sleeve 21 is sleeved outside the connecting pipe 24, the inner wall of the sleeve 21 is provided with insertion grooves 29 corresponding to the four insertion blocks 23 one by one, the outer wall of the sleeve 21 is screwed with four locking rods 22, the four locking rods 22 are respectively screwed into the inner parts of the four insertion blocks 23, when a negative suction cup 16 is damaged, when needing to be changed, the user can unscrew check lock lever 22, stimulate negative sucker 16 downwards again, make sleeve 21 break away from connecting pipe 24, at this moment, grafting piece 23 breaks away from in by inserting groove 29, in order to realize the separation of negative sucker 16 and fixed box 14, then the user pegs graft in the bottom of fixed box 14 through inserting piece 23 and inserting groove 29 with new negative sucker 16, at this moment, the outside of connecting pipe 24 is located to sleeve 21 cover, the user is with check lock lever 22 precession afterwards, in order to fasten sleeve 21 and connecting pipe 24, accomplish the installation of negative sucker 16, in order to realize the quick assembly disassembly of negative sucker 16 with this, thereby be convenient for the quick replacement of negative sucker 16, the effectual change efficiency that improves negative sucker 16, can ensure the normal use of negative sucker 16.

Further, rotating assembly is used for driving xarm 7 to rotate, and rotating assembly is including offering in the installation cavity on the inside top of pillar 1, and install in connection pad 2 of xarm 7 bottom, the inside of installation cavity is fixed with second motor 17, the bottom mounting of connection pad 2 has connecting axle 18, and the connecting axle 18 installs bearing frame 19 with the junction of pillar 1, the bottom of connecting axle 18 extends to in the installation cavity, and the connecting axle 18 is located and is connected through bevel gear group transmission between the inside one end of installation cavity and the main shaft of second motor 17.

Further, the adjusting mechanism is used for driving the negative suction component to move and adjust along the transverse direction or the longitudinal direction, and the adjusting mechanism comprises:

the transverse adjusting assembly comprises an inner cavity and a moving groove which are formed in the cross arm 7, wherein a screw rod 8 and two polished rods 9 are arranged in the moving groove, the two polished rods 9 are symmetrically distributed on two sides of the screw rod 8, a moving seat 10 is sleeved outside the cross arm 7, a moving block 11 is connected to one side of the moving seat 10, the moving block 11 is sleeved outside the screw rod 8 and the two polished rods 9, a first motor 6 is arranged in each inner cavity, and the first motor 6 is used for driving the screw rod 8 to rotate;

the longitudinal adjusting assembly comprises an installation box 12 installed at the bottom end of the moving seat 10, an electric push rod 13 is arranged inside the installation box 12, and the telescopic end of the electric push rod 13 extends to the lower portion of the installation box 12.

Further, the negative suction assembly comprises an air pump 15 and a negative suction cup 16, wherein the air pump 15 is installed inside the fixed box 14, and a pipeline is connected between the negative suction cup 16 and the air pump 15.

Furthermore, heat dissipation holes communicated with the installation cavity and the inner cavity are respectively formed in one side of the support 1 and one side of the cross arm 7, in addition, the filter frames 5 covering the heat dissipation holes are respectively installed on one side of the support 1 and one side of the cross arm 7, in the working process of the manipulator, the heat dissipation holes on one side of the support 1 and one side of the cross arm 7 can ensure the high-efficiency heat dissipation of the first motor 6 and the second motor 17 so as to ensure the normal work of the first motor 6 and the second motor 17, meanwhile, the filter frames 5 filter the air through the filter screens 4 in the filter frames 5 so as to remove the dust in the air, prevent the dust from overflowing into the first motor 6 and the second motor 17, the filter screens 4 are respectively installed in the two filter frames 5, the joggling blocks 3 are respectively fixed on four sides of one side of the two filter frames 5, the four joggling grooves 28 are respectively formed in one side of the outer walls of the support 1 and the cross arm 7, and the eight joggling grooves 28 are in one-to one correspondence with the eight joggling blocks 3, when the filter screen 4 needs to be cleaned, the user can pull the filter frame 5, so that the tenon joint block 3 is pulled out from the tenon joint groove 28, so as to separate the filter frame 5 from the cross arm 7 or the strut 1, the disassembly of the filter screen 4 is realized, then the user cleans the filter screen 4, after the cleaning, the user inserts the filter screen 4 into one side of the cross arm 7 or the strut 1 through the filter frame 5, at the moment, the tenon joint block 3 is inserted into the tenon joint groove 28, so as to fixedly tenon joint the filter frame 5 with the cross arm 7 or the strut 1, and the installation of the filter screen 4 is completed, so that the quick disassembly and assembly of the filter screen 4 are realized, so as to clean the filter screen 4, the cleaning efficiency of the filter screen 4 is effectively improved, the filtering efficiency of the filter screen 4 can be ensured, the air is further convenient to be filtered, and the dustproof effect is achieved.

Furthermore, the outer wall of the joggle block 3 is all provided with a convex strip 27 all around, the inner wall of the joggle groove 28 is all provided with a groove 26 all around, and the groove 26 is matched with the convex strip 27, when the joggle block 3 is inserted into the joggle groove 28, the convex strip 27 is inserted into the groove 26 along with the convex strip to limit the joggle block 3 and the joggle groove 28, so that stable joggling between the joggle block 3 and the joggle groove 28 is realized, and the stable splicing of the filter frame 5 and the cross arm 7 or the strut 1 is further facilitated.

Further, four limiting slide blocks 20 are installed to the bottom of connection pad 2, and four limiting slide blocks 20 are that annular array distributes around the outside of connecting axle 18, bearing frame 19's top has been seted up and has been the annular limiting sliding groove 25, and limiting sliding groove 25 and limiting slide block 20 phase-match, when connecting axle 18 passes through connection pad 2 and drives xarm 7 and rotate, limiting slide block 20 slides along limiting sliding groove 25 thereupon, with spacing between connection pad 2 and the bearing frame 19, and then spacing between xarm 7 and the pillar 1, in order to realize the stable rotation of xarm 7, help the stable regulation of manipulator.

Furthermore, the end of the locking rod 22 located outside the sleeve 21 is provided with a screwing disc, and the outer circumference of the screwing disc is provided with anti-slip threads, so that the locking rod 22 can be conveniently screwed.

Furthermore, the opposite corners of one end of the insertion block 23 away from the connection pipe 24 are all transited by arc chamfers to form smooth arc portions on the surface wall, so that the insertion block 23 can be conveniently and quickly inserted into the insertion groove 29.

The working principle and the using process of the utility model are as follows: when the device is used, a user can install the device on the fixed base at the bottom of the pillar 1 and switch on the manipulator, when the device needs to load or unload materials, the user can control the first motor 6, the second motor 17, the electric push rod 13 and the air pump 15 to work through the controller 30, at the moment, the first motor 6 drives the screw rod 8 to rotate, so that the moving block 11 on the moving base 10 reciprocates left and right along the cross arm 7 under the limiting action of the polished rod 9, meanwhile, the second motor 17 drives the connecting shaft 18 to rotate through the bevel gear set, so as to drive the cross arm 7 to rotate, so as to realize the reciprocating swing of the cross arm 7, then the electric push rod 13 stretches out and draws back, so as to drive the fixed box 14 and the negative pressure suction cup 16 at the bottom of the fixed box to lift, so that the negative pressure suction cup 16 is close to or far away from the goods, so as to realize the position adjustment of the manipulator, then the air pump 15 works, so as to suck the goods through the negative pressure cup 16, so as to realize the grabbing of the goods, complete the feeding of the equipment, when discharging, repeat the above steps, so as to adjust the manipulator to the discharging position, at this moment, the air pump 15 stops working, so that the negative pressure suction cup 16 loosens the goods, so as to realize the discharging of the goods, when the negative pressure suction cup 16 is damaged and needs to be replaced, the user can unscrew the locking rod 22, and then pull the negative pressure suction cup 16 downwards, so that the sleeve 21 is separated from the connecting pipe 24, at this moment, the inserting block 23 is separated from the inserting groove 29, so as to realize the separation of the negative pressure suction cup 16 and the fixed box 14, then the user inserts the new negative pressure suction cup 16 into the bottom end of the fixed box 14 through the inserting block 23 and the inserting groove 29, at this moment, the sleeve 21 is sleeved outside the connecting pipe 24, and then the user unscrews the locking rod 22 to fasten the sleeve 21 and the connecting pipe 24, so as to complete the installation of the negative pressure suction cup 16, so as to realize the quick assembly and disassembly of the negative pressure suction cup 16, therefore, the negative pressure suction cup 16 can be replaced quickly, the replacement efficiency of the negative pressure suction cup 16 is effectively improved, the normal use of the negative pressure suction cup 16 can be ensured, in addition, in the working process of the manipulator, the heat dissipation holes on one sides of the supporting rod 1 and the cross arm 7 can ensure the high-efficiency heat dissipation of the first motor 6 and the second motor 17 so as to ensure the normal work of the first motor 6 and the second motor 17, meanwhile, the filter frame 5 filters air through the filter screen 4 inside the filter frame 5 so as to remove dust in the air and prevent the dust from overflowing into the first motor 6 and the second motor 17, when the filter screen 4 needs to be cleaned, a user can pull the filter frame 5 so that the tenon joint block 3 is pulled out from the tenon joint groove 28 so as to separate the filter frame 5 from the cross arm 7 or the supporting rod 1, so as to realize the disassembly of the filter screen 4, then the user cleans the filter screen 4, and inserts the filter screen 4 into one side of the cross arm 7 or the supporting rod 1 through the filter frame 5 after cleaning, at this moment, the tenon joint block 3 is inserted into the tenon joint groove 28 to fixedly tenon joint the filter frame 5 with the cross arm 7 or the strut 1, and the installation of the filter screen 4 is completed, so that the quick disassembly and assembly of the filter screen 4 are realized, the cleaning of the filter screen 4 is facilitated, the cleaning efficiency of the filter screen 4 is effectively improved, the filtering efficiency of the filter screen 4 can be ensured, the air is further facilitated to be filtered, and the dustproof effect is achieved.

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

Claims

1. The utility model provides a can snatch automatically and unload manipulator of putting which characterized in that: the device comprises a strut (1), a cross arm (7), a rotating assembly for connecting the strut (1) and the cross arm (7), an adjusting mechanism arranged on the cross arm (7), a negative suction assembly, a sleeving assembly for connecting the negative suction assembly and the cross arm (7), and a controller (30) arranged on the strut (1), wherein the sleeving assembly comprises a fixed box (14) arranged at the bottom of the adjusting mechanism and a sleeve (21) fixed at the top of the negative suction assembly, a connecting pipe (24) is arranged at the bottom end of the fixed box (14), four splicing blocks (23) are arranged at the bottom end of the connecting pipe (24), the four splicing blocks (23) are distributed in an annular array, the sleeve (21) is sleeved outside the connecting pipe (24), splicing grooves (29) corresponding to the four splicing blocks (23) one by one are formed in the inner wall of the sleeve (21), four locking rods (22) are screwed on the outer wall of the sleeve (21), and the four locking rods (22) are respectively screwed into the four insertion blocks (23).

2. The manipulator of claim 1, capable of automatic pick and drop, characterized in that: the rotary component is used for driving the cross arm (7) to rotate, and the rotary component comprises an installation cavity and a connection disc (2), the installation cavity is arranged at the top end inside the strut (1), the connection disc (2) is arranged at the bottom of the cross arm (7), a second motor (17) is fixed inside the installation cavity, a connection shaft (18) is fixed at the bottom end of the connection disc (2), a bearing seat (19) is installed at the joint of the connection shaft (18) and the strut (1), the bottom end of the connection shaft (18) extends into the installation cavity, and the connection shaft (18) is located between one end inside the installation cavity and a main shaft of the second motor (17) and is in transmission connection through a bevel gear set.

3. The manipulator of claim 2, which is capable of automatic pick and place, characterized in that: the adjustment mechanism is used for driving the negative suction assembly to move and adjust along the transverse direction or the longitudinal direction, and the adjustment mechanism comprises:

the transverse adjusting assembly comprises an inner cavity and a moving groove which are formed in the transverse arm (7), wherein a lead screw (8) and two polished rods (9) are arranged in the moving groove, the two polished rods (9) are symmetrically distributed on two sides of the lead screw (8), a moving seat (10) is sleeved outside the transverse arm (7), a moving block (11) is connected to one side of the moving seat (10), the moving block (11) is sleeved outside the lead screw (8) and the two polished rods (9), a first motor (6) is installed in the inner cavity, and the first motor (6) is used for driving the lead screw (8) to rotate;

the vertical adjusting component comprises an installation box (12) installed at the bottom end of the movable seat (10), an electric push rod (13) is arranged inside the installation box (12), and the telescopic end of the electric push rod (13) extends to the lower portion of the installation box (12).

4. The manipulator of claim 1, capable of automatic pick and drop, characterized in that: the negative suction assembly comprises an air pump (15) and a negative pressure suction cup (16), wherein the air pump (15) is installed inside the fixed box (14), and a pipeline is connected between the negative pressure suction cup (16) and the air pump (15).

5. The manipulator of claim 3, which is capable of automatic pick and place, characterized in that: the louvre that is linked together with installation cavity and inner chamber is seted up respectively to inside one side of pillar (1) and xarm (7), and all installs filter frame (5) of establishing the louvre cover in one side of pillar (1) and xarm (7), two filter frame (5)'s inside all installs filter screen (4), and just two four corners of filtering frame (5) one side all are fixed with joggle piece (3), four joggle grooves (28) have all been seted up with outer wall one side of xarm (7) in pillar (1), and eight joggle grooves (28) and eight joggle pieces (3) one-to-one.

6. The manipulator of claim 5, which is capable of automatic pick and place, characterized in that: convex strips (27) are installed on the periphery of the outer wall of the tenon joint block (3), grooves (26) are formed in the periphery of the inner wall of the tenon joint groove (28), and the grooves (26) are matched with the convex strips (27).

7. The manipulator of claim 2, which is capable of automatic pick and place, characterized in that: four limiting slide blocks (20) are installed to the bottom of connection pad (2), and four limiting slide blocks (20) are distributed around the outside of connecting axle (18) in annular array, bearing frame (19) have been seted up on the top and have been annular limiting slide groove (25), and limiting slide groove (25) and limiting slide block (20) phase-match.

8. The manipulator of claim 1, capable of automatic pick and drop, characterized in that: the locking rod (22) is located the outside one end of sleeve (21) and installs and revolve and twist the dish, and revolves and be provided with anti-skidding line on twisting the outer circumference of dish.

9. The manipulator of claim 1, capable of automatic pick and drop, characterized in that: the opposite corners of one end of the insertion block (23) far away from the connecting pipe (24) are in arc chamfer transition to form smooth arc parts on the surface wall.