CN216781833U - High-efficiency mechanical arm - Google Patents
High-efficiency mechanical arm Download PDFInfo
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- CN216781833U CN216781833U CN202122483456.6U CN202122483456U CN216781833U CN 216781833 U CN216781833 U CN 216781833U CN 202122483456 U CN202122483456 U CN 202122483456U CN 216781833 U CN216781833 U CN 216781833U
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- driving mechanism
- swing arm
- clamping jaw
- clamping
- horizontal swinging
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Abstract
The utility model discloses a high-efficiency manipulator which comprises a fixed seat, a first horizontal swinging mechanism, a second horizontal swinging mechanism, a clamping jaw and a plurality of vertical rods. The connecting end of the first horizontal swinging mechanism is rotatably connected with the fixed seat; the connecting end of the second horizontal swinging mechanism is rotatably connected with the free end of the first horizontal swinging mechanism, the free end of the second horizontal swinging mechanism is provided with a lifting driving mechanism and a connecting block, and the output end of the lifting driving mechanism faces downwards; all the vertical rods are arranged at the output end of the lifting driving mechanism, and the side walls of all the vertical rods are provided with clamping grooves; the quantity of clamping jaw equals with the quantity of montant, and all clamping jaws all are connected with the connecting block through glide machanism, all are equipped with telescopic block tongue on all clamping jaws, and the block tongue can stretch into the draw-in groove so that clamping jaw and montant link together. The clamping jaws can clamp or put down a plurality of materials at one time, and the clamping tongues at corresponding positions extend into the corresponding clamping grooves to complete the selection of the corresponding clamping jaws.
Description
Technical Field
The utility model relates to the field of automation equipment, in particular to a high-efficiency manipulator.
Background
Along with the development and progress of science and technology, the types and the number of the automation equipment are more and more, the automation equipment slowly starts to replace manual operation, the working efficiency is effectively improved, the labor force is liberated, and the production cost is reduced. The mechanical arm is also provided with a mechanical arm, is generally used for carrying or transferring materials, can accurately carry the materials from one station to another station, and places the materials according to a specific posture, or is matched with other equipment to finish further processing of the materials. However, when the manipulator at the present stage completes the material handling work or completes the further material processing work by matching with other equipment, much time still needs to be spent, for example, when the material is placed on the material tray, the material needs to be placed in each limit groove of the material tray one by one. And if the moving speed of the manipulator is too fast, the manipulator is easy to collide with materials or the materials and the stations, and further the materials are damaged.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the utility model provides the efficient manipulator, and the material transfer efficiency is improved.
The efficient manipulator comprises a fixed seat, a first horizontal swinging mechanism, a second horizontal swinging mechanism, a clamping jaw and a plurality of vertical rods. The fixed seat is used for being connected with other mechanisms; the connecting end of the first horizontal swinging mechanism is rotatably connected with the fixed seat; the connecting end of the second horizontal swinging mechanism is rotatably connected with the free end of the first horizontal swinging mechanism, a lifting driving mechanism and a connecting block are arranged on the free end of the second horizontal swinging mechanism, and the output end of the lifting driving mechanism faces downwards; all the vertical rods are arranged at the output end of the lifting driving mechanism, and the side walls of all the vertical rods are provided with clamping grooves; the quantity of clamping jaw with the quantity of montant equals, all the clamping jaw all through glide machanism with the connecting block is connected, all be equipped with telescopic block tongue on the clamping jaw, the block tongue can stretch into in the draw-in groove so that the clamping jaw with the montant links together.
The efficient manipulator provided by the embodiment of the utility model at least has the following beneficial effects: the connecting end of the first horizontal swinging mechanism is rotatably connected with the fixing seat, the connecting end of the second horizontal swinging mechanism is rotatably connected with the free end of the first horizontal swinging mechanism, and the first horizontal swinging mechanism and the second horizontal swinging mechanism swing on the horizontal plane, so that the lifting driving mechanism, the connecting block, the vertical rod and the clamping jaw can move along the horizontal plane direction. The clamping tongue extends into the clamping groove, the lifting driving mechanism can drive the clamping jaw to lift, so that the clamping jaw can clamp materials from one station or place the materials on another station, the clamping jaws can clamp the materials or place the materials at one time, and the material transferring speed is improved. When the material is placed on the tray, the clamping jaws at different positions or a certain number of clamping jaws are required to be started according to the number and the positions of the limiting grooves of the material tray, the clamping tongues at the corresponding positions extend into the corresponding clamping grooves, so that the corresponding clamping jaws can be selected, the material is placed on the tray completely, and the phenomenon that the empty limiting grooves of the material tray or the redundant material is placed on the material tray is avoided.
According to some embodiments of the present invention, the first horizontal swing mechanism includes a first rotation driving mechanism and a first swing arm, a connection end of the first swing arm is rotatably connected to the fixing base, the first rotation driving mechanism is disposed on the fixing base, an output end of the first rotation driving mechanism is in transmission connection with the first swing arm, and a free end of the first swing arm is connected to the connection end of the second horizontal swing mechanism.
According to some embodiments of the present invention, the second horizontal swing mechanism includes a second rotation driving mechanism and a second swing arm, a connection end of the second swing arm is rotatably connected to the free end of the first swing arm, the second rotation driving mechanism is disposed on the first swing arm, an output end of the second rotation driving mechanism is in transmission connection with the second swing arm, and a free end of the second swing arm is connected to the lifting driving mechanism and the connection block.
According to some embodiments of the present invention, the lifting driving mechanism further comprises a resilient member, the vertical rod is slidably connected to the output end of the lifting driving mechanism, two ends of the resilient member are respectively connected to or abutted against the output end of the lifting driving mechanism and the vertical rod, and the resilient member can move the vertical rod downwards.
According to some embodiments of the utility model, the vertical rod is provided with a shoulder, the elastic member is sleeved on the vertical rod, and two ends of the elastic member respectively abut against the output end of the lifting driving mechanism and the shoulder.
According to some embodiments of the utility model, the clamping jaw is provided with a linear driving mechanism, and an output end of the linear driving mechanism is connected with the clamping tongue.
According to some embodiments of the utility model, the sliding mechanism comprises a sliding rail and a sliding block which are matched with each other, the sliding rail extends along the up-and-down direction, and the sliding rail and the sliding block are respectively connected with the connecting block and the clamping jaw.
According to some embodiments of the utility model, the number of the clamping jaws is four, and the number of the vertical bars is four.
Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of a high-efficiency robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a vertical rod and a clamping jaw in the efficient manipulator shown in fig. 1.
Reference numerals:
the device comprises a fixed seat 100, a first horizontal swinging mechanism 200, a second horizontal swinging mechanism 300, a lifting driving mechanism 310, a connecting block 320, a plurality of vertical rods 400, a clamping groove 410, a shoulder 420, a clamping jaw 500, a clamping tongue 510, a linear driving mechanism 520 and a sliding rail 530.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to the orientation description, such as the directions of up, down, front, rear, left, right, etc., may be based on those shown in the drawings, only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 and 2, the utility model discloses a high-efficiency manipulator, which comprises a fixed seat 100, a first horizontal swinging mechanism 200, a second horizontal swinging mechanism 300, a clamping jaw 500 and a plurality of vertical rods 400. The fixed seat 100 is used for connecting with other mechanisms; the connecting end of the first horizontal swinging mechanism 200 is rotatably connected with the fixed seat 100; the connecting end of the second horizontal swinging mechanism 300 is rotatably connected with the free end of the first horizontal swinging mechanism 200, the free end of the second horizontal swinging mechanism 300 is provided with a lifting driving mechanism 310 and a connecting block 320, and the output end of the lifting driving mechanism 310 faces downwards; all the vertical rods 400 are arranged at the output end of the lifting driving mechanism 310, and the side walls of all the vertical rods 400 are provided with clamping grooves 410; the number of the clamping jaws 500 is equal to that of the vertical rods 400, all the clamping jaws 500 are connected with the connecting block 320 through the sliding mechanism, all the clamping jaws 500 are provided with telescopic clamping tongues 510, and the clamping tongues 510 can extend into the clamping grooves 410 to connect the clamping jaws 500 with the vertical rods 400.
The connecting end of the first horizontal swing mechanism 200 is rotatably connected with the fixed seat 100, the connecting end of the second horizontal swing mechanism 300 is rotatably connected with the free end of the first horizontal swing mechanism 200, and the first horizontal swing mechanism 200 and the second horizontal swing mechanism 300 both swing on the horizontal plane, so that the lifting driving mechanism 310, the connecting block 320, the vertical rod 400 and the clamping jaw 500 can move along the horizontal plane direction. The clamping tongue 510 extends into the clamping groove 410, the lifting driving mechanism 310 can drive the clamping jaw 500 to lift, so that the clamping jaw 500 can clamp materials from one station or place the materials on another station, and the clamping jaws 500 can clamp or place down a plurality of materials at a time, so that the material transfer speed is increased. When the material is placed, the clamping jaws 500 at different positions or a certain number of clamping jaws 500 are required to be started according to the number and the positions of the limiting grooves of the material tray, the clamping tongues 510 at the corresponding positions extend into the corresponding clamping grooves 410, and then the selection of the corresponding clamping jaws 500 can be completed, so that the material tray is fully placed, and the phenomenon that the material tray is empty in the limiting grooves or redundant materials appear on the material tray is avoided.
In some embodiments of the present invention, the first horizontal swing mechanism 200 includes a first rotary driving mechanism and a first swing arm, a connection end of the first swing arm is rotatably connected to the fixing base 100, and the fixing base 100 plays a role of supporting the first swing arm; the first rotary driving mechanism is arranged on the fixed seat 100, the output end of the first rotary driving mechanism is in transmission connection with the first swing arm, the free end of the first swing arm is connected with the connecting end of the second horizontal swing mechanism 300, and the first rotary driving mechanism drives the first swing arm to swing on the horizontal plane, so that the second horizontal swing mechanism 300 swings.
It can be understood that the connection end of the first swing arm may be connected with the fixing base 100 through a first bearing. The first rotary drive mechanism is a first motor. The first rotary driving mechanism is in transmission connection with the first swing arm through a first gear pair or a first belt mechanism.
In some embodiments of the present invention, the second horizontal swing mechanism 300 includes a second rotary driving mechanism and a second swing arm, a connecting end of the second swing arm is rotatably connected to a free end of the first swing arm, and the free end of the first swing arm plays a role of supporting the second swing arm; the second rotary driving mechanism is arranged on the first swing arm, the output end of the second rotary driving mechanism is in transmission connection with the second swing arm, the free end of the second swing arm is connected with the lifting driving mechanism 310 and the connecting block 320, and the second rotary driving mechanism drives the second swing arm to swing on the horizontal plane, so that the lifting driving mechanism 310 and the connecting block 320 swing.
The first horizontal swing mechanism 200 and the second horizontal swing mechanism 300 form a two-bar linkage mechanism, which uses the fixing base 100 as a pivot, so that the lifting driving mechanism 310 and the connecting block 320 arranged at the free end of the second horizontal swing mechanism 300 move to the upper side of each area, and then the lifting driving mechanism 310 drives the clamping jaw 500 to lift, so that the clamping jaw 500 clamps or puts down the material. .
It will be appreciated that the connected end of the second swing arm may be connected to the free end of the first swing arm by a second bearing. The second rotary drive mechanism is a second motor. The second rotary driving mechanism is in transmission connection with the second swing arm through a second gear pair or a second belt mechanism.
In some embodiments of the present invention, the high efficiency manipulator further includes an elastic member, the vertical rod 400 is slidably connected to the output end of the lifting driving mechanism 310, two ends of the elastic member are respectively connected to or abutted against the output end of the lifting driving mechanism 310 and the vertical rod 400, and the elastic member can move the vertical rod 400 downward. The output end of the lifting driving mechanism 310 is flexibly connected to the vertical rod 400, and the elastic member plays a role of buffering, so that the vertical rod 400 can move upwards relative to the output end of the lifting driving mechanism 310. When the lifting driving mechanism 310 drives the vertical rod 400 to move downwards, the clamping jaw 500 moves downwards synchronously, the clamping jaw 500 is abutted to the material, if the lifting driving mechanism 310 continues to drive the vertical rod 400 to move downwards, the elastic piece deforms, so that the vertical rod 400 and the clamping jaw 500 can move upwards relative to the output end of the lifting driving mechanism 310, the clamping jaw 500 is prevented from colliding with the material, and the material is prevented from being damaged.
In some embodiments of the present invention, the vertical rod 400 is provided with a shoulder 420, the elastic member is sleeved on the vertical rod 400, and two ends of the elastic member respectively abut against the output end of the lifting driving mechanism 310 and the shoulder 420. The ends of the resilient member apply a force to the output end of the lift actuator 310 and the shoulder 420. since the stem 400 is slidably connected to the output end of the lift actuator 310, the resilient member forces the stem 400 to move downward. It will be appreciated that the resilient member is a tension spring. The lifting driving mechanism 310 may be a cylinder or a lead screw pair.
In some embodiments of the present invention, a linear driving mechanism 520 is disposed on the clamping jaw 500, an output end of the linear driving mechanism 520 is connected to the latch 510, and the linear driving mechanism 520 drives the latch 510 to move, so that the latch 510 extends into the clamping slot 410 or exits from the clamping slot 410. It is understood that the linear drive mechanism 520 may be a pneumatic cylinder. The jaws 500 may be commercially available actuating jaws.
In some embodiments of the present invention, the sliding mechanism includes a sliding rail 530 and a sliding block, the sliding rail 530 extends in an up-down direction, and the sliding rail 530 and the sliding block are respectively connected to the connecting block 320 and the clamping jaw 500. The arrangement of the sliding rail 530 and the sliding block enables the clamping jaw 500 to be connected with the connecting block 320, the clamping jaw 500 is equivalently hung on the connecting block 320, and the sliding rail 530 plays a role in guiding the clamping jaw 500 to move.
In some embodiments of the present invention, the number of the clamping jaws 500 is four, the number of the vertical rods 400 is four, the four clamping jaws 500 are respectively disposed on four sides of the peripheral side of the connecting block 320, and the four clamping jaws 500 are distributed in four corners; four vertical bars 400 are distributed around the periphery of the lifting driving mechanism 310, the four vertical bars 400 are distributed at four corners, and each vertical bar 400 is arranged corresponding to each clamping jaw 500. The manipulator can carry or transfer four materials at a time.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (8)
1. High-efficient manipulator, its characterized in that includes:
the fixed seat is used for being connected with other mechanisms;
the connecting end of the first horizontal swinging mechanism is rotatably connected with the fixed seat;
the connecting end of the second horizontal swinging mechanism is rotatably connected with the free end of the first horizontal swinging mechanism, a lifting driving mechanism and a connecting block are arranged on the free end of the second horizontal swinging mechanism, and the output end of the lifting driving mechanism faces downwards;
the vertical rods are arranged at the output end of the lifting driving mechanism, and clamping grooves are formed in the side walls of the vertical rods;
the clamping jaw, the quantity of clamping jaw with the quantity of montant equals, all the clamping jaw all through glide machanism with the connecting block is connected, all be equipped with the telescopic block tongue on the clamping jaw, the block tongue can stretch into in the draw-in groove so that the clamping jaw with the montant links together.
2. The high efficiency robot of claim 1, wherein: first horizontal swinging mechanism includes first rotary driving mechanism and first swing arm, the link of first swing arm rotationally with the fixing base is connected, first rotary driving mechanism locates on the fixing base, first rotary driving mechanism's output with first swing arm transmission is connected, the free end of first swing arm with second horizontal swinging mechanism the link is connected.
3. The high efficiency robot of claim 2, wherein: the second horizontal swing mechanism comprises a second rotary driving mechanism and a second swing arm, the connecting end of the second swing arm is rotatably connected with the free end of the first swing arm, the second rotary driving mechanism is arranged on the first swing arm, the output end of the second rotary driving mechanism is in transmission connection with the second swing arm, and the free end of the second swing arm is connected with the lifting driving mechanism and the connecting block.
4. The high efficiency robot of claim 1, wherein: still include the elastic component, the montant can with lift actuating mechanism with the output is connected, the both ends of elastic component respectively with lift actuating mechanism the output with the montant is connected or the butt, the elastic component can make the montant moves downwards.
5. The high efficiency robot of claim 4, wherein: the lifting driving mechanism is characterized in that a convex shoulder is arranged on the vertical rod, the elastic piece is sleeved on the vertical rod, and two ends of the elastic piece are respectively abutted against the output end of the lifting driving mechanism and the convex shoulder.
6. The high efficiency robot of claim 1, wherein: the clamping jaw is provided with a linear driving mechanism, and the output end of the linear driving mechanism is connected with the clamping tongue.
7. The high efficiency robot of claim 1, wherein: the sliding mechanism comprises a sliding rail and a sliding block which are matched with each other, the sliding rail extends along the up-down direction, and the sliding rail and the sliding block are respectively connected with the connecting block and the clamping jaw.
8. The high efficiency robot of claim 1, wherein: the quantity of clamping jaw is four, the quantity of montant is four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122483456.6U CN216781833U (en) | 2021-10-14 | 2021-10-14 | High-efficiency mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122483456.6U CN216781833U (en) | 2021-10-14 | 2021-10-14 | High-efficiency mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN216781833U true CN216781833U (en) | 2022-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122483456.6U Active CN216781833U (en) | 2021-10-14 | 2021-10-14 | High-efficiency mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115771023A (en) * | 2022-11-24 | 2023-03-10 | 臻越自动化技术（上海）有限公司 | Buckle installation mechanism with detect function |
-
2021
- 2021-10-14 CN CN202122483456.6U patent/CN216781833U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115771023A (en) * | 2022-11-24 | 2023-03-10 | 臻越自动化技术（上海）有限公司 | Buckle installation mechanism with detect function |
| CN115771023B (en) * | 2022-11-24 | 2024-04-02 | 臻越自动化技术（上海）有限公司 | Buckle installation mechanism with detection function |
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