CN216991909U

CN216991909U - Industrial automation manipulator

Info

Publication number: CN216991909U
Application number: CN202123347449.XU
Authority: CN
Inventors: 唐益; 马志宇; 章立华; 马文强
Original assignee: Changzhou Shengqu Electromechanical Technology Co ltd
Current assignee: Changzhou Shengqu Electromechanical Technology Co ltd
Priority date: 2021-12-27
Filing date: 2021-12-27
Publication date: 2022-07-19
Anticipated expiration: 2031-12-27

Abstract

The utility model discloses an industrial automatic manipulator, which comprises a mechanical claw and four height adjusting devices distributed in a rectangular shape, wherein the bottom of each height adjusting device is provided with a movable fixing device, the top ends of every two height adjusting devices which are far away and adjacent are provided with two X-axis adjusting mechanisms for driving the mechanical claw to move along the X-axis direction, a Y-axis adjusting mechanism for driving the mechanical claw to move back and forth along the Y-axis direction is arranged between the two X-axis adjusting mechanisms, the Y-axis adjusting mechanism is provided with a Z-axis adjusting mechanism for moving back and forth along the Z-axis direction, the Z-axis adjusting mechanism is provided with a first telescopic cylinder with an output end arranged downwards, and the mechanical claw is arranged at the output end of the first telescopic cylinder. Is suitable for more industrial application, thereby meeting the requirements of more industrial production.

Description

Industrial automation manipulator

Technical Field

The utility model relates to the technical field of manipulators, in particular to an industrial automatic manipulator.

Background

A robot is an automatic operating device that simulates some of the motion functions of a human hand and arm to grab, carry objects or operate tools according to a fixed program. It features that it can be programmed to perform various expected tasks, with the advantages of both human and robotic machines in construction and performance.

The manipulator is the earliest appearing industrial robot and the earliest appearing modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.

The industrial automatic manipulator in the prior art is generally of a fixed structure and cannot move, and the industrial automatic manipulator in the prior art is also very limited, so that a plurality of operations cannot be completed.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to an industrial robot, which solves the above problems of the prior art.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides an industrial automation manipulator, includes gripper and four high adjusting device that are the rectangle and distribute, every high adjusting device bottom all is equipped with removes fixing device, and per two distances are far away and two adjacent high adjusting device's top is equipped with two X axle adjustment mechanism that drive gripper removed along X axle direction, is equipped with the Y axle adjustment mechanism that drives gripper along Y axle direction round trip movement between two X axle adjustment mechanism, be equipped with the Z axle adjustment mechanism along Z axle direction round trip movement on the Y axle adjustment mechanism, install the first telescoping cylinder that the output set up down on Z axle adjustment mechanism, the output at first telescoping cylinder is installed to the gripper.

As a preferable scheme of the utility model, the X-axis adjusting mechanism comprises two cross rods which are arranged in parallel, a first positive and negative motor is arranged on one side of each of the two cross rods, the first positive and negative motors are fixed with the cross rods through bolts, a first lead screw penetrating through the interior of each of the cross rods is arranged at the output end of each of the two first positive and negative motors, two ends of each first lead screw are rotatably connected with the cross rods through bearing seats, first lead screw nuts are sleeved on the two first lead screws, sliding blocks are arranged at the top ends of the two lead screw nuts, supporting rods are arranged at the top ends of the sliding blocks, and the Y-axis adjusting mechanism is arranged between the two supporting rods.

As a preferable scheme of the utility model, the Y-axis adjusting mechanism comprises a transverse plate arranged between two support rods, one end of the transverse plate is provided with a second positive and negative motor, the second positive and negative motor and the transverse plate are fixed through bolts, the output end of the second positive and negative motor is provided with a second lead screw extending to the other end of the transverse plate, two ends of the second lead screw are connected with the transverse plate through a bearing block, a second lead screw nut is sleeved on the second lead screw, one side of the second lead screw nut, which is far away from the transverse plate, is provided with a sliding plate, the Z-axis adjusting mechanism is arranged on one side of the second lead screw nut, which is far away from the sliding plate, and two sides of the sliding plate, which are located between the transverse plate and the first lead screw, are slidably guided through a first slide guide mechanism.

As a preferable scheme of the utility model, the Z-axis adjusting mechanism comprises a mounting plate arranged on one side of the sliding plate away from the transverse plate, the mounting plate is provided with a third positive and negative motor at the top end, the third positive and negative motor is fixedly connected with the sliding plate through a bolt, the output end of the third positive and negative motor is provided with a third lead screw extending to the bottom of the sliding plate, a third lead screw nut is sleeved on the third lead screw, the mounting plate is arranged on one side of the third lead screw nut away from the sliding plate, two sides of the third lead screw between the mounting plate and the sliding plate are slidably guided through a second sliding guide mechanism, the bottom of the mounting plate is provided with a mounting frame, and the first telescopic cylinder is arranged on the mounting frame.

As a preferable scheme of the present invention, the height adjusting device includes a counterweight block, a third telescopic cylinder is provided at the top end of the counterweight block, the third telescopic cylinder is connected to the counterweight block through a bolt, and an output end of the third telescopic cylinder is fixedly connected to the cross bar.

As a preferable scheme of the present invention, the movable fixing device includes a circular groove which is arranged inside the counterweight block and has a downward opening, a second telescopic cylinder having a downward output end is arranged inside the circular groove, and the bottom of the second telescopic cylinder is connected to a universal wheel through a bolt.

According to the preferable scheme of the utility model, the first telescopic cylinder is fixed with the mounting frame through a bolt, and the output end of the first telescopic cylinder is connected with the mechanical claw through a bolt.

Has the advantages that: when the manipulator is used, the manipulator is driven to move to the position right above a required position by moving the second telescopic cylinder in the fixing device, then the second telescopic cylinder is contracted to fix the manipulator, so that the manipulator is convenient to move and fix, then the manipulator is adjusted by the third telescopic cylinder in the height adjusting device to drive the manipulator to adjust to a proper height so that the manipulator can adapt to the use with the corresponding height, the first lead screw is driven to rotate by arranging the first positive and negative motor in the X-axis moving mechanism so as to drive the first lead screw nut to rotate, the slide block is driven to move back and forth along the X-axis direction by the first lead screw nut so as to drive the mechanical claw to move and adjust along the X-axis direction, the second positive and negative motor is arranged in the Y-axis moving mechanism so as to drive the second lead screw nut to move, and the mechanical claw is driven to move and adjust along the Y-axis direction by the first lead screw nut, the Z-axis moving mechanism is provided with the third positive and negative motor to drive the third screw rod to rotate so as to drive the third screw rod nut to move, so that the mechanical claw can move back and forth along the Z-axis direction for adjustment, and the first telescopic cylinder is arranged so that the mechanical claw can be adjusted to move up and down to grasp a corresponding article, so that the mechanical claw is not limited.

Drawings

FIG. 1 is a perspective view of an industrial automation robot of the present invention;

FIG. 2 is a perspective view of an industrial robot of the present invention with respect to X, Y and Z axes;

FIG. 3 is a perspective view of a height adjustment mechanism of an industrial robot of the present invention;

fig. 4 is a schematic view of a mobile fixing device of an industrial robot according to the present invention.

In the figure: 1. a height adjustment device; 11. a balancing weight; 12. a third telescopic cylinder; 2. an X-axis adjusting mechanism; 21. a cross bar; 22. a first positive and negative motor; 23. a slider; 24. a support bar; 3. a Y-axis adjustment mechanism; 31. a transverse plate; 32. a second positive and negative motor; 33. a first slide guide mechanism; 34. a slide plate; 4. a Z-axis adjustment mechanism; 41. mounting a plate; 411. a mounting frame; 42. a third positive and negative motor; 43. a second slide guide mechanism; 5. a first telescoping cylinder; 6. a gripper; 7. moving the fixing device; 71. a circular groove; 72. a second telescoping cylinder; 73. a universal wheel.

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 embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

To facilitate an understanding of the utility model, the utility model will now be described more fully with reference to the accompanying drawings. Several embodiments of the utility model are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for purposes of illustration only.

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

Referring to fig. 1-4, the present invention provides a technical solution: the utility model provides an industrial automation manipulator, includes gripper 6 and four high adjusting device 1 that are the rectangle and distribute, every 1 bottom of high adjusting device all is equipped with removal fixing device 7, and per two distances are far away and two adjacent top of high adjusting device 1 are equipped with two X axle adjustment mechanism 2 that drive gripper 6 removed along X axle direction, are equipped with the Y axle adjustment mechanism 3 that drives gripper 6 along Y axle direction round trip movement between two X axle adjustment mechanism 2, be equipped with the Z axle adjustment mechanism 4 along Z axle direction round trip movement on Y axle adjustment mechanism 3, install the first telescoping cylinder 5 that the output set up down on Z axle adjustment mechanism 4, gripper 6 installs the output at first telescoping cylinder 5.

In the embodiment, referring to fig. 1 and fig. 2, the X-axis adjusting mechanism 2 includes two parallel cross bars 21, two positive and negative motors 22 are respectively disposed on one side of each of the cross bars 21, the first positive and negative motors 22 are fixed to the cross bars 21 by bolts, the output ends of the two positive and negative motors 22 are provided with first lead screws penetrating the interior of the cross bars 21, two ends of each of the first lead screws are rotatably connected to the cross bars 21 through bearing seats, the two first lead screws are sleeved with first lead screw nuts, the top ends of the two lead screw nuts are provided with sliders 23, the top ends of the sliders 23 are provided with support bars 24, the Y-axis adjusting mechanism 3 is disposed between the two support bars 24, the Y-axis adjusting mechanism 3 includes a cross plate 31 disposed between the two support bars 24, one end of the cross plate 31 is provided with a second positive and negative motor 32, the second positive and negative motor 32 is fixed to the cross plate 31 by bolts, the output of the positive and negative motor 32 of second is equipped with the second lead screw that extends to the diaphragm 31 other end, be connected through the bearing frame between the both ends of second lead screw and the diaphragm 31, the cover is equipped with second screw-nut on the second lead screw, one side that second screw-nut kept away from diaphragm 31 is equipped with slide 34, Z axle adjustment mechanism 4 establishes the one side that slide 34 was kept away from to second screw-nut, slide 34 and diaphragm 31 between and lie in the both sides of first lead screw through first slide guiding mechanism 33 slide direction, Z axle adjustment mechanism 4 is including setting up the mounting panel 41 that keeps away from diaphragm 31 one side at slide 34, mounting panel 41, the top of mounting panel 41 is equipped with the positive and negative motor 42 of third, pass through bolt fixed connection between positive and negative motor 42 of third and slide 34, the output of positive and negative motor 42 of third is equipped with the third lead screw that extends to slide 34 bottom, the cover is equipped with third screw-nut on the third lead screw, one side that slide 34 was kept away from to third screw-nut is equipped with mounting panel 41, the both sides that just are located the third lead screw between mounting panel 41 and the slide 34 are through second sliding guide mechanism 43 sliding guide, the bottom of mounting panel 41 is equipped with mounting bracket 411, first telescoping cylinder 5 is established on mounting bracket 411.

In an embodiment, referring to fig. 1 and fig. 3, the height adjusting device 1 includes a weight block 11, a third telescopic cylinder 12 is disposed at a top end of the weight block 11, the third telescopic cylinder 12 is connected to the weight block 11 through a bolt, and an output end of the third telescopic cylinder 12 is fixedly connected to the cross bar 21.

In an embodiment, referring to fig. 1 and fig. 4, the movable fixing device 7 includes a circular groove 71 disposed inside the counterweight 11 and having a downward opening, a second telescopic cylinder 72 having a downward output end is disposed inside the circular groove 71, and a universal wheel 73 is connected to a bottom of the second telescopic cylinder 72 through a bolt.

In an embodiment, referring to fig. 1 and fig. 2, the first telescopic cylinder 5 is fixed to the mounting frame 411 by bolts, and an output end of the first telescopic cylinder 5 is connected to the gripper 6 by bolts.

The operation process comprises the following steps: when the manipulator is used, the manipulator is driven to move to the position right above a required position by moving the second telescopic cylinder in the fixing device, then the second telescopic cylinder is contracted to fix the manipulator, so that the manipulator is convenient to move and fix, then the manipulator is adjusted by the third telescopic cylinder in the height adjusting device to drive the manipulator to adjust to a proper height so that the manipulator can adapt to the use with the corresponding height, the first lead screw is driven to rotate by arranging the first positive and negative motor in the X-axis moving mechanism so as to drive the first lead screw nut to rotate, the slide block is driven to move back and forth along the X-axis direction by the first lead screw nut so as to drive the mechanical claw to move and adjust along the X-axis direction, the second positive and negative motor is arranged in the Y-axis moving mechanism so as to drive the second lead screw nut to move, and the mechanical claw is driven to move and adjust along the Y-axis direction by the first lead screw nut, the Z-axis moving mechanism is provided with the third positive and negative motor to drive the third screw rod to rotate so as to drive the third screw rod nut to move, so that the mechanical claw can move back and forth along the Z-axis direction for adjustment, and the first telescopic cylinder is arranged so that the mechanical claw can be adjusted to move up and down to grasp a corresponding article, so that the mechanical claw is not limited.

The foregoing shows and describes the general principles, principal features and advantages of the utility model. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the utility model as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides an industrial automation manipulator, includes gripper (6) and four height adjusting device (1) that are the rectangle and distribute, its characterized in that: every high adjusting device (1) bottom all is equipped with removal fixing device (7), and per two distances are far away and the top of two adjacent high adjusting device (1) is equipped with two X axle adjustment mechanism (2) that drive gripper (6) remove along X axle direction, is equipped with between two X axle adjustment mechanism (2) and drives gripper (6) along Y axle direction round trip movement's Y axle adjustment mechanism (3), be equipped with on Y axle adjustment mechanism (3) along Z axle direction round trip movement's Z axle adjustment mechanism (4), install first telescoping cylinder (5) that the output set up down on Z axle adjustment mechanism (4), the output in first telescoping cylinder (5) is installed in gripper (6).

2. The industrial automation robot of claim 1, wherein: x axle adjustment mechanism (2) include two parallel arrangement's horizontal pole (21), two one side of horizontal pole (21) all is equipped with first positive and negative motor (22), and passes through the bolt fastening between first positive and negative motor (22) and horizontal pole (21), two the output of first positive and negative motor (22) is equipped with the first lead screw that runs through horizontal pole (21) inside, the both ends of first lead screw are passed through the bearing frame and are rotated with horizontal pole (21) and be connected, two the cover is equipped with first screw-nut on the first lead screw, two screw-nut's top is equipped with slider (23), the top of slider (23) is equipped with bracing piece (24), and wherein Y axle adjustment mechanism (3) are established between two bracing pieces (24).

3. An industrial automation robot as defined in claim 1 wherein: the Y-axis adjusting mechanism (3) comprises a transverse plate (31) arranged between the two supporting rods (24), a second positive and negative motor (32) is arranged at one end of the transverse plate (31), the second positive and negative motor (32) and the transverse plate (31) are fixed through bolts, the output end of the second positive and negative motor (32) is provided with a second screw rod extending to the other end of the transverse plate (31), two ends of the second screw rod are connected with the transverse plate (31) through a bearing seat, a second screw rod nut is sleeved on the second screw rod, a sliding plate (34) is arranged on one side of the second screw rod nut away from the transverse plate (31), the Z-axis adjusting mechanism (4) is arranged on one side of the second lead screw nut far away from the sliding plate (34), and the sliding plate (34) is positioned between the transverse plate (31) and the two sides of the first screw rod and is guided in a sliding manner through a first sliding guide mechanism (33).

4. An industrial automation robot as defined in claim 1 wherein: the Z-axis adjusting mechanism (4) comprises a mounting plate (41) arranged on one side of the sliding plate (34) far away from the transverse plate (31), the top end of the mounting plate (41) is provided with a third positive and negative motor (42), the third positive and negative motor (42) is fixedly connected with the sliding plate (34) through a bolt, the output end of the third positive and negative motor (42) is provided with a third screw rod extending to the bottom of the sliding plate (34), a third screw rod nut is sleeved on the third screw rod, a mounting plate (41) is arranged on one side of the third screw rod nut, which is far away from the sliding plate (34), the mounting plate (41) and the sliding plate (34) are positioned between the third screw rod and the two sides of the third screw rod and are guided in a sliding way through a second sliding guide mechanism (43), the bottom of mounting panel (41) is equipped with mounting bracket (411), establish on mounting bracket (411) first telescoping cylinder (5).

5. The industrial automation robot of claim 1, wherein: the height adjusting device (1) comprises a balancing weight (11), a third telescopic cylinder (12) is arranged at the top end of the balancing weight (11), the third telescopic cylinder (12) is connected with the balancing weight (11) through a bolt, and the output end of the third telescopic cylinder (12) is fixedly connected with the cross rod (21).

6. The industrial automation robot of claim 1, wherein: the movable fixing device (7) comprises a circular groove (71) which is arranged in the balancing weight (11) and has a downward opening, a second telescopic cylinder (72) with an downward output end is arranged in the circular groove (71), and the bottom of the second telescopic cylinder (72) is connected with a universal wheel (73) through a bolt.

7. The industrial automation robot of claim 1, wherein: the first telescopic cylinder (5) is fixed with the mounting frame (411) through bolts, and the output end of the first telescopic cylinder (5) is connected with the mechanical claw (6) through bolts.