CN218507041U

CN218507041U - Intelligent mechanical arm

Info

Publication number: CN218507041U
Application number: CN202222564190.2U
Authority: CN
Inventors: 李筱健; 徐国栋
Original assignee: Xiamen Huichuan Industry And Trade Co ltd
Current assignee: Xiamen Huichuan Industry And Trade Co ltd
Priority date: 2022-09-27
Filing date: 2022-09-27
Publication date: 2023-02-21
Anticipated expiration: 2032-09-27

Abstract

The utility model provides an intelligent mechanical arm, including single track horizontal truss, perpendicular truss, sucking disc formula clamping jaw, linear drive motor, cylinder telescopic machanism and rotary drive motor, sucking disc formula clamping jaw is installed in cylinder telescopic machanism's lower extreme, sucking disc formula clamping jaw includes the fixed part of being connected with cylinder telescopic machanism and locates the first buffer gear at fixed part both ends, first buffer gear comprises basal portion and output shaft, the output shaft tip is equipped with connecting portion, it wears to be equipped with the guide bar to slide between two connecting portions, and the guide bar passes through fastening bolt locking on connecting portion, the guide bar outer wall cover of sliding is equipped with the uide bushing, the uide bushing both ends extend to connecting portion and cushion through buffer spring, one side that the fixed part was kept away from in the middle part of the uide bushing is equipped with inhales the dish portion, the utility model has the advantages of fully offsetting, the impact vibration that produces when buffering mechanical arm moved to the work piece, lifting manipulator moves and gets the stability degree to the work piece.

Description

Intelligent mechanical arm

Technical Field

The utility model relates to a technical field of arm, especially an intelligent mechanical arm.

Background

An intelligent mechanical arm is also called a manipulator, is intelligent mechanical equipment for clamping workpieces and products, is often applied to the field of mechanical manufacturing, in particular to the injection molding industry, and after a plastic workpiece is molded, the plastic workpiece is clamped to a storage space or a conveying belt beside an injection molding machine by the corresponding mechanical arm.

The existing mechanical arm generally comprises a single-rail horizontal truss with an X-Y plane, a vertical truss on a Z axis, a sucker type clamping jaw, a corresponding linear driving motor, an air cylinder telescoping mechanism and a rotary driving motor, wherein the linear driving motor is used for driving the sucker type clamping jaw to move, stretch and rotate on the horizontal truss and the vertical truss, the air cylinder telescoping mechanism is arranged at the lower end of the air cylinder telescoping mechanism, the air cylinder is used for driving the sucker type clamping jaw to stretch in the vertical direction, and the rotary driving motor drives the sucker type clamping jaw to rotate and switch in the horizontal direction and the vertical direction.

The mechanical arm is generally installed above a forming die of a horizontal injection molding machine, the vertical truss is driven to move on an X-Y plane through the horizontal truss and the linear driving motor, then the sucker type clamping jaw is driven by the cylinder telescopic mechanism to move in the vertical direction, the sucker part of the sucker type clamping jaw is aligned to a workpiece in a matching mode through the rotary driving motor, the workpiece is horizontally moved to be attached to the workpiece to be sucked, the steps are reversed after the workpiece is completely sucked, the workpiece is moved to a storage space beside the injection molding machine or a transmission belt, and the workpiece is taken and placed.

However, in the moving process of the robot arm, in order to adapt to the working speed of the injection molding machine, the clamping time is generally short, which requires the robot arm to be at a high moving speed, but because the parts of the robot arm such as the suction cup type clamping jaw and the vertical truss are light in weight, the joint point between single moving actions is easy to shake greatly during the moving process, and the workpiece on the suction cup type clamping jaw is easy to fall off.

In view of the above, the present inventors have specifically designed a smart robot arm, and have resulted from this.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problem, the technical scheme of the utility model as follows:

the utility model provides an intelligent mechanical arm, includes single track horizontal truss, perpendicular truss, sucking disc formula clamping jaw and is used for driving sucking disc formula clamping jaw and removes, flexible, rotatory linear driving motor, cylinder telescopic machanism and rotary driving motor on horizontal truss and perpendicular truss, and sucking disc formula clamping jaw is installed in cylinder telescopic machanism's lower extreme, sucking disc formula clamping jaw includes the fixed part of being connected with cylinder telescopic machanism and locates the first buffer gear at fixed part both ends, first buffer gear comprises basal portion and output shaft, the output shaft tip is equipped with connecting portion, two slide between the connecting portion and wear to be equipped with the guide bar, just the guide bar passes through fastening bolt locking on connecting portion, the guide bar outer wall slides the cover and is equipped with the uide bushing, the uide bushing both ends extend to connecting portion and cushion through buffer spring, the one side that the fixed part was kept away from in the middle part of the uide bushing is equipped with and inhales the dish portion.

Preferably, two one side that connecting portion are relative is equipped with the dashpot to the indent, the uide bushing is including the installation department that is located the middle part and the guide part that is located both sides, the guide part extends to in the dashpot just buffer spring locates between guide part and the dashpot inner wall, the guide bar passes installation department, guide part and buffer spring in proper order.

Preferably, the guide rod is symmetrically provided with at least two protruding limiting parts along the circumferential direction of the guide rod.

Preferably, the cross section of the convex limiting part is in semicircular transition, and the cambered surface of the convex limiting part faces the direction of the center of the principle guide rod.

Preferably, the depth L0 of the buffer groove is 2-3cm, and the extension length L1 of the guide part is greater than the depth L0 of the buffer groove.

Preferably, the middle part of the connecting part is provided with a guide groove for the guide rod to pass through, the upper end of the connecting part is provided with a thread groove communicated with the guide groove, and the fastening bolt is connected and locked with the thread groove through threads.

Preferably, the anti-skidding jacket layer is covered outside the nut at the upper end of the fastening bolt.

Preferably, the lower end of the fastening bolt is provided with an elastic pressing layer.

Preferably, the first damper mechanism is a hydraulic damper.

The utility model has the advantages of as follows:

1. through the first buffer mechanism, the guide rod, the guide sleeve and the buffer spring, the chuck part can obtain multidirectional buffering when moving at a high speed along with the whole equipment, and the stability of the chuck part for clamping a workpiece is further improved;

2. the guide rod and the guide sleeve are rotationally limited through the convex limiting part, so that the guide rod and the guide sleeve can only slide in the connecting line direction of the two connecting parts, and the stability and the accuracy of the clamping direction of the sucker part are kept;

3. the guide rod is conveniently fixed and detached through the fastening bolt, the elastic compression layer can adapt to the shape of the guide rod to be compressed and fixed, and the fastening degree of the guide rod is further improved.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it.

Wherein:

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

FIG. 2 is a side view of a suction cup jaw of the present invention;

FIG. 3 is a top view and a partially enlarged view of the chuck jaw of the present invention;

FIG. 4 is a schematic view of a partial cross-sectional view of the guide sleeve mounting structure of the present invention;

fig. 5 is a schematic view of a partial cross-sectional structure of the middle-prominence guide bar mounting structure of the present invention.

Description of the reference symbols:

1. a horizontal truss; 2. a vertical truss; 3. a suction disc type clamping jaw; 4. a fixed part; 5. a first buffer mechanism; 51. a base; 52. an output shaft; 6. a connecting portion; 61. fastening a bolt; 611. an anti-slip jacket layer; 612. an elastic compression layer; 62. a buffer tank; 63. a guide groove; 64. a thread groove; 7. a guide bar; 71. a raised limit part; 8. a guide sleeve; 81. an installation part; 82. a guide portion; 83. a sucker portion; 84. a suction nozzle; 85. air holes; 9. a buffer spring.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects of the present invention to be solved clearer and more obvious, the present invention is further explained in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

Please refer to fig. 1 to 5, it is as the utility model discloses a best embodiment's an intelligent mechanical arm, including single track horizontal truss 1, vertical truss 2, sucking disc formula clamping jaw 3 and be used for driving sucking disc formula clamping jaw 3 and move on horizontal truss 1 and vertical truss 2, flexible, rotatory linear drive motor, cylinder telescopic machanism and rotary drive motor (not shown in the figure), sucking disc formula clamping jaw 3 is installed in cylinder telescopic machanism's lower extreme, the cylinder is used for driving sucking disc formula clamping jaw 3 to carry out the flexible of vertical direction, rotary drive motor drive sucking disc formula clamping jaw 3 carries out the rotation switch in level and vertical direction, be used for getting material and blowing.

Specifically, as shown in fig. 2 and 3, the suction cup type clamping jaw 3 includes a rod-shaped fixing portion 4 connected to the cylinder telescopic mechanism and a first buffer mechanism 5 disposed at the same side of two ends of the fixing portion 4, in this embodiment, the first buffer mechanism 5 is an oil buffer and is composed of a base 51 and an output shaft 52, buffering is performed by an internal oil hydraulic mechanism, a block-shaped connecting portion 6 is fixed at an end portion of the output shaft 52, a guide rod 7 is slidably inserted into a connecting line between the two connecting portions 6, the guide rod 7 is fixedly locked to the connecting portion 6 by a fastening bolt 61, a guide sleeve 8 is slidably sleeved on a portion of an outer wall of the guide rod 7 located between the two connecting portions 6, two ends of the guide sleeve 8 extend to the connecting portion 6 and buffer between the buffer spring 9 and the connecting portion 6, a suction cup portion 83 is disposed at a side of the middle portion of the guide sleeve 8 away from the fixing portion 4, a plurality of suction nozzles 84 are disposed on the suction cup portion 83, and the suction nozzles 84 are connected to a corresponding negative pressure control device through an air hole 85 to achieve suction and release.

Preferably, as shown in fig. 3 and 4, the opposite sides of the two connecting portions 6 are recessed inwards to form the buffer groove 62, the guide sleeve 8 includes an installation portion 81 located in the middle and guide portions 82 located on both sides, the guide portions 82 extend into the buffer groove 62, the buffer springs 9 are arranged between the guide portions 82 and the inner wall of the buffer groove 62, the guide rod 7 sequentially penetrates through the installation portion 81, the guide portions 82 and the buffer springs 9, both ends of the buffer springs 9 respectively abut against the guide portions 82 and the inner bottom of the buffer groove 62, so that the guide portions 82 are buffered through the buffer grooves 62 and the buffer springs 9, and the guide rod 7 forms an axial guide limit for the guide portions 82, so that the guide sleeve 8 is buffered in a reciprocating manner in the extending direction of the guide rod 7 as a whole, vibration generated in the extending direction of the guide rod 7 when the device moves at a high speed is relieved and offset, and stability of the suction disk portion 83 in clamping a workpiece is further improved.

Preferably, as shown in fig. 5, the guide rod 7 is symmetrically provided with at least two protruding limiting portions 71 along the circumferential direction thereof, in this embodiment, there are two protruding limiting portions 71, and the cross section of the protruding limiting portion 71 is in a semicircular transition and the arc surface thereof faces the direction of the center of the guide rod 7, so that the rotation limitation of the guide rod 7 and the guide sleeve 8 is realized, and the guide rod can only slide in the line direction of the two connecting portions 6, thereby maintaining the stability and accuracy of the clamping direction of the chuck portion 83.

Preferably, referring to fig. 4, the depth L0 of the buffer groove 62 is 2 to 3cm, and the extension length L1 of the guide portion 82 is greater than the depth L0 of the buffer groove 62, so that the axial movement of the guide sleeve 8 can be restricted by the depth of the buffer groove 62 and the extension length of the guide portion 82, thereby achieving precise control of the buffer distance of the sucker portion 83.

Preferably, as shown in fig. 4 and 5, a guide groove 63 for the guide rod 7 to pass through is formed in the middle of the connecting portion 6, a thread groove 64 penetrating through the guide groove 63 is formed in the upper end of the connecting portion 6, the fastening bolt 61 and the thread groove 64 are locked through threaded connection, an anti-slip sleeve layer 611 covers the outside of a nut at the upper end of the fastening bolt 61, and an elastic pressing layer 612 is arranged at the lower end of the fastening bolt 61, in this embodiment, the anti-slip sleeve layer 611 and the elastic pressing layer 612 are both rubber sleeve layers, and a plurality of anti-slip grooves (not shown in the figure) are formed in the lower end face of the elastic pressing layer 612, so that the guide rod 7 can be conveniently fixed and detached through the fastening bolt 61, and the elastic pressing layer 612 can adapt to the shape of the guide rod 7 to be pressed and fixed, and the fastening degree of the guide rod 7 is further improved.

The utility model discloses the working process as follows:

firstly, a linear driving motor drives a vertical truss 2 to move on an X-Y plane, so that the vertical truss 2 and a sucker part 83 approach to the position of a workpiece, then the vertical truss 2 and an air cylinder telescopic mechanism drive the sucker part 83 to move in the vertical direction, so that the sucker part 83 approaches to the position of the workpiece in the vertical direction, finally the sucker 84 and the workpiece are kept in the same horizontal line, then the linear driving motor drives the sucker 84 to be attached to the workpiece again, the workpiece is sucked through a negative pressure control device, the workpiece is moved to the outside of an injection molding machine, finally the sucker part 83 is rotated through a rotary driving motor, so that the workpiece faces downwards, the vertical distance between the workpiece and a containing space is reduced, and the negative pressure control device controls the sucker 84 to release the workpiece, so that the workpiece is moved out; in the process, when the chuck part 83 moves along with the whole device, the shake generated by the joint point between the single moving directions is buffered and counteracted by the structure formed by the first buffer mechanism 5, the guide rod 7, the guide sleeve 8 and the buffer spring 9, so that the workpiece can be stably picked and placed; in addition, this technical scheme only needs to reform transform chuck portion 83, need not to reform transform the whole equipment, greatly practices thrift the cost.

To sum up, the utility model has the advantages of the impact vibration that produces when fully offsetting, buffering robotic arm high-speed removal, lifting robotic arm moves the work piece and gets stability.

The above description is for illustrative purposes only, and it is obvious that the present invention is not limited by the above embodiments, and the present invention is not limited by the above description, and the present invention is applicable to other situations without any improvement or any substantial improvement.

Claims

1. The utility model provides an intelligent mechanical arm, includes single track horizontal truss (1), perpendicular truss (2), sucking disc formula clamping jaw (3) and is used for driving sucking disc formula clamping jaw (3) and removes, flexible, rotatory linear driving motor, cylinder telescopic machanism and rotation driving motor on horizontal truss (1) and perpendicular truss (2), and sucking disc formula clamping jaw (3) are installed in cylinder telescopic machanism's lower extreme, a serial communication port, sucking disc formula clamping jaw (3) include fixed part (4) be connected with cylinder telescopic machanism and locate first buffer gear (5) at fixed part (4) both ends, first buffer gear (5) comprise basal portion (51) and output shaft (52), output shaft (52) tip is equipped with connecting portion (6), two slide between connecting portion (6) and wear to be equipped with guide bar (7), just guide bar (7) are fixed in on connecting portion (6) through fastening bolt (61) locking, guide bar (7) outer wall slip cover is equipped with uide bushing (8), uide bushing (8) both ends extend to connecting portion (6) and carry out through buffer spring (9) and carry out the middle part (83) of inhaling.

2. The intelligent mechanical arm according to claim 1, wherein the buffer groove (62) is inwards arranged at one side of the two connecting portions (6) opposite to each other in a concave manner, the guide sleeve (8) comprises an installation portion (81) located at the middle portion and guide portions (82) located at two sides, the guide portions (82) extend into the buffer groove (62), the buffer spring (9) is arranged between the guide portions (82) and the inner wall of the buffer groove (62), and the guide rod (7) sequentially penetrates through the installation portion (81), the guide portions (82) and the buffer spring (9).

3. A smart manipulator according to claim 2, wherein the guiding rod (7) is provided with at least two raised limiting portions (71) symmetrically around its circumference.

4. A smart manipulator as claimed in claim 3, wherein the raised position-limiting elements (71) are in the form of semi-circular transitions in cross-section and have curved surfaces facing the direction of the centre of the guiding rod (7).

5. A smart manipulator as claimed in claim 2, wherein the depth L0 of the buffer slot (62) is 2-3cm, and the extension L1 of the guide (82) is greater than the depth L0 of the buffer slot (62).

6. The intelligent mechanical arm as claimed in claim 1, wherein a guide groove (63) for a guide rod (7) to pass through is formed in the middle of the connecting portion (6), a threaded groove (64) penetrating through the guide groove (63) is formed in the upper end of the connecting portion (6), and the fastening bolt (61) and the threaded groove (64) are connected and locked through threads.

7. A smart manipulator as claimed in claim 6, wherein the nut at the upper end of the fastening bolt (61) is covered with an anti-slip layer (611).

8. A smart manipulator as claimed in claim 7, characterised in that the fastening bolts (61) are provided at their lower ends with resilient compression layers (612).

9. A smart manipulator as claimed in claim 1, wherein the first damping mechanism (5) is a hydraulic damper.