CN219054383U - PUU manipulator - Google Patents

Abstract

The utility model discloses a PUU manipulator in the technical field of mechanical transmission equipment, and aims to solve the problems of complex structure, unstable operation, high manufacturing cost and the like of the conventional common manipulator. The device comprises a fixed frame, a horizontal guide rail, a vertical guide rail, a transverse plate, a cam transmission assembly and a moving plate; the transverse plate is movably connected with the fixing frame through a horizontal guide rail; the moving plate is movably connected with the transverse plate through a vertical guide rail; the moving plate is provided with a grabbing mechanism; the cam transmission assembly comprises a driving assembly, a cam, a first connecting plate and a second connecting plate; the driving component part penetrates through the fixing frame and the first connecting plate to be fixedly connected with the second connecting plate; the first part of the cam is arranged in the arc-shaped groove on the first connecting plate, and the second part of the cam penetrates through the second connecting plate to be connected with the moving plate; when the driving component rotates, the second connecting plate drives the cam to move, so that the moving plate moves in an arc. The utility model is suitable for short-distance transportation of products, and ensures that the transportation of the products is convenient, stable and accurate.

Description

PUU manipulator

Technical Field

The utility model relates to a PUU manipulator, and belongs to the technical field of mechanical transmission equipment.

Background

The automation degree is continuously improved at the present stage, various industrial manipulators are widely applied, and a large amount of repetitive and high-strength work is gradually replaced by manual work to realize the mechanization and automation of production, and the manipulator can be operated under a harmful environment to protect personal safety, so that the manipulator is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like.

The simplest operation action of the manipulator is to grasp a workpiece at one position and put down the workpiece at the other position, so as to realize actions such as feeding, processing, assembling and the like. The two structures in the prior art can finish the action, namely, the grabbing and placing manipulator driven by air pressure can only move along the linear direction when moving, and can only perform the linear movement along the transverse and vertical directions in a staggered way when needing to be positioned and moved; moreover, the pneumatic driving precision is not high, and the movement speed is slower; secondly, use motor drive to snatch and place the manipulator, the grabbing strength of this kind of structure is great, simple to operate, and the flexibility is high, but multiple spot berthhes, but current motor drive formula manipulator needs a plurality of motor cooperation to realize multiaxis transmission, and the work content of structure complicacy but going on is comparatively simple, and the cost is paid greatly.

Disclosure of Invention

The utility model aims to overcome the defects in the prior art, and provides the PUU manipulator which can control the movement of the moving plate by adopting the cam transmission assembly, so that the grabbing mechanism can conveniently carry products, is simple in structure and convenient to operate, and can effectively improve the working efficiency.

In order to achieve the above purpose, the utility model is realized by adopting the following technical scheme:

the utility model provides a PUU manipulator which comprises a fixed frame, a horizontal guide rail, a vertical guide rail, a transverse plate, a cam transmission assembly and a moving plate; a horizontal guide rail is arranged on the fixing frame so that the transverse plate moves horizontally; the transverse plate is provided with a vertical guide rail so that the moving plate moves vertically; the motion plate is provided with a grabbing mechanism;

the cam transmission assembly comprises a driving assembly, a cam, a first connecting plate and a second connecting plate; the driving component part penetrates through the fixing frame and the first connecting plate to be fixedly connected with the second connecting plate; the cam includes a first portion and a second portion; the first part is arranged in an arc-shaped groove on the first connecting plate, and the second part penetrates through the second connecting plate to be connected with the moving plate; when the driving assembly rotates, the second connecting plate also rotates, so that the cam moves in the arc-shaped groove and drives the moving plate to do arc-shaped movement.

Further, a vertical plate is arranged on the fixing frame; the horizontal guide rail comprises a first guide rail and a first sliding block which are movably connected with each other; the first guide rail is fixed on the vertical plate; the first sliding block is fixed on the back surface of the transverse plate.

Further, the vertical guide rail comprises a second guide rail and a second sliding block which are movably connected with each other; the second guide rail is fixed on the back surface of the moving plate; the second sliding block is fixed on the front face of the transverse plate.

Further, a first sensor is arranged at the top of the vertical plate, and second sensors are arranged at two sides of the vertical plate; a first scribing is arranged at the top of the transverse plate; second scribing is arranged on two sides of the moving plate; when the cam moves to the left/right limiting end of the arc-shaped groove, the second sensor senses second scribing on the same side; when the cam moves to the highest point of the arc-shaped groove, the first sensor senses the first scribing.

Further, the second inductor is connected with the vertical plate through a support.

Further, the driving assembly comprises a servo motor, a coupler, a bearing and a support plate; the servo motor and the bearing are respectively connected to two ends of the coupler; the fixing frame is provided with a shaft hole and a fixing hole; the bearing penetrates through the shaft hole and is connected with the first connecting plate and the second connecting plate; bolts sequentially penetrate through the base, the support plate and the fixing holes of the coupler to be connected and fixed.

Further, the moving plate is provided with an empty groove; the empty groove is provided with a protruding arc-shaped connecting piece; the second part of the cam is fixed in the connecting hole of the arc-shaped connecting piece.

Further, a slotted hole is formed in the second connecting plate; the second part of the cam penetrates through the oblong hole and is connected with the moving plate.

Further, the grabbing mechanism is a vacuum chuck device; the plurality of vacuum chuck devices are arranged on the moving plate.

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

the utility model provides a PUU manipulator, wherein a horizontal guide rail can enable a transverse plate to move left and right relative to a fixed frame, and a vertical guide rail is fixed on the transverse plate and can enable a moving plate to move up and down relative to the transverse plate; the driving component in the cam transmission component drives the second connecting plate to rotate, so that the cam is driven to move along the track of the arc-shaped groove; the cam moves while driving the moving plate to bear force, and the component force of the cam is force in two directions of horizontal and vertical, namely, the moving plate is enabled to displace simultaneously along the two directions of the horizontal guide rail and the vertical guide rail, so that stability in the moving process of the moving plate is ensured, the accuracy of the grabbing mechanism for placing the grabbed product at another working position is improved, and therefore the product running time is short and the working efficiency is high; the manipulator has the advantages of simple structure, easy disassembly and assembly, high-efficiency replacement of parts of the manipulator and low production cost.

The grabbing mechanism adopts the vacuum chuck device to install on the motion plate, can conveniently absorb the product, carries at two website (arc recess's both ends point) of cam motion, practices thrift the grabbing time, improves work efficiency.

Drawings

FIG. 1 is a schematic overall view of a PUU manipulator according to the present utility model;

FIG. 2 is a schematic view of the back structure of FIG. 1;

FIG. 3 is a schematic diagram of the front structure of the fixing frame;

FIG. 4 is a schematic elevational view of a structure with vertical rails;

FIG. 5 is a schematic view of a rear structure with vertical rails;

FIG. 6 is an assembly view of the cam gear assembly;

FIG. 7 is a schematic diagram of the driving assembly of FIG. 6;

FIG. 8 is a schematic view of the structure of the vacuum chuck apparatus;

in the figure: 1. a fixing frame; 2. a horizontal guide rail; 3. a vertical guide rail; 4. a cross plate; 5. a cam drive assembly; 6. a moving plate; 7. a vacuum chuck device;

11. a vertical plate; 12. a first inductor; 13. a second inductor; 14. a shaft hole; 15. a fixing hole; 16. a support; 21. a first guide rail; 22. a first slider; 31. a second guide rail; 32. a second slider; 41. a first dicing; 51. a drive assembly; 52. a cam; 53. a first connection plate; 54. a second connecting plate; 55. an arc-shaped groove; 56. a slotted hole; 61. second dicing; 62. a hollow groove; 63. an arc-shaped connecting piece; 71. a suction cup;

511. a servo motor; 512. a coupling; 513. a bearing; 514. and (5) supporting plates.

Detailed Description

The utility model is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present utility model, and are not intended to limit the scope of the present utility model.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art in a specific case.

Referring to fig. 1 to 8, the present utility model provides a PUU manipulator comprising a fixed frame 1, a horizontal rail 2, a vertical rail 3, a cross plate 4, a cam transmission assembly 5, and a moving plate 6. The bottom of the fixing frame 1 is fixed on the working surface, and the fixing frame 1 is connected with the transverse plate 4 through the horizontal guide rail 2; the horizontal guide rail 2 is arranged on the fixing frame 1, so that the transverse plate 4 can realize left-right displacement relative to the fixing frame 1. The transverse plate 4 is connected with the moving plate 6 through a vertical guide rail, and the vertical guide rail is fixed on the transverse plate 4, so that the moving plate 6 can realize up-and-down displacement relative to the transverse plate 4. The motion plate 6 is provided with a grabbing mechanism for grabbing products, and the motion plate 6 moves to drive the grabbing mechanism to move the products.

In order to enable the motion plate 6 to generate motion force, the present embodiment adopts the cam transmission assembly 5 to drive the motion plate 6, so that the grabbing mechanism grabs the product and can lift the product to the landing point. As shown in fig. 6 and 6, the cam gear assembly 5 includes a driving assembly 51, a cam 52, a first connection plate 53, and a second connection plate 54. The first connecting plate 53 is provided with an arc-shaped groove 55. The driving assembly 51 is fixed on the fixing frame 1, and is fixedly connected with the second connecting plate 54 after partially penetrating through the fixing frame 1 and the first connecting plate 53. The fixing frame 1 and the first connection plate 53 are contacted and fixedly connected by bolts. When the driving assembly 51 works, the second connecting plate 54 can be driven to rotate.

As shown in fig. 6, the cam 52 includes a first portion and a second portion, and the first portion is fitted in the arc-shaped groove 55 and can move flexibly along the track of the arc-shaped groove 55. The second portion is fixedly connected to the moving plate 6 through the second connection plate 54. The driving component 51 drives the second connecting plate 54 to rotate when rotating; at this time, the second connection plate 54 causes the cam 52 to rotate the moving plate 6. In the rotation process of the moving plate 6, the action of the horizontal guide rail 2 and the vertical guide rail 3 is utilized, so that the moving plate 6 can perform stable arc-shaped movement relative to the fixing frame 1, the condition that the grabbing mechanism shakes in the grabbing product movement process is effectively avoided, and the working efficiency and the working accuracy are improved.

Alternatively, as shown in fig. 3, the fixing frame 1 is provided with a vertical plate 11, and the horizontal guide rail 2 is connected to the vertical plate 11. The mechanical arm works frequently, the vertical plate 11 is stressed to generate certain loss, and the maintenance cost can be saved by replacing the vertical plate 11. Wherein the horizontal guide rail 2 comprises a first guide rail 21 and a first slider 22. The first guide rail 21 is horizontally assembled on the vertical plate 11, and the first slider 22 is movably connected to the first guide rail 21 and horizontally slides on the first guide rail 21. The first slider 22 is fixedly connected to the back surface of the transverse plate 4, and when the first slider 22 moves, the transverse plate 4 is driven to move left and right.

Alternatively, as shown in fig. 4 and 5, the vertical guide rail 3 includes a second guide rail 31 and a second slider 32, where the second guide rail 31 is fixedly connected to the back surface of the moving plate 6, and the second slider 32 is fixedly connected to the front surface of the transverse plate 4. The second guide rail 31 is movably connected with the second slider 32, so that the second guide rail 31 slides up and down relative to the second slider 32. When the second guide rail 31 slides, the moving plate 6 is driven to move up and down.

Alternatively, as shown in fig. 3 and 4, a first sensor 12 is provided at the top of the vertical plate 11, and second sensors 13 are provided at the left and right sides, respectively. Correspondingly, a first scribe 41 is provided on the top of the transverse plate 4, and a second scribe 61 is provided on both sides of the moving plate 6. The left and right limiting ends of the arc-shaped groove 55 are respectively set to a site and b site. When the second sensor 13 on the left side of the vertical plate 11 senses the second scribing 61 on the left side of the moving plate 6, the cam 52 moves to the site a, and the second sensor 13 transmits sensing information to the computer, so that the computer controls the grabbing mechanism to take the product of the site a or place the product to the site a; when the second sensor 13 on the right side of the vertical plate 11 senses the second scribing 61 on the right side of the moving plate 6, the cam 52 moves to the b site, and the second sensor 13 transmits sensing information to the computer, so that the computer operates the grabbing mechanism to take the product of the b site or put the product to the b site; when the first sensor 12 of the vertical plate 11 senses the first scribing 41 on the transverse plate 4, the cam 52 is known to move to the highest track point of the arc-shaped groove 55, the first sensor 12 transmits sensing information to a computer, and according to the actual situation, the cam 52 is controlled to move continuously to enable the grabbing mechanism to carry continuously or the cam 52 is controlled to stop moving, and the grabbing mechanism grabs a product to hover in the air.

Optionally, one end of the support 16 is used for connecting the second inductor 13, and the other end is fixedly connected to the vertical plate 11, and the support 16 facilitates the disassembly and assembly of the second inductor 13 and is not easy to damage.

Alternatively, as shown in connection with fig. 3, 4 and 7, the drive assembly 51 includes a servo motor 511, a coupling 512, a bearing 513 and a plate 514. One end of the coupling 512 is connected to the servo motor 511, and the other end is connected to the bearing 513. The servo motor 511 provides power to rotate the bearing 513. The fixing frame 1 is provided with a shaft hole 14 and a fixing hole 15, and when assembled, the bearing 513 passes through the shaft hole 14 and the first connecting plate 53 and is fixedly connected with the second connecting plate 54. In order to ensure that the driving assembly 51 is stably fixed on the fixing frame 1, bolts are used to penetrate through the base of the coupler 512, the support plate 514 and the fixing holes 15 on the fixing frame 1, so that the coupler 512 and the servo motor 511 are fixedly connected to the back of the fixing frame 1.

Optionally, the hollow groove 62 is formed on the moving plate 6, so that manufacturing cost can be saved, and transitional waste of materials can be avoided. An arcuate connector 63 extends from the recess 62 and has a connecting hole for receiving the cam 52. The design of the arc-shaped connecting piece 63 can be convenient for an assembler to observe and judge, the cam 52 is quickly assembled to the assembling position of the moving plate 6, and the assembling efficiency is improved.

Alternatively, as shown in fig. 6, the second connecting plate 54 is provided with an oblong hole 56, and the second portion of the cam 52 is connected to the moving plate 6 after passing through the oblong hole 56. The second connecting plate 54 restrains the cam 52 to move in the arc-shaped groove 55, but during the movement of the cam 52, the second part of the cam 52 moves relatively to the second connecting plate 54, and the hole of the cam 52 penetrating through the second connecting plate 54 is set as a oblong hole 56, so that the influence of the mutual stress of the cam 52 and the second connecting plate 54 during the movement can be avoided, and unnecessary wear of the cam 52 and the second connecting plate 54 is caused, thereby prolonging the service lives of the second connecting plate 54 and the cam 52.

Alternatively, as shown in fig. 8, the gripping mechanism uses a vacuum chuck device 7, and compared with a gripping mode of a general mechanical gripper, the chuck 71 rapidly sucks the product through negative pressure, so that the time for gripping and placing the product is saved; in addition, the accuracy of the grabbing and placing of the sucker 71 is more accurate than that of a general mechanical gripper, and the structure of the mechanical gripper of the embodiment is matched, so that the product transporting process is efficient and stable.

The general sucker cooperates with the manipulator to operate as follows: when the second sensor 13 on the left side senses the second scribe 61 on the left side, which is moved by the cam 52, the suction cup sucks the product; when the cam 52 moves to the right side sensor 13 to sense the second scribe 61 on the right side, the suction cup stops sucking the product.

The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present utility model, and such modifications and variations should also be regarded as being within the scope of the utility model.

Claims (9)

1. The PUU manipulator is characterized by comprising a fixed frame, a horizontal guide rail, a vertical guide rail, a transverse plate, a cam transmission assembly and a moving plate; a horizontal guide rail is arranged on the fixing frame so that the transverse plate moves horizontally; the transverse plate is provided with a vertical guide rail so that the moving plate moves vertically; the motion plate is provided with a grabbing mechanism;

the cam transmission assembly comprises a driving assembly, a cam, a first connecting plate and a second connecting plate; the driving component part penetrates through the fixing frame and the first connecting plate to be fixedly connected with the second connecting plate; the cam includes a first portion and a second portion; the first part is arranged in an arc-shaped groove on the first connecting plate, and the second part penetrates through the second connecting plate to be connected with the moving plate; when the driving assembly rotates, the second connecting plate also rotates, so that the cam moves in the arc-shaped groove and drives the moving plate to do arc-shaped movement.

2. The PUU manipulator according to claim 1, wherein the fixing frame is provided with a vertical plate; the horizontal guide rail comprises a first guide rail and a first sliding block which are movably connected with each other; the first guide rail is fixed on the vertical plate; the first sliding block is fixed on the back surface of the transverse plate.

3. The PUU manipulator according to claim 2, wherein said vertical rail comprises a second rail and a second slider movably connected to each other; the second guide rail is fixed on the back surface of the moving plate; the second sliding block is fixed on the front face of the transverse plate.

4. The PUU manipulator according to claim 2, wherein a first sensor is arranged at the top of the vertical plate, and second sensors are arranged at two sides of the vertical plate; a first scribing is arranged at the top of the transverse plate; second scribing is arranged on two sides of the moving plate; when the cam moves to the left/right limiting end of the arc-shaped groove, the second sensor senses second scribing on the same side; when the cam moves to the highest point of the arc-shaped groove, the first sensor senses the first scribing.

5. The PUU manipulator according to claim 4, wherein said second sensor and said riser are connected by a support.

6. The PUU manipulator according to claim 1, wherein said drive assembly comprises a servo motor, a coupling, bearings and a support plate; the servo motor and the bearing are respectively connected to two ends of the coupler; the fixing frame is provided with a shaft hole and a fixing hole; the bearing penetrates through the shaft hole and is connected with the first connecting plate and the second connecting plate; bolts sequentially penetrate through the base, the support plate and the fixing holes of the coupler to be connected and fixed.

7. The PUU manipulator according to claim 1, wherein said motion plate member is provided with a hollow groove; the empty groove is provided with a protruding arc-shaped connecting piece; the second part of the cam is fixed in the connecting hole of the arc-shaped connecting piece.

8. The PUU manipulator according to claim 1, wherein the second connecting plate is provided with a slotted hole; the second part of the cam penetrates through the oblong hole and is connected with the moving plate.

9. The PUU manipulator according to claim 1, wherein said gripping mechanism is a vacuum chuck device; the plurality of vacuum chuck devices are arranged on the moving plate.

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