CN220444886U - Step-by-step three-dimensional manipulator - Google Patents

Abstract

The utility model discloses a stepping three-dimensional manipulator which is used for conveying products in a stepping way and comprises a bottom frame, a sliding table, a sliding box and two arm rods, wherein a first driving structure for driving the sliding table to slide left and right relative to the bottom frame is commonly arranged between the bottom frame and the sliding table, a second driving structure for driving the sliding box to move up and down relative to the sliding table is commonly arranged between the upper end of the sliding table and the sliding box, and a third driving structure for driving the two mounting plates to open and close is commonly arranged between the sliding box and the two mounting plates. When the mechanical arm is matched with a punch, the two arm levers are respectively positioned at the front side and the rear side of the stamping die, the two clamping plates at the leftmost side are used for taking out products from the stamping die, and the two clamping plates adjacent to the two clamping plates at the leftmost side are used for feeding the products into the stamping die, so that the space overlap ratio between the mechanical arm and the punch is increased, the fusion degree between the mechanical arm and the punch is high, the space occupied by the mechanical arm can be saved, the use effect is better, and the practicability is higher.

Description

Step-by-step three-dimensional manipulator

Technical Field

The utility model relates to the technical field of manipulators, in particular to a stepping three-dimensional manipulator.

Background

In the punch processing industry, a plurality of stations are object picking operations, the operations are generally simple in action and high in repeatability, the working procedures of loading and unloading workpieces in a plurality of factories are still finished manually, the labor intensity is high, the production efficiency is low, and the safety is poor. At present, a manipulator for picking up is designed according to the requirement, and is convenient, saves labor cost, can work continuously for 24 hours and the like, so that the manipulator is widely applied to equipment or devices such as a forming machine, a machine tool, a punching machine, an assembly line and the like.

Currently, a manipulator for feeding and discharging products into and from a punch press is matched with the punch press, and the products are generally conveyed in a stepping mode, so that the rhythm of conveying the products by the manipulator is consistent with the rhythm of punching the products by the punch press. However, the existing stepping manipulator matched with the punch press mainly adopts a rotary pick-up mode to realize stepping, a pick-up end rotates to enter and exit the punch press, the rotation radius is large, most of structures of the manipulator are located on one side of the punch press, the fusion degree with the punch press is low, and the occupied space of the manipulator is large. Therefore, we propose a step three-dimensional manipulator.

Disclosure of Invention

The utility model mainly aims to provide a stepping three-dimensional manipulator which can effectively solve the problems in the background technology.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

the stepping three-dimensional manipulator is used for stepping conveying products and comprises a bottom frame, the upper end of the bottom frame is connected with a sliding table through a first sliding block sliding rail structure, the sliding table slides left and right on the bottom frame, the front end and the rear end of the sliding table are connected with sliding carriages through a second sliding block sliding rail structure, the upper ends of the two sliding carriages are fixedly connected with sliding boxes together, the sliding boxes are positioned above the sliding table, the left end and the right end of the sliding boxes are provided with penetrating grooves, two mounting plates are jointly penetrated in the penetrating grooves, the two mounting plates are arranged at intervals front and rear, the two mounting plates are fixedly connected with fixing seats, arm rods are respectively fixedly connected with the two mounting plates through the fixing seats, and the arm rods are abutted to the upper ends of the sliding boxes; the two arm rods are parallel and transversely arranged left and right, the upper ends of the two arm rods are fixedly connected with a group of clamping plates, and the clamping plates are positioned on the right side of the fixing seat; the two groups of clamping plates are oppositely arranged in the front-back direction, the clamping plates are arranged in each group of a plurality of clamping plates and are arranged at left-right intervals, grooves are formed in the inner side surfaces of the two clamping plates which are opposite in the front-back direction, and the product clamp is arranged in the two grooves which are opposite in the front-back direction; a pushing structure is arranged on the right side of the two arm levers, and the pushing structure pushes the product into the space between the two opposite grooves on the right side; a first driving structure for driving the sliding table to slide left and right relative to the chassis is mounted between the chassis and the sliding table, a second driving structure for driving the sliding table to move up and down relative to the sliding table is mounted between the upper end of the sliding table and the sliding box, and a third driving structure for driving the two mounting plates to move in an opening and closing mode is mounted between the sliding box and the two mounting plates.

Preferably, the first driving structure comprises a first motor fixedly arranged in the middle of the lower end of the underframe and a first shaft seat fixedly arranged at the upper end of the underframe, wherein the first shaft seats are arranged in a left-right interval manner, a first screw rod is commonly arranged between the two first shaft seats through a bearing, a first ball nut is sleeved on a threaded part transmission sleeve of the first screw rod, and the first ball nut is fixedly connected with the upper inner wall surface of the sliding table; the left end of the first screw rod extends to the left side of the left first shaft seat, and a synchronous wheel synchronous belt transmission assembly is connected between the left end of the first screw rod and the output end of the first motor in a common transmission mode.

Preferably, the second driving structure comprises a second motor fixedly arranged on the left side of the upper end of the sliding table and a rack fixedly arranged at the lower end of the sliding box, the output end of the second motor is fixedly connected with a gear, and the gear is positioned below the sliding box and meshed with the rack.

Preferably, the third driving structure comprises a third motor fixedly arranged at the rear end of the sliding box and a second shaft seat fixedly arranged on the lower inner wall surface of the sliding box, wherein the second shaft seat is provided with two screws which are arranged at intervals in the front-rear direction, a second screw rod is arranged between the two second shaft seats through a bearing, threads on the front side and the rear side of the second screw rod are threads with opposite rotation directions, two thread parts with opposite rotation directions on the second screw rod are respectively sleeved with a second ball nut in a transmission way, and the front ball nut and the rear ball nut are respectively fixed with the lower ends of the front mounting plate and the rear mounting plate; the output end of the third motor movably penetrates through the inner side of the sliding box and is in transmission connection with the rear end of the second screw rod.

Preferably, the pushing structure comprises a support provided with two arm levers on the right, a pushing cylinder is fixedly connected to the upper portion of the right end of the support, a pushing seat is fixedly connected to the output end of the pushing cylinder, the pushing seat is in butt joint with the left side of the upper end of the support, a pushing groove is formed in the upper end of the pushing seat, and the pushing groove penetrates through the front end of the pushing seat.

Preferably, the pushing groove is matched with the products, and a supporting table capable of supporting two products simultaneously is arranged on the left side of the supporting seat.

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

1. when the mechanical arm is matched with a punch press, the two arm levers are respectively positioned on the workbench of the punch press and positioned on the front side and the rear side of the stamping die, the two clamping plates at the leftmost side are used for taking out products from the stamping die, and the two clamping plates adjacent to the two clamping plates at the leftmost side are used for feeding the products into the stamping die, so that the space overlap ratio of the mechanical arm and the punch press is increased, the fusion degree of the mechanical arm and the punch press is high, the space occupied by the mechanical arm can be saved, the use effect is better, and the practicability is higher.

2. According to the utility model, the clamping of the product is realized through the two opposite clamping plates, the product is clamped or loosened under the drive of the third driving structure, the product is driven by the first driving structure to move in a stepping manner towards the direction of the die, and the product is driven by the second driving structure to move up and down, so that the product synchronously moves up and down in the stepping conveying process, the product can enter the stamping die through stepping conveying and downward moving, the product in the stamping die can be far away from the stamping die through upward moving and stepping conveying manners, linear stepping conveying is realized, the cooperation with the stamping die is realized, and the stamping efficiency is improved.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a step three-dimensional manipulator according to the present utility model;

FIG. 2 is a schematic diagram of a first driving structure;

FIG. 3 is a schematic diagram of a second driving structure;

FIG. 4 is a schematic diagram of a third driving structure;

fig. 5 is a schematic structural diagram of the pushing structure.

In the figure: 1. a chassis; 2. a sliding table; 3. a carriage; 4. a slide box; 41. penetrating a groove; 5. a first driving structure; 6. a second driving structure; 7. a third driving structure; 8. a mounting plate; 81. a fixing seat; 9. an arm lever; 10. a clamping plate; 11. a pushing structure; 12. a product; 13. a support; 51. a motor I; 52. a first shaft seat; 53. a first screw rod; 54. a synchronizing wheel synchronous belt transmission assembly; 55. a first ball nut; 61. a motor II; 62. a gear; 63. a rack; 71. a third motor; 72. a second shaft seat; 73. a second screw rod; 74. a second ball nut; 111. a support; 112. a pushing cylinder; 113. a pushing seat; 114. and a pushing groove.

Detailed Description

The utility model is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the utility model easy to understand.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of 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 direction, be configured and operated in the specific direction, 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 relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be 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 will be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1-5, a stepping three-dimensional manipulator is used for stepping conveying products 12 and comprises a chassis 1, the upper end of the chassis 1 is connected with a sliding table 2 through a first sliding block sliding rail structure, the sliding table 2 slides left and right on the chassis 1, the front end and the rear end of the sliding table 2 are connected with sliding carriages 3 through a second sliding block sliding rail structure, the upper ends of the two sliding carriages 3 are fixedly connected with sliding boxes 4 together, the sliding boxes 4 are positioned above the sliding table 2, through grooves 41 are formed in the left end and the right end of the sliding boxes 4, two mounting plates 8 are jointly penetrated in the through grooves 41, the two mounting plates 8 are arranged at intervals front and rear, the two mounting plates 8 are fixedly connected with fixing seats 81, arm rods 9 are fixedly connected to the two mounting plates 8 respectively through the fixing seats 81, and the arm rods 9 are abutted to the upper ends of the sliding boxes 4; the two arm rods 9 are parallel and transversely arranged left and right, the upper ends of the two arm rods 9 are fixedly connected with a group of clamping plates 10, and the clamping plates 10 are positioned on the right side of the fixing seat 81; the two groups of clamping plates 10 are oppositely arranged in the front-back direction, the clamping plates 10 are arranged in each group in a plurality and left-right interval mode, grooves are formed in the inner side faces of the two clamping plates 10 which are opposite in the front-back direction, and the product 12 is clamped in the two grooves which are opposite in the front-back direction; a pushing structure 11 is arranged on the right side of the two arm levers 9, and the pushing structure 11 pushes a product 12 into a position between two opposite grooves on the right side; a first driving structure 5 for driving the sliding table 2 to slide left and right relative to the chassis 1 is commonly installed between the chassis 1 and the sliding table 2, a second driving structure 6 for driving the sliding table 4 to move up and down relative to the sliding table 2 is commonly installed between the upper end of the sliding table 2 and the sliding box 4, and a third driving structure 7 for driving the two mounting plates 8 to open and close is commonly installed between the sliding box 4 and the two mounting plates 8.

When the stepping three-dimensional manipulator is matched with a punch, two arm rods 9 are respectively positioned on a workbench of the punch and positioned on the front side and the rear side of a stamping die, two clamping plates 10 at the leftmost side are used for taking out a product 12 from the stamping die, and two clamping plates 10 adjacent to the two clamping plates 10 at the leftmost side are used for feeding the product 12 into the stamping die. When the product 12 passes in and out stamping die through this manipulator, firstly, the mode through vibration dish vibration material loading is input to pushing structure 11 department, then, push to two splint 10 departments on the right side through pushing structure 11, two relative splint 10 centre gripping or loosen product 12 under the drive of No. three drive structure 7, then, a plurality of splint 10 carry out step-by-step removal to the mould place direction under the drive of No. 5, and reciprocate under the effect of No. two drive structure 6, make product 12 synchronous accompanying reciprocate in step-by-step transportation, make product 12 can enter into stamping die through step transportation and move down, and product 12 in the stamping die can keep away from stamping die through the mode of moving up and step transportation, realize sharp step transportation with stamping die's cooperation, the space coincidence degree of this manipulator and punch press has been increased, thereby the degree of fusion of this manipulator and punch press is high, thereby can save the space that the manipulator occupies more, the result of use is better, the practicality is higher.

Further, the first driving structure 5 comprises a first motor 51 fixedly arranged in the middle of the lower end of the underframe 1 and a first shaft seat 52 fixedly arranged at the upper end of the underframe 1, the first shaft seats 52 are arranged in a left-right interval mode, a first screw rod 53 is mounted between the two first shaft seats 52 through a bearing, a first ball nut 55 is sleeved on a threaded portion of the first screw rod 53 in a transmission mode, and the first ball nut 55 is fixedly connected with the upper inner wall surface of the sliding table 2; the left end of the first screw rod 53 extends to the left side of the first shaft seat 52 on the left side, a synchronous wheel synchronous belt transmission assembly 54 is connected between the left end of the first screw rod 53 and the output end of the first motor 51 in a common transmission mode, the synchronous wheel synchronous belt transmission assembly 54 is composed of two synchronous wheels and a synchronous belt connected with the two synchronous wheels, the two synchronous wheels are respectively fixed with the output end of the first motor 51 and the left end of the first screw rod 53, the first motor 51 can drive the first screw rod 53 to rotate, and the first ball nut 55 can be enabled to be periodically moved left and right through periodic positive and negative rotation of the output end of the first motor 51, periodic left and right movement of the clamping plate 10 is achieved, and therefore a stepping effect can be achieved.

Further, the second driving structure 6 comprises a second motor 61 fixedly arranged on the left side of the upper end of the sliding table 2 and a rack 63 fixedly arranged at the lower end of the sliding box 4, the output end of the second motor 61 is fixedly connected with a gear 62, the gear 62 is positioned below the sliding box 4 and meshed with the rack 63, the output end of the second motor 61 periodically rotates positively and negatively, the gear 62 is caused to rotate positively and negatively, the rack 63 is caused to reciprocate up and down, the sliding box 4 is pushed to reciprocate up and down, and therefore the up-and-down reciprocating movement of the clamping plate 10 is achieved, and the product 12 can be placed in a stamping die or taken out of the stamping die.

Further, the third driving structure 7 comprises a third motor 71 fixedly arranged at the rear end of the slide box 4 and a second shaft seat 72 fixedly arranged on the lower inner wall surface of the slide box 4, the second shaft seat 72 is provided with two front and rear shafts at intervals, a second screw rod 73 is arranged between the two second shaft seats 72 through a bearing, threads on the front side and the rear side of the second screw rod 73 are threads with opposite rotation directions, two threaded parts with opposite rotation directions on the second screw rod 73 are respectively provided with a second ball nut 74 in a transmission sleeve manner, and the front and rear second ball nuts 74 are respectively fixed with the lower ends of the front and rear mounting plates 8; the output end of the third motor 71 movably penetrates through the inner side of the slide box 4 and is in transmission connection with the rear end of the second screw rod 73, the third motor 71 drives the second screw rod 73 to rotate, so that the two second ball nuts 74 are close to or far away from each other, the two mounting plates 8 are close to or far away from each other, the two arm rods 9 are close to or far away from each other, and the two clamping plates 10 which are opposite in front and back are close to or far away from each other, so that clamping or loosening of a product 12 is achieved.

Further, the pushing structure 11 comprises a support 111 arranged on the right side of the two arm rods 9, a pushing cylinder 112 is fixedly connected to the upper portion of the right end of the support 111, the output end of the pushing cylinder 112 is fixedly connected with a pushing seat 113, the pushing seat 113 is in butt joint with the left side of the upper end of the support 111, a pushing groove 114 is formed in the upper end of the pushing seat 113, the pushing groove 114 penetrates through the front end of the pushing seat 113, the pushing groove 114 faces the discharge hole of the vibrating plate and is matched with the discharge hole of the vibrating plate, the vibrating plate vibrates and conveys a product 12 into the pushing groove 114, transfer of the product 12 between the vibrating plate and the manipulator is achieved, after the product 12 is placed in the pushing groove 114, the pushing cylinder 112 is started, the pushing seat 113 is pushed out, and the product 12 is pushed to the position between two clamping plates 10 on the rightmost side, so that the two clamping plates 10 on the rightmost side can clamp the product 12.

The pushing groove 114 is matched with the products 12, and the supporting table 13 capable of supporting two products 12 simultaneously is arranged on the left side of the supporting seat 111, so that the products 12 can be lifted by the supporting table 13 when the products 12 do not enter the stamping die yet, and the clamping plate 10 can clamp the products 12 conveniently.

The foregoing has shown and described the basic principles and main features of the present utility model and the advantages of the present utility model. It will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present utility model, and various changes and modifications may be made without departing from the spirit and scope of the utility model, which is defined in the appended claims. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims (6)

1. Step-by-step cubic unit manipulator for step-by-step transport product (12), it includes chassis (1), its characterized in that: the upper end of the underframe (1) is connected with a sliding table (2) through a first sliding block sliding rail structure, the sliding table (2) slides left and right on the underframe (1), the front end and the rear end of the sliding table (2) are connected with sliding carriages (3) through a second sliding block sliding rail structure, the upper ends of the sliding carriages (3) are fixedly connected with sliding boxes (4) together, the sliding boxes (4) are positioned above the sliding table (2), the left end and the right end of each sliding box (4) are provided with penetrating grooves (41), two mounting plates (8) are jointly penetrated in the penetrating grooves (41), the two mounting plates (8) are arranged at intervals front and back, fixing seats (81) are fixedly connected to the two mounting plates (8), arm rods (9) are fixedly connected to the two mounting plates (8) through the fixing seats (81) respectively, and the arm rods (9) are abutted to the upper ends of the sliding boxes (4); the two arm rods (9) are parallel and transversely arranged left and right, the upper ends of the two arm rods (9) are fixedly connected with a group of clamping plates (10), and the clamping plates (10) are positioned on the right side of the fixing seat (81); the two groups of clamping plates (10) are oppositely arranged in the front-back direction, the clamping plates (10) are arranged in each group in a plurality of modes and are arranged at left-right intervals, grooves are formed in the inner side surfaces of the two clamping plates (10) which are opposite in the front-back direction, and the product (12) is clamped in the two grooves which are opposite in the front-back direction; a pushing structure (11) is arranged on the right side of the two arm levers (9), and the pushing structure (11) pushes a product (12) into a position between two opposite grooves on the right side; a first driving structure (5) for driving the sliding table (2) to slide left and right relative to the base frame (1) is mounted between the base frame (1) and the sliding table (2), a second driving structure (6) for driving the sliding table (4) to move up and down relative to the sliding table (2) is mounted between the upper end of the sliding table (2) and the sliding table (4), and a third driving structure (7) for driving the two mounting plates (8) to move up and down is mounted between the sliding table (4) and the two mounting plates (8) together.

2. The stepped three-dimensional manipulator of claim 1, wherein: the first driving structure (5) comprises a first motor (51) fixedly arranged in the middle of the lower end of the underframe (1) and a first shaft seat (52) fixedly arranged at the upper end of the underframe (1), the first shaft seats (52) are arranged in a left-right interval mode, a first screw rod (53) is commonly arranged between the first shaft seats (52) through a bearing, a first ball nut (55) is sleeved on a threaded portion of the first screw rod (53) in a transmission mode, and the first ball nut (55) is fixedly connected with the upper inner wall surface of the sliding table (2); the left end of the first screw rod (53) extends to the left side of the left first shaft seat (52), and a synchronous wheel synchronous belt transmission assembly (54) is connected between the left end of the first screw rod (53) and the output end of the first motor (51) in a common transmission mode.

3. The stepped three-dimensional manipulator of claim 1, wherein: the second driving structure (6) comprises a second motor (61) fixedly arranged on the left side of the upper end of the sliding table (2) and a rack (63) fixedly arranged at the lower end of the sliding box (4), the output end of the second motor (61) is fixedly connected with a gear (62), and the gear (62) is positioned below the sliding box (4) and meshed with the rack (63).

4. The stepped three-dimensional manipulator of claim 1, wherein: the third driving structure (7) comprises a third motor (71) fixedly arranged at the rear end of the sliding box (4) and a second shaft seat (72) fixedly arranged on the lower inner wall surface of the sliding box (4), the second shaft seat (72) is provided with two front and rear bearings at intervals, a second screw rod (73) is arranged between the second shaft seats (72) through bearings, threads on the front and rear sides of the second screw rod (73) are threads with opposite rotation directions, two threaded parts with opposite rotation directions on the second screw rod (73) are respectively sleeved with a second ball nut (74) in a transmission mode, and the front and rear second ball nuts (74) are respectively fixed with the lower ends of the front and rear mounting plates (8); the output end of the third motor (71) movably penetrates through the inner side of the sliding box (4) and is in transmission connection with the rear end of the second screw rod (73).

5. The stepped three-dimensional manipulator of claim 1, wherein: the pushing structure (11) comprises a support (111) arranged on the right of the two arm rods (9), a pushing cylinder (112) is fixedly connected to the upper portion of the right end of the support (111), a pushing seat (113) is fixedly connected to the output end of the pushing cylinder (112), the pushing seat (113) is abutted to the left side of the upper end of the support (111), a pushing groove (114) is formed in the upper end of the pushing seat (113), and the pushing groove (114) penetrates through the front end of the pushing seat (113).

6. The stepped three-dimensional manipulator of claim 5, wherein: the pushing groove (114) is matched with the products (12), and a supporting table (13) capable of supporting two products (12) simultaneously is arranged on the left side of the supporting seat (111).