CN221021007U

CN221021007U - Rotary manipulator

Info

Publication number: CN221021007U
Application number: CN202323054232.9U
Authority: CN
Inventors: 陈涵
Original assignee: Wenzhou Rikang Machinery Technology Factory
Current assignee: Wenzhou Rikang Machinery Technology Factory
Priority date: 2023-11-13
Filing date: 2023-11-13
Publication date: 2024-05-28
Anticipated expiration: 2033-11-13

Abstract

The rotary manipulator comprises a fixed seat, a driving assembly, a cross slide block assembly and a rotary assembly, wherein the driving assembly, the cross slide block assembly and the rotary assembly are arranged on the fixed seat, the rotary assembly comprises a mounting frame, a rotating shaft and a clamp mounting plate for mounting a clamping assembly, the mounting frame is fixedly arranged on the cross slide block, the rotating shaft is rotatably arranged on the mounting frame and is in linkage connection with a second sliding rail, and the translation action of the second sliding rail can drive the rotating shaft to rotate; the fixture mounting plate is mounted on the rotating shaft. By adopting the scheme, the lifting translation motion of the second sliding rail is converted into the lifting rotation motion of the clamp mounting plate, so that the alternating motion of a plurality of groups of clamping assemblies on the clamp mounting plate is met, and the working efficiency is greatly improved; in addition, through changing the straight line distance between clamping component and the pivot, alright easily realize the regulation of motion stroke, the commonality is better, and the replacement cost is also very low.

Description

Rotary manipulator

Technical Field

The utility model relates to the technical field of mechanical automation, in particular to a rotary manipulator.

Background

The manipulator can simulate certain action functions of hands and arms, and is an automatic operation device for grabbing and carrying objects or operating tools according to fixed procedures. The PPU cam manipulator is a common high-speed pick-and-place moving manipulator, such as a PPU high-speed pick-and-place moving manipulator disclosed in chinese patent application CN112296980a, and a manipulator disclosed in applicant's prior patent application CN116810807 a.

Above-mentioned PPU manipulator all is through PPU drive module, and the slider module of collocation cross realizes holistic lift and translation action, and the manipulator can drive the product and remove along the door type orbit after snatching corresponding product to realize the transfer transport of product.

However, when the manipulator carries out the movement, only one product can be grabbed at a time, and when the product is sent in place, the manipulator needs to reset and then can grab the next product, so that the movement efficiency is lower.

In addition, the motion track and the travel of the PPU manipulator are always fixed and cannot be adjusted, and the larger the motion travel of the PPU manipulator is, the larger the volume of the PPU manipulator is, and the cost is greatly increased.

Disclosure of utility model

In order to overcome the defects of the background technology, the utility model provides a rotary manipulator.

The utility model adopts the technical scheme that: the rotary manipulator comprises a fixed seat, a driving assembly and a cross slide block assembly, wherein the driving assembly and the cross slide block assembly are arranged on the fixed seat, the cross slide block assembly comprises a first sliding rail, a second sliding rail and a cross slide block, the first sliding rail is longitudinally arranged, the second sliding rail is transversely arranged, the cross slide block is connected with the first sliding rail and the second sliding rail, the first sliding rail is fixedly arranged on the fixed seat, the second sliding rail is connected with the driving assembly, and the driving assembly can drive the second sliding rail to lift and translate;

The rotary assembly comprises a mounting frame, a rotating shaft and a clamp mounting plate for mounting the clamping assembly, wherein the mounting frame is fixedly mounted on the cross slide block, the rotating shaft is rotatably mounted on the mounting frame and is in linkage connection with a second sliding rail, and the translational motion of the second sliding rail can drive the rotating shaft to rotate; the fixture mounting plate is mounted on the rotating shaft.

Two groups of clamping assemblies are arranged on the clamp mounting plate and are symmetrically arranged relative to the center of the rotating shaft; the second sliding rail can drive the rotating shaft to realize 180-degree reciprocating rotation.

The mounting frame is provided with two synchronous wheels and a synchronous belt wound on the two synchronous wheels, the rotating shaft is coaxially connected with one of the synchronous wheels, and the second sliding rail is fixedly connected with the synchronous belt.

The driving assembly adopts a PPU driving module.

The driving component comprises a cycloid frame, a main shaft, a swinging piece, a cycloid bearing and a linkage shaft; the cycloid frame is fixedly arranged on the front surface of the fixed seat, the inner wall of the cycloid frame forms a cycloid contour curved surface, the main shaft is rotatably arranged on the fixed seat, and the output end of the main shaft is provided with an eccentric shaft part; the swinging piece is rotationally connected with the eccentric shaft part of the main shaft, 3 cycloid bearings are uniformly distributed along the circumference of the rotation center of the swinging piece, and the cycloid bearings are attached to the curved surface of the cycloid profile to form rolling fit; one end of the linkage shaft is rotationally connected with the swinging piece, and the other end of the linkage shaft is rotationally connected with the second sliding rail.

One end of the linkage shaft penetrates through the center of one cycloid bearing, the cycloid profile curved surface is in a round corner square shape, and the linkage shaft can move along a gate-shaped track.

The cycloid frame is also provided with a cover plate, the linkage shaft penetrates out of the cover plate, and the cover plate is provided with a track abdicating groove for the linkage shaft to move.

The beneficial effects of the utility model are as follows: by adopting the scheme, a plurality of groups of clamping assemblies can be arranged on the clamp mounting plate, the lifting translation motion of the second sliding rail is converted into the lifting rotation motion of the clamp mounting plate, so that the alternating motion of the plurality of groups of clamping assemblies on the clamp mounting plate can be met, and the working efficiency is greatly improved; in addition, the adjustment of the movement stroke can be easily realized by changing the linear distance between the clamping assembly and the rotating shaft, the universality is better, and the replacement cost is low.

Drawings

Fig. 1 is a schematic structural diagram of a rotary manipulator according to an embodiment of the present utility model.

Fig. 2 is a schematic structural diagram of a slider-cross assembly and a rotating assembly according to an embodiment of the present utility model.

Fig. 3-4 are schematic structural views of a driving assembly according to an embodiment of the present utility model.

Detailed Description

Embodiments of the utility model are further described below with reference to the accompanying drawings:

As shown in the figure, a rotary manipulator comprises a fixed seat 1, a driving assembly 2, a cross slide block assembly 3 and a rotary assembly 4.

The cross slide block assembly 3 comprises a first slide rail 31 which is longitudinally arranged, a second slide rail 32 which is transversely arranged and a cross slide block 33 which is connected with the first slide rail 31 and the second slide rail 32, the first slide rail 31 is fixedly arranged on the fixed seat 1, and the second slide rail 32 can lift and translate relative to the fixed seat 1 through the cross slide block 33.

The driving assembly 2 is in driving connection with the second sliding rail 32, and the driving assembly 2 can drive the second sliding rail 32 to realize lifting and translation actions. The driving component 2 can adopt a PPU driving module, can also directly adopt a motor and a connecting rod driving mode, and can realize the movement along the gate-shaped track by adopting the PPU driving module, and can better realize the lifting and translation actions of the second sliding rail 32.

Wherein the driving assembly 2 comprises a cycloid frame 21, a main shaft 22, a swinging piece 23, a cycloid bearing 24 and a linkage shaft 25; the cycloid frame 21 is fixedly arranged on the front surface of the fixed seat 1, a cycloid contour curved surface with a round square shape is formed on the inner wall of the cycloid frame 21, the main shaft 22 is rotatably arranged on the fixed seat 1, and an eccentric shaft part is formed at the output end of the main shaft 22; the swinging piece 23 is triangular, the center of the swinging piece is rotationally connected with the eccentric shaft part of the main shaft 22, 3 cycloid bearings 24 are uniformly distributed along the circumferential direction of the rotation center of the swinging piece 23, and the cycloid bearings 24 are attached to the curved surface of the cycloid profile to form rolling fit; one end of the linkage shaft 25 passes through the center of one of the cycloid bearings 24 and is rotatably connected with the swinging member 23, and the other end is rotatably connected with the second slide rail 32.

In order to improve the structural stability, the cycloid frame 21 is further provided with a cover plate 26, the linkage shaft 25 penetrates out of the cover plate 26, and a track abdicating groove for the linkage shaft 25 to move is formed in the cover plate 26.

Of course, a motor (not shown in the drawing) is further installed on the back of the fixing seat 1, the motor drives the spindle 22, and when the motor works, the spindle drives the swinging member 23 to rotate by driving the spindle 22 to rotate, the cycloid bearing 24 moves along the cycloid contour curved surface of the inner wall of the cycloid frame 21, so as to drive the linkage shaft 25 to move along the same track, and the linkage shaft 25 drives the second slide rail 32 to realize lifting and translation actions.

In addition, the swinging member 23 may have a swing arm structure, one end of which extends outwards, the linkage shaft 25 is disposed at the extending end of the swinging member, and the cycloid profile curved surface of the inner wall of the cycloid frame 21 is corrected according to the cycloid principle, so that the movement of the linkage shaft 25 along the specified track can be realized, and the movement range can be further increased.

The driving assembly 2 adopts the PPU driving module with the above structure, and of course, a PPU driving module with a conventional structure can also be adopted.

The rotating assembly 4 comprises a mounting frame 41, a rotating shaft 42 and a clamp mounting plate 43 for mounting the clamping assembly, wherein the mounting frame 41 is fixedly mounted on the cross slide block 33 and can move up and down along with the cross slide block 33, the rotating shaft 42 is rotatably mounted on the mounting frame 41 and is in linkage connection with the second sliding rail 32, and the translation action of the second sliding rail 32 can drive the rotating shaft 42 to rotate; the fixture mounting plate 43 is fixedly mounted on the rotating shaft 42, so that the rotating assembly 4 can realize lifting and rotating actions of the fixture mounting plate 43.

The mounting frame 41 is provided with two synchronizing wheels 44 and a synchronizing belt (not shown) wound on the two synchronizing wheels 44, the rotating shaft 42 is coaxially connected with one of the synchronizing wheels 44, the second sliding rail 32 is fixedly connected with the synchronizing belt, the translation motion of the second sliding rail 32 can drive the synchronizing belt to synchronously move, the synchronizing belt drives the synchronizing wheels 44 to rotate, and the synchronizing wheels 44 rotate to drive the rotating shaft 42 to rotate. Of course, besides realizing transmission connection through the mode of hold-in range, also can set up the second slide rail into rack structure in practice, set up the gear of being connected with the pivot at the mounting bracket, through rack-and-pinion intermeshing, also can realize the transmission connection of second slide rail and pivot.

Two groups of clamping assemblies are specifically arranged on the clamp mounting plate 43 and are arranged in a central symmetry manner relative to the rotating shaft 42, and the second slide rail 32 can drive the rotating shaft 42 to realize 180-degree reciprocating rotation. Wherein the clamping assembly is not shown in the figures, it may be directly of the prior art, in particular a pneumatic clamp or a vacuum nozzle.

When the rotary manipulator is used for carrying and feeding, the two groups of clamping assemblies respectively correspond to the feeding position of the product and the feeding position of the product, firstly, the clamp mounting plate 43 moves downwards, the first group of clamping assemblies clamp the product at the feeding position, then the clamp mounting plate 43 integrally moves upwards and rotates 180 degrees, at the moment, the first group of clamping assemblies and the second clamping assemblies are mutually exchanged, after the clamp mounting plate 43 moves downwards, the second group of clamping assemblies clamp the product at the feeding position, the first group of clamping assemblies place the product at the feeding position to realize feeding, then the clamp mounting plate 43 moves upwards and rotates 180 degrees again, the positions of the first group of clamping assemblies and the second clamping assemblies are mutually exchanged again, after the clamp mounting plate 43 moves downwards, the first group of clamping assemblies clamp the product at the feeding position, and the second group of clamping assemblies place the product at the feeding position to realize feeding, so that the reciprocating motion is continuously circulated.

By adopting the scheme, 2 groups of clamping assemblies can be arranged on the clamp mounting plate, the lifting translation motion of the second sliding rail is converted into the lifting rotation motion of the clamp mounting plate, and the alternating motion of the two groups of clamping assemblies on the clamp mounting plate is met, so that the working efficiency is improved by two times to that of a conventional PPU mechanical arm, and the working efficiency is greatly improved.

Of course, the clamping components can be arranged differently according to different working conditions, for example, only one group of clamping components can be arranged, the same function as a conventional PPU manipulator can be realized, for example, two groups of clamping components are distributed at 90 degrees or other angles, the rotation angle of the clamp mounting plate is correspondingly adjusted, and the actions of alternately feeding two similar products can be completed. In addition, the adjustment of the linear distance between the clamping assembly and the rotating shaft can be realized by replacing the clamp mounting plates with different sizes or changing the positions of the clamping assemblies, so that the rotating radius of the clamping assembly is changed, and the adjustment of the movement stroke can be easily realized without replacing the driving assembly. Compared with the conventional PPU mechanical arm, the PPU mechanical arm not only can adapt to different working conditions and is convenient to adjust the movement stroke, has better universality, but also can realize the maximum movement stroke by using the minimum driving module, and is beneficial to controlling the cost.

In the description of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore 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," "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 will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

The skilled person will know: while the utility model has been described in terms of the foregoing embodiments, the inventive concepts are not limited to the utility model, and any modifications that use the inventive concepts are intended to be within the scope of the appended claims.

Claims

1. The rotary manipulator comprises a fixed seat (1), a driving assembly (2) and a cross slide block assembly (3) which are arranged on the fixed seat (1), wherein the cross slide block assembly (3) comprises a first sliding rail (31) which is longitudinally arranged, a second sliding rail (32) which is transversely arranged and a cross slide block (33) which is connected with the first sliding rail (31) and the second sliding rail (32), the first sliding rail (31) is fixedly arranged on the fixed seat (1), the second sliding rail (32) is connected with the driving assembly (2), and the driving assembly (2) can drive the second sliding rail (32) to lift and translate;

the method is characterized in that: the rotary assembly (4) comprises a mounting frame (41), a rotating shaft (42) and a clamp mounting plate (43) for mounting the clamping assembly, the mounting frame (41) is fixedly mounted on the cross slide block (33), the rotating shaft (42) is rotatably mounted on the mounting frame (41) and is in linkage connection with a second sliding rail (32), and the translational motion of the second sliding rail (32) can drive the rotating shaft (42) to rotate; the clamp mounting plate (43) is mounted on the rotating shaft (42).

2. The rotary manipulator of claim 1, wherein: two groups of clamping assemblies are arranged on the clamp mounting plate (43), and the clamping assemblies are symmetrically arranged relative to the center of the rotating shaft (42); the second sliding rail (32) can drive the rotating shaft (42) to realize 180-degree reciprocating rotation.

3. The rotary manipulator of claim 1, wherein: two synchronizing wheels (44) and a synchronous belt wound on the two synchronizing wheels (44) are arranged on the mounting frame (41), the rotating shaft (42) is coaxially connected with one of the synchronizing wheels (44), and the second sliding rail (32) is fixedly connected with the synchronous belt.

4. The rotary manipulator of claim 1, wherein: the driving assembly (2) adopts a PPU driving module.

5. The rotary manipulator of claim 1, wherein: the driving assembly (2) comprises a cycloid frame (21), a main shaft (22), a swinging piece (23), a cycloid bearing (24) and a linkage shaft (25); the cycloid frame (21) is fixedly arranged on the front surface of the fixed seat (1), a cycloid contour curved surface is formed on the inner wall of the cycloid frame (21), the main shaft (22) is rotatably arranged on the fixed seat (1), and an eccentric shaft part is formed at the output end of the main shaft (22); the swinging piece (23) is rotationally connected with the eccentric shaft part of the main shaft (22), 3 cycloid bearings (24) are arranged and are uniformly distributed along the circumferential direction of the rotation center of the swinging piece (23), and the cycloid bearings (24) are attached to the curved surface of the cycloid profile to form rolling fit; one end of the linkage shaft (25) is rotatably connected with the swinging piece (23), and the other end of the linkage shaft is rotatably connected with the second sliding rail (32).

6. The rotary manipulator of claim 5, wherein: one end of the linkage shaft (25) penetrates through the center of one cycloid bearing (24), the cycloid profile curved surface is in a round angle square shape, and the linkage shaft (25) can move along a portal track.

7. The rotary manipulator of claim 6, wherein: the cycloid frame (21) is also provided with a cover plate (26), the linkage shaft (25) penetrates out of the cover plate (26), and a track abdicating groove for the linkage shaft (25) to move is formed in the cover plate (26).