CN221318217U

CN221318217U - Mechanical arm

Info

Publication number: CN221318217U
Application number: CN202322854464.6U
Authority: CN
Inventors: 伍小波
Original assignee: Shenzhen Kimir Precision Equipment Co ltd
Current assignee: Shenzhen Kimir Precision Equipment Co ltd
Filing date: 2023-10-23
Publication date: 2024-07-12
Anticipated expiration: 2033-10-23

Abstract

The utility model relates to the field of automation, in particular to a manipulator, which comprises a translation component and a grabbing component driven by the translation component, wherein the grabbing component is provided with a support frame, a vertically arranged guide rail group is arranged in the support frame, a fixed plate is arranged on the guide rail group in a sliding manner, a first synchronous wheel and a second synchronous wheel are correspondingly arranged at the upper end and the lower end of one side surface of the fixed plate in a rotating manner, the first synchronous wheel and the second synchronous wheel are driven by a belt, and a first driving piece with an output end connected with the second synchronous wheel is arranged at the other side surface of the fixed plate; the first synchronous wheel and the second synchronous wheel are respectively provided with a driven swing rod and a driving swing rod, the tail ends of the driven swing rod and the driving swing rod are hinged with clamping rods, the bottoms of the clamping rods are provided with grippers, and the driving swing rod far away from one end of the clamping rods is hinged with a push rod, one end of which is hinged with the support frame, and the push rod is used for pushing the fixing plate to move up and down along the guide rail group. The utility model has simple structure, convenient operation, high operation speed and strong stability.

Description

Mechanical arm

Technical Field

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

Background

The manipulator is an object moving and loading and unloading device widely used in automatic production lines, numerical control machine tools, robots and logistics systems, and the linear moving type material taking manipulator is one of the devices and can be used for horizontally moving and loading and unloading objects. The motion of the horizontal mobile manipulator comprises two parts, namely horizontal conveying and object grabbing, wherein the horizontal conveying and the object grabbing can be realized through standard structures such as pneumatic, hydraulic, servo driving, belts and the like; the latter is typically achieved by a gripper clamping and unclamping movement of the manipulator. For example, the material is taken out by operating in an injection machine.

In the current production, the common feeding and discharging device mainly comprises a plurality of types of pneumatic devices, hydraulic devices, motor driving devices and the like, wherein the grabbing load of the pneumatic devices is generally smaller, the control system of the hydraulic devices is more complex, and the motor driving devices are more flexible, high in efficiency and good in universality. However, the conventional motor-driven manipulator is relatively complex in structure, and has poor stability due to shaking when the manipulator moves up and down to grasp and feed materials, and relatively slow feeding and clamping speeds.

Disclosure of utility model

Aiming at the situation, the utility model provides a manipulator for overcoming the defects in the prior art.

The technical scheme adopted by the utility model is as follows: the manipulator comprises a translation component and a grabbing component driven by the translation component, the grabbing component is provided with a support frame driven by the translation component, a vertically arranged guide rail set is arranged in the support frame, a fixed plate is arranged on the guide rail set in a sliding mode, the upper end and the lower end of one side face of the fixed plate are correspondingly provided with a first synchronous wheel and a second synchronous wheel in a rotating mode, the first synchronous wheel and the second synchronous wheel are driven by a belt, and the other side face of the fixed plate is provided with a first driving piece with an output end connected with the second synchronous wheel; the first synchronizing wheel and the second synchronizing wheel are respectively provided with a driven swing rod and a driving swing rod which are always parallel to each other when the first synchronizing wheel and the second synchronizing wheel are turned over, the tail ends of the driven swing rod and the driving swing rod are hinged with clamping rods which are always kept in a vertical state when the tail ends of the driven swing rod and the driving swing rod are movable, the bottom of each clamping rod is provided with a gripper, the driving swing rod far away from one end of each clamping rod is hinged with a push rod, one end of each push rod is hinged with a support frame and used for pushing the fixing plate to move up and down along the guide rail group, the first synchronizing wheel and the second synchronizing wheel are driven by a first driving piece to rotate anticlockwise or/clockwise, the driven swing rod and the driving swing rod follow the first synchronizing wheel and the second synchronizing wheel to rotate to swing, the grippers at the bottom of each clamping rod are driven to move up and down, and the grippers at the bottom of each clamping rod are used for gripping or discharging materials when the driving swing rod is driven to swing.

In one embodiment, the translation assembly comprises a base with a horizontal sliding rail set and a screw rod which is rotatably arranged on the base in a penetrating manner and is driven to be transmitted by a second driving piece, and the support frame is in threaded connection with the screw rod;

the base comprises a bottom plate, a plurality of side plates with equal height are arranged on the bottom plate at intervals, through holes for installing bearings are formed in the middle of each side plate, the screw rod penetrates through the bearings of the two through holes, the second driving piece is fixed on the side plate far away from one end of the screw rod, the output end of the second driving piece penetrates through the through holes of the side plate to be connected with the screw rod, and the horizontal sliding rail group is located on the bottom plate between the two side plates connected with the screw rod.

In an embodiment, the support frame fretwork sets up, and support frame one side has seted up the activity slotted hole that supplies first driving piece activity, and the support frame bottom is equipped with the connecting plate, and the bottom of connecting plate is equipped with the nut connecting block with lead screw threaded connection, and nut connecting block both sides are equipped with the slider that cooperates gliding with horizontal slide rail group.

In one embodiment, one side of the connecting plate is provided with a mounting groove, a fixed end seat is mounted on the mounting groove, a connecting end protruding out of the mounting groove is formed on the fixed end seat, a movable opening is formed in the connecting end, and one end of the push rod is inserted into the movable opening and hinged to the connecting end.

In one embodiment, the thickness of the first synchronizing wheel is less than the thickness of the second synchronizing wheel.

In an embodiment, when the push rod pushes the fixing plate to move to the top end of the guide rail set, the driven swing rod, the driving swing rod, the clamping rod and the push rod are overlapped and are in a parallel state.

In one embodiment, the base is provided with a dust cover.

The beneficial effects obtained by the utility model by adopting the structure are as follows: through setting up a set of driven pendulum rod and the initiative pendulum rod that can overturn on the fixed plate, it grabs material and blowing or upset to drive the clamp lever to move down by driven pendulum rod and initiative pendulum rod to be equipped with and follow driven pendulum rod and initiative pendulum rod swing and promote the push rod that the fixed plate reciprocated along the guide rail group, keep mutual parallelism all the time when setting up driven pendulum rod and initiative pendulum rod to upset or activity simultaneously, and keep vertical state all the time when the clamp lever reciprocates, can ensure the continuity of action, can make grab material and pay-off fast and stability is strong. The utility model has simple structure and convenient operation.

Drawings

FIG. 1 is a schematic view of a view angle structure of the present utility model;

FIG. 2 is a schematic view of another view of the present utility model;

FIG. 3 is a schematic view of a translation assembly according to the present utility model;

FIG. 4 is a front view of the grasping element according to the utility model;

FIG. 5 is a schematic view of a grabbing assembly according to the present utility model;

FIG. 6 is a schematic diagram of a robot;

FIG. 7 is another schematic view of the robot;

FIG. 8 is a schematic view of yet another motion of the robot;

In the figure: 10. the horizontal sliding rail device comprises a translation assembly 101, a horizontal sliding rail set 102, a base 103, a second driving piece 104, a screw rod 105, a bottom plate 106, side plates 107 and a dust cover;

20. The device comprises a grabbing component, 201, a supporting frame, 2011, a movable slot, 202, a guide rail group, 203, a fixed plate, 204, a first synchronous wheel, 205, a second synchronous wheel, 206, a first driving piece, 207, a driven swing rod, 208, a driving swing rod, 209, a clamping rod, 210, a gripper, 211, a push rod, 212, a connecting plate, 213, a nut connecting block, 214, a sliding block, 215, a fixed end seat, 2151 and a fixed end seat.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The present utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific embodiments disclosed below.

Referring to fig. 1 and 2, the present embodiment provides a manipulator, which includes a translation assembly 10 and a grabbing assembly 20 driven by the translation assembly 10, wherein the translation assembly 10 drives the grabbing assembly 20 to translate, so as to facilitate the grabbing assembly 20 to grab or place products in different areas;

In one embodiment, referring to fig. 3, the translation assembly 10 is mounted on the apparatus, and the translation assembly 10 includes a base 102 having a horizontal sliding rail set 101 and a screw 104 rotatably disposed on the base 102 and driven by a second driving member 103; the base 102 comprises a bottom plate 105, 3 side plates 106 with the same height are arranged on the bottom plate 105 at intervals, through holes for installing bearings are formed in the middle of each side plate 106, a screw rod 104 is arranged on the bearings of two through holes in a penetrating mode, a second driving piece 103 is fixed on the side plate 106 far away from one end of the screw rod 104, the output end of the second driving piece 103 penetrates through the through holes of the side plate 106 and is connected with the screw rod 104, a horizontal sliding rail set 101 is located on the bottom plate 105 between the two side plates 106 connected with the screw rod 104, the screw rod 104 is in threaded connection with the grabbing component 20 for transmission, the grabbing component 20 is in sliding connection with the horizontal sliding rail set 101, the screw rod 104 is driven to rotate through the second driving piece 103, and then the grabbing component 20 connected with the screw rod 104 can be pushed to reciprocate along the horizontal sliding rail set 101 so that the grabbing component 20 can be moved to different positions for grabbing or discharging, the moving precision and stability of the grabbing component 20 can be guaranteed, and the grabbing component 20 can be guaranteed to accurately grab products.

In an embodiment, referring to fig. 4, 5, 6 and 8, the grabbing assembly 20 includes a supporting frame 201, a vertically disposed guide rail set 202 is disposed in the supporting frame 201, a fixing plate 203 is slidably disposed on the guide rail set 202, a first synchronizing wheel 204 and a second synchronizing wheel 205 are correspondingly rotatably disposed at upper and lower ends of one side surface of the fixing plate 203, the first synchronizing wheel 204 and the second synchronizing wheel 205 are driven by a belt, and a first driving member 206 with an output end connected with the second synchronizing wheel 205 is disposed at the other side surface of the fixing plate 203; the first synchronizing wheel 204 and the second synchronizing wheel 205 are respectively provided with a driven swing rod 207 and a driving swing rod 208 which are always parallel to each other during overturning, the tail ends of the driven swing rod 207 and the driving swing rod 208 are hinged with a clamping rod 209 which is always kept in a vertical state during moving, the bottom of the clamping rod 209 is provided with a gripper 210, one end of the driving swing rod 208 far away from one end of the clamping rod 209 is hinged with a supporting frame 201 and is used for pushing a fixed plate 203 to move up and down along a guide rail group 202, the first synchronizing wheel 204 and the second synchronizing wheel 205 are driven by a first driving piece 206 to rotate anticlockwise or/and clockwise, the driven swing rod 207 and the driving swing rod 208 rotate along the first synchronizing wheel 204 and the second synchronizing wheel 205 to swing, the gripper 210 at the bottom of the clamping rod 209 is driven to move up and down, simultaneously, the driven swing rod 207 and the driving swing rod 208 can drive the clamping rod 209 to overturn from one side of the fixed plate 203 to the other side, and the driving swing rod 208 can push the fixed plate 203 to move up and down along the guide rail group 202 when the other side 211 pushes the fixed plate 203 to the top end 201, and the driven swing rod 207 and the gripper 208 can not overturn from the side of the fixed plate 203 to the position of the gripper 210 or the gripper can be conveniently arranged.

In this embodiment, the first driving member 206 and the second driving member 103 are motors or servomotors, and the gripper 210 is an air gripper or an electric gripper

In an embodiment, the support 201 is hollowed out, a movable slot 2011 for the first driving member 206 to move is provided on one side of the support 201, a connecting plate 212 is provided at the bottom of the support 201, a nut connecting block 213 in threaded connection with the screw rod 104 is provided at the bottom of the connecting plate 212, and two sides of the nut connecting block 213 are provided with sliding blocks 214 that slide in cooperation with the horizontal sliding rail set 101; and connecting plate 212 one side is equipped with the mounting groove, installs stiff end seat 215 on the mounting groove, and stiff end seat 215 shaping has a link 2151 that outstanding mounting groove, and the link 2151 has seted up movable mouth, and push rod 211 one end inserts movable mouth and articulated with link 2151, through above-mentioned setting, can make lead screw 104 rotate the time, drive nut connecting block 213 remove along horizontal slide rail group 101, and then in order to realize driving support frame 201 and remove.

Preferably, referring to fig. 7 and 8, the thickness of the first synchronizing wheel 204 is smaller than that of the second synchronizing wheel 205, so that the driven swing link 207 and the driving swing link 208 can be prevented from collision when swinging or turning over, and the driven swing link 207, the driving swing link 208, the clamping bar 209 and the push rod 211 are overlapped and are in parallel with each other when the push rod 211 pushes the fixing plate 203 to move to the top end of the guide rail set 202, so that the turning over of the driven swing link 207 and the driving swing link 208 can be realized.

In an embodiment, the base 102 is provided with a dust cover 107, a notch for the support 201 to move is formed in the dust cover 107, and a large amount of dust can be prevented from entering the dust cover 107 by arranging the dust cover 107, so that the movement precision of the screw 104 for driving the support 201 is effectively ensured.

In summary, according to the utility model, by arranging the group of the reversible driven swing link 207 and the driving swing link 208 on the fixed plate 203, the driven swing link 207 and the driving swing link 208 drive the clamping lever 209 to move downwards to grab and discharge or/turn, and the push rod 211 which swings along with the driven swing link 207 and the driving swing link 208 to push the fixed plate 203 to move up and down along the guide rail group 202 is arranged, meanwhile, the driven swing link 207 and the driving swing link 208 are always kept parallel to each other when being turned or moved, and the clamping lever 209 is always kept in a vertical state when being moved up and down, so that the consistency of actions can be ensured, and the grabbing and feeding speed is high and the stability is strong.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

Claims

1. The manipulator comprises a translation component and a grabbing component driven by the translation component, and is characterized in that the grabbing component is provided with a support frame driven by the translation component, a guide rail group which is vertically arranged is arranged in the support frame, a fixed plate is arranged on the guide rail group in a sliding manner, a first synchronous wheel and a second synchronous wheel are correspondingly arranged at the upper end and the lower end of one side surface of the fixed plate in a rotating manner, the first synchronous wheel and the second synchronous wheel are driven by a belt, and a first driving piece with an output end connected with the second synchronous wheel is arranged at the other side surface of the fixed plate; the first synchronizing wheel and the second synchronizing wheel are respectively provided with a driven swing rod and a driving swing rod which are always parallel to each other when the first synchronizing wheel and the second synchronizing wheel are turned over, the tail ends of the driven swing rod and the driving swing rod are hinged with clamping rods which are always kept in a vertical state when the tail ends of the driven swing rod and the driving swing rod are movable, the bottom of each clamping rod is provided with a gripper, the driving swing rod far away from one end of each clamping rod is hinged with a push rod, one end of each push rod is hinged with a support frame and used for pushing the fixing plate to move up and down along the guide rail group, the first synchronizing wheel and the second synchronizing wheel are driven by a first driving piece to rotate anticlockwise or/clockwise, the driven swing rod and the driving swing rod follow the first synchronizing wheel and the second synchronizing wheel to rotate to swing, the grippers at the bottom of each clamping rod are driven to move up and down, and the grippers at the bottom of each clamping rod are used for gripping or discharging materials when the driving swing rod is driven to swing.

2. The manipulator of claim 1, wherein the translation assembly comprises a base with a horizontal sliding rail set and a screw rod rotatably penetrating the base and driven by the second driving member, and the support frame is in threaded connection with the screw rod;

3. The manipulator according to claim 2, wherein the support frame is hollowed out, a movable slot hole for the first driving piece to move is formed in one side of the support frame, a connecting plate is arranged at the bottom of the support frame, a nut connecting block in threaded connection with the screw rod is arranged at the bottom of the connecting plate, and sliding blocks matched with the horizontal sliding rail set to slide are arranged on two sides of the nut connecting block.

4. A manipulator according to claim 3, wherein a mounting groove is provided in one side of the connecting plate, a fixed end seat is mounted on the mounting groove, the fixed end seat is formed with a connecting end protruding out of the mounting groove, the connecting end is provided with a movable opening, and one end of the push rod is inserted into the movable opening and hinged with the connecting end.

5. The manipulator of claim 1, wherein the thickness of the first synchronizing wheel is less than the thickness of the second synchronizing wheel.

6. The manipulator according to claim 1, wherein the driven swing link, the driving swing link, the clamp link and the push rod are overlapped and are in a state of being parallel to each other when the push rod pushes the fixing plate to move to the top end of the guide rail group.

7. The manipulator of claim 2, wherein the base is provided with a dust cap.