CN221342851U - Heavy type pick-up manipulator with floating structure - Google Patents

Abstract

A heavy type workpiece taking manipulator with a floating structure comprises a double-track rail frame, a first movable seat, a first floating assembly, a second movable seat, a second floating assembly, a lifting rod frame, a first driving device, a second driving device, a third driving device and a grabbing assembly; the first movable seat is slidably arranged on the double-rail frame through a first floating assembly, the first movable seat can float back and forth and float up and down through the first floating assembly, and the first driving device is used for driving the first movable seat to move left and right; the second movable seat is slidably mounted on the first movable seat. According to the heavy workpiece taking manipulator with the floating structure, the problems that when the workpiece taking manipulator in the prior art grabs heavy workpieces, if two rail frames of the double-rail frame are not enough in parallelism or flatness, the workpiece taking manipulator cannot move and is blocked, even stopped, the rail frames are seriously worn, and the service life of the workpiece taking manipulator is greatly reduced are solved.

Description

Heavy type pick-up manipulator with floating structure

Technical Field

The utility model relates to the technical field of manipulator picking, in particular to a heavy picking manipulator with a floating structure.

Background

The picking mechanical arm can realize full-automatic production, saves manpower, improves working efficiency, reduces production cost, and is widely applied. In the prior art, a part taking manipulator is usually conveyed by adopting a conveying structure with a double-rail double-slider structure, however, when the part taking manipulator grabs a heavy workpiece, if the parallelism or the flatness of two rail frames of the double-rail frame are insufficient, the part taking manipulator can be caused to move and jam, even stop, the rail frames are seriously worn, and the service life of the part taking manipulator is greatly reduced.

Disclosure of utility model

The utility model aims to provide a heavy workpiece taking manipulator with a floating structure, which solves the problems that when the workpiece taking manipulator in the prior art grabs heavy workpieces, if the parallelism or the flatness of two rail frames of a double-rail frame are insufficient, the workpiece taking manipulator can be blocked, even stopped, the rail frames are severely worn, and the service life of the workpiece taking manipulator is greatly reduced.

To achieve the purpose, the utility model adopts the following technical scheme:

A heavy type workpiece taking manipulator with a floating structure comprises a double-track rail frame, a first movable seat, a first floating assembly, a second movable seat, a second floating assembly, a lifting rod frame, a first driving device, a second driving device, a third driving device and a grabbing assembly;

The first movable seat is slidably mounted on the double-rail rack through the first floating assembly, the first movable seat can float back and forth and float up and down through the first floating assembly, and the first driving device is used for driving the first movable seat to move left and right;

The second movable seat is slidably arranged on the first movable seat, and the second driving device is used for driving the second movable seat to move back and forth;

The lifting rod frame is slidably mounted on the second movable seat through the second floating assembly, the lifting rod frame can float left and right and float up and down through the second floating assembly, the third driving device is used for driving the lifting rod frame to move up and down, and the grabbing assembly is mounted at the bottom of the lifting rod frame.

Further, the first floating structure comprises a first sliding block, a first floating block, a limiting plate and a roller;

The side face of the double-rail rack is provided with a first sliding rail, the first sliding block is arranged on the first movable seat, and the first sliding rail is slidably arranged on the first sliding rail;

The first mounting seat is provided with a first floating groove, the first floating block can be arranged in the first floating groove in a floating mode, one surface of the first floating block is connected with the first sliding block, and the other surface of the first floating block is connected with the limiting plate;

The roller is rotatably arranged on the first movable seat, and the roller is movably arranged on the top surface of the double-track rail frame.

Specifically, the double-track rack is provided with a first rack, the first driving device is installed on the first movable seat, the output end of the first driving device is provided with a first gear, and the first gear is meshed with the first rack.

Preferably, the top surface of the first movable seat is provided with a second sliding rail, and the bottom surface of the second movable seat is provided with a second sliding block which is slidably mounted on the second sliding rail.

In some embodiments, a second rack is provided on the top surface of the second moving seat, the second driving device is mounted on the second moving seat, a second gear is mounted at the output end of the second driving device, and the second gear is meshed with the second rack;

The first movable seat is provided with a travel groove, the bottom of the lifting rod frame sequentially penetrates through the second movable seat and the travel groove, and the lifting rod frame can move back and forth in the travel groove.

Further, the second floating assembly includes a first guide block, a second guide block, and a second floating block;

The first guide block is fixedly arranged on the second movable seat, the second movable seat is provided with a second floating groove, the second floating block can be arranged in the second floating groove in a floating mode, the second guide block is arranged on the second floating block, and the second guide block is opposite to the first guide block;

Third sliding rails are respectively arranged at the left end and the right end of the lifting rod frame, and the two third sliding rails are respectively and slidably arranged on the first guide block and the second guide block.

Specifically, the lifting rod is provided with a third toothed rail in a supporting mode, the third driving device is installed on the second movable seat, a third gear is installed at the output end of the third driving device, and the third gear is meshed with the third toothed rail.

Preferably, the grabbing assembly comprises a fourth driving device, a fixing seat, a connecting rod and a grabbing piece;

The fixed seat is installed in the bottom of lifter frame, snatch the piece articulated in the fixed seat, the one end of connecting rod connect in snatch the piece, the other end of connecting rod is equipped with the adjustment tank, fourth drive arrangement install in the fixed seat, fourth drive arrangement's output articulated in the adjustment tank.

Compared with the prior art, one of the technical schemes has the following beneficial effects:

Through first floating structure and second floating structure, make first removal seat can overcome the condition that double track rail frame straightness accuracy is not enough or flatness is not enough, avoid first removal seat to remove the phenomenon that appears blocking when appearing to and make the lifter frame can overcome its self straightness accuracy not enough or flatness is not enough, avoid appearing blocking when the lifter frame removes to stop the phenomenon, reach the effect that improves heavy mechanical work stability and operational reliability of getting.

Drawings

FIG. 1 is a schematic view of a heavy duty pick-up robot according to one embodiment of the present utility model;

FIG. 2 is a schematic illustration of the structure of a first floating assembly according to one embodiment of the present utility model;

FIG. 3 is a schematic view of the structure of a travel slot according to one embodiment of the utility model;

FIG. 4 is a schematic view of the structure of a gripper assembly according to one embodiment of the present utility model;

Wherein: the double rail frame 1, the first slide rail 11, the first toothed rail 12, the first movable seat 2, the first floating groove 21, the second slide rail 22, the travel groove 23, the first floating assembly 3, the first slide block 31, the first floating block 32, the limiting plate 33, the roller 34, the second movable seat 4, the second slide block 41, the second toothed rail 42, the second floating groove 43, the second floating assembly 5, the first guide block 51, the second guide block 52, the second floating block 53, the lifting rod frame 6, the third slide rail 61, the third toothed rail 62, the first driving device 71, the second driving device 72, the third driving device 73, the gripping assembly 8, the fourth driving device 81, the fixed seat 82, the connecting rod 83 and the gripping member 84.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present utility model and simplify the description, and do not indicate or imply that the device or element being 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, features defining "first", "second" may include one or more such features, either explicitly or implicitly, for distinguishing between the descriptive features, and not sequentially, and not lightly. In the description of the present utility model, unless otherwise indicated, the meaning of "plurality" is two or more.

In one embodiment of the present utility model, as shown in fig. 1-4, a heavy-duty picking manipulator with a floating structure comprises a double-track rail frame 1, a first movable seat 2, a first floating assembly 3, a second movable seat 4, a second floating assembly 5, a lifting rod frame 6, a first driving device 71, a second driving device 72, a third driving device 73 and a grabbing assembly 8; the first movable seat 2 is slidably mounted on the double-rail track frame 1 through the first floating assembly 3, the first movable seat 2 can float back and forth and float up and down through the first floating assembly 3, and the first driving device 71 is used for driving the first movable seat 2 to move left and right; the second moving seat 4 is slidably mounted on the first moving seat 2, and the second driving device 72 is used for driving the second moving seat 4 to move back and forth; the lifting rod frame 6 is slidably mounted on the second moving seat 4 through the second floating assembly 5, the lifting rod frame 6 can float left and right and float up and down through the second floating assembly 5, the third driving device 73 is used for driving the lifting rod frame 6 to move up and down, and the grabbing assembly 8 is mounted on the bottom of the lifting rod frame 8. In this embodiment, when in operation, the first driving device 71 drives the first moving seat 2 to move left and right on the double-rail frame 1, and during the moving process, the first moving seat 2 can float up and down and float back and forth through the first floating structure 3, so that the first moving seat 2 can overcome the situation that the double-rail frame 1 is not parallel (i.e. the two rail frames have precision deviation and are not completely parallel) or is not parallel, the phenomenon that the first moving seat 2 is blocked when moving is avoided, the second driving device 72 drives the second moving seat 4 to move back and forth on the first moving seat 2, the third driving device 73 drives the lifting rod frame 6 to move up and down on the second moving seat 4, and during the moving process, the lifting rod frame 6 can float up and down and float left and right through the second floating structure 5, so that the lifting rod frame 6 can overcome the situation that the self straightness is not enough or is not parallel, the phenomenon that the lifting rod frame 6 is blocked when moving is avoided, and finally the lifting assembly 8 is blocked when the lifting rod frame 6 moves is prevented; according to the utility model, through the first floating structure 3 and the second floating structure 5, the first movable seat 2 can overcome the condition that the straightness of the double-track rail frame 1 is insufficient or the flatness is insufficient, the phenomenon of blocking when the first movable seat 2 moves is avoided, the condition that the straightness of the lifting rod frame 6 is insufficient or the flatness is insufficient is avoided, the phenomenon of blocking when the lifting rod frame 6 moves is avoided, and the effects of improving the stability and the working reliability of the heavy-duty picking mechanical hand are achieved.

As shown in fig. 1-2, the first floating structure 3 includes a first slider 31, a first slider 32, a stopper plate 33, and a roller 34; the side surface of the double-track rail frame 1 is provided with a first sliding rail 11, the first sliding block 31 is mounted on the first movable seat 2, and the first sliding rail 31 is slidably mounted on the first sliding rail 11; the first mounting seat 2 is provided with a first floating groove 21, the first floating block 32 can be mounted in the first floating groove 21 in a floating manner, one surface of the first floating block 32 is connected with the first sliding block 31, and the other surface of the first floating block 32 is connected with the limiting plate 33; the roller 34 is rotatably mounted on the first movable seat 2, and the roller 34 is movably mounted on the top surface of the double-rail frame 1. In this embodiment, the first slide rail 11 is mounted on the front side of the double-rail frame 1, the first slider 32 is mounted on the first floating groove 21, at this time, both left and right side surfaces of the first slider 32 are respectively attached to the inner wall of the first floating groove 21, the top and bottom surfaces of the first slider 32 are in clearance fit with the inner top and bottom surfaces of the first floating groove 21, then one surface of the first slider 32 is connected to the first slider 31, the other surface of the first slider 32 is connected to the limiting plate 33, the first slider 31 is slidably mounted on the first slide rail 11, the roller 34 is mounted on the first movable seat 2, the roller 34 is movable on the top surface of the double-rail frame 1, the first driving device 71 drives the first movable seat 2 to move left and right, specifically, the first slider 31 moves left and right on the first slide rail 11, the roller 34 moves left and right on the top surface of the dual-rail frame 1, if the two rails of the dual-rail frame 1 have poor parallel precision, that is, the parallelism of the two rails is uneven, or the single rail has uneven flaws, the first slider 32 floats in the first floating groove 21, and the structure of the slide rail roller is combined, so that the first movable seat 2 can adaptively adjust the position state of the first movable seat 2 conveniently and rapidly, the movement smoothness of the first movable seat 2 is ensured, compared with the fixed sliding structure of the conventional dual-rail frame and the dual-rail frame, the embodiment can be suitable for the dual-rail frame 1 with different defects, and can also reduce the abrasion consumption between the slide rail and the slider, the effect of improving the universality and the service life of the heavy-duty pick-up manipulator is achieved.

As shown in fig. 1-2, the double-track rack 1 is provided with a first rack 12, the first driving device 71 is mounted on the first moving seat 2, and a first gear is mounted at an output end of the first driving device 71 and is meshed with the first rack 12. In this embodiment, the first driving device 71 is a motor, the first rack 12 is mounted on the rack on the front side of the double-rack 1, the first rack 12 is located above the first slide rail 11, and during operation, the first driving device 71 drives the first gear to rotate, and the first gear moves left and right on the first rack 12, so that the first moving seat 2 moves left and right, which is convenient and fast, and has high transmission efficiency.

As shown in fig. 1-2, the top surface of the first movable seat 2 is provided with a second slide rail 22, the bottom surface of the second movable seat 4 is provided with a second slide block 41, and the second slide block 41 is slidably mounted on the second slide rail 22. In this embodiment, the number of the second sliding rails 22 is two, the number of the second sliding blocks 41 is four, each second sliding rail 22 is slidably provided with two second sliding blocks 41, the second sliding rail 22 is disposed on the top surface of the first movable seat 2, the second sliding block 41 is disposed on the bottom surface of the second movable seat 4, and the second sliding block 42 is slidably mounted on the second sliding rail 22, so that the movement smoothness of the second movable seat 4 is improved.

As shown in fig. 2-3, the top surface of the second movable seat 4 is provided with a second rack 42, the second driving device 72 is mounted on the second movable seat 4, the output end of the second driving device 72 is provided with a second gear, and the second gear is meshed with the second rack 42; the first movable seat 2 is provided with a travel groove 23, the bottom of the lifting rod frame 6 sequentially passes through the second movable seat 4 and the travel groove 23, and the lifting rod frame 6 can move back and forth in the travel groove 23. In this embodiment, the second driving device 72 is a motor, the second rack 42 is located between the two second slide rails 22, and during operation, the second driving device 72 drives the second gear to rotate, and the second gear moves back and forth in the second rack 42, so that the second movable seat 4 moves back and forth, and the lifting rod frame 6 moves back and forth in the travel slot 23, so that the lifting rod frame 6 sequentially passes through the second movable seat 4 and the first movable seat 2, which can be beneficial to improving the space utilization rate of the heavy-duty workpiece taking manipulator.

As shown in fig. 2, the second floating assembly 5 includes a first guide block 51, a second guide block 52, and a second floating block 53; the first guide block 51 is fixedly installed on the second movable seat 4, the second movable seat 4 is provided with a second floating groove 43, the second floating block 53 can be installed on the second floating groove 43 in a floating manner, the second guide block 52 is installed on the second floating block 53, and the second guide block 52 is opposite to the first guide block 51; third sliding rails 61 are respectively provided at the left and right ends of the lifting rod frame 6, and the two third sliding rails 61 are respectively slidably mounted on the first guide block 51 and the second guide block 52. In this embodiment, during installation, the second slider 53 is installed in the second floating groove 43, at this time, the front and rear sides of the second slider 53 are respectively attached to the inner walls of the second floating groove 43, and the top surface and the bottom surface of the second slider 53 are in clearance fit with the inner top surface and the inner bottom surface of the second floating groove 43, then the second slider 52 is installed in the second slider 53, the first slider 51 is fixedly installed in the second movable seat 4, so that the first slider 51 is right opposite to the second slider 52, and finally, the third sliding rails 61 at the left and right ends of the lifting rod frame 6 are respectively slidably installed in the first slider 51 and the second slider 52, and during operation, the second driving device 73 drives the lifting rod frame 6 to move up and down, specifically, the third sliding rails 61 at the left and right ends of the lifting rod frame 6 are respectively in the first slider 51 and the second slider 52, and the lifting rod frame 6 are respectively moved down, and the second slider 6 can be moved down smoothly by the lifting rod frame 6, and the lifting rod frame can be adjusted smoothly by the user, and the lifting rod frame can be adjusted by the user, and the user can be adjusted by the user to the position of the second slider 6.

As shown in fig. 2, the lifting rod frame 6 is provided with a third rack 62, the third driving device 73 is mounted on the second moving seat 4, and a third gear is mounted at an output end of the third driving device 73 and is meshed with the third rack 62. In this embodiment, the third driving device 73 is a motor, and when in operation, the third driving device 73 drives the third gear to rotate, and the third gear drives the third rack 62 to move up and down, so that the lifting rod frame 6 moves up and down, which is convenient and fast, and has high transmission efficiency.

As shown in fig. 4, the gripping assembly 8 includes a fourth driving device 81, a fixing base 82, a connecting rod 83, and a gripping member 84; the fixed seat 82 is installed in the bottom of lifter frame 6, snatch the piece 84 articulated in the fixed seat 82, the one end of connecting rod 83 connect in snatch the piece 84, the other end of connecting rod 83 is equipped with the adjustment tank, the fourth drive arrangement 81 install in the fixed seat 82, the output of fourth drive arrangement 81 articulated in the adjustment tank. In this embodiment, the number of the connecting rods 83 and the number of the grabbing pieces 84 are two, the two grabbing pieces 84 are respectively hinged to the left end and the right end of the fixing seat 82, the fourth driving device 81 is an air cylinder, when in operation, the output shaft of the fourth driving device 81 extends out, the output end of the fourth driving device 81 drives one end of the two connecting rods 83 to swing downwards and cooperate with the adjusting groove to adjust, the other end of the connecting rod 83 drives the grabbing pieces 84 to swing along the hinged position thereof, so that the two grabbing pieces 84 are opened, and the output shaft of the fourth driving device 81 is retracted, so that the two grabbing pieces 84 can clamp heavy workpieces, thereby being convenient and fast.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present utility model have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the utility model, the scope of which is defined by the claims and their equivalents.

Claims (8)

1. Heavy get a manipulator with floating structure, its characterized in that: the device comprises a double-track rail frame, a first movable seat, a first floating assembly, a second movable seat, a second floating assembly, a lifting rod frame, a first driving device, a second driving device, a third driving device and a grabbing assembly;

The first movable seat is slidably mounted on the double-rail rack through the first floating assembly, the first movable seat can float back and forth and float up and down through the first floating assembly, and the first driving device is used for driving the first movable seat to move left and right;

The second movable seat is slidably arranged on the first movable seat, and the second driving device is used for driving the second movable seat to move back and forth;

The lifting rod frame is slidably mounted on the second movable seat through the second floating assembly, the lifting rod frame can float left and right and float up and down through the second floating assembly, the third driving device is used for driving the lifting rod frame to move up and down, and the grabbing assembly is mounted at the bottom of the lifting rod frame.

2. The heavy duty pick-up robot with floating structure of claim 1, wherein: the first floating assembly comprises a first sliding block, a first floating block, a limiting plate and a roller;

The side face of the double-rail rack is provided with a first sliding rail, the first sliding block is arranged on the first movable seat, and the first sliding rail is slidably arranged on the first sliding rail;

the first movable seat is provided with a first floating groove, the first floating block can be arranged in the first floating groove in a floating mode, one surface of the first floating block is connected with the first sliding block, and the other surface of the first floating block is connected with the limiting plate;

The roller is rotatably arranged on the first movable seat, and the roller is movably arranged on the top surface of the double-track rail frame.

3. The heavy duty pick-up robot with floating structure of claim 1, wherein: the double-track rack is provided with a first toothed rail, the first driving device is installed on the first movable seat, a first gear is installed at the output end of the first driving device, and the first gear is meshed with the first toothed rail.

4. The heavy duty pick-up robot with floating structure of claim 1, wherein: the top surface of first movable seat is equipped with the second slide rail, the bottom surface of second movable seat is equipped with the second slider, the second slider slidable mounting in the second slide rail.

5. The heavy duty pick-up robot with floating structure of claim 4, wherein: the top surface of the second movable seat is provided with a second toothed rail, the second driving device is arranged on the second movable seat, the output end of the second driving device is provided with a second gear, and the second gear is meshed with the second toothed rail;

The first movable seat is provided with a travel groove, the bottom of the lifting rod frame sequentially penetrates through the second movable seat and the travel groove, and the lifting rod frame can move back and forth in the travel groove.

6. The heavy duty pick-up robot with floating structure of claim 4, wherein: the second floating assembly comprises a first guide block, a second guide block and a second floating block;

The first guide block is fixedly arranged on the second movable seat, the second movable seat is provided with a second floating groove, the second floating block can be arranged in the second floating groove in a floating mode, the second guide block is arranged on the second floating block, and the second guide block is opposite to the first guide block;

Third sliding rails are respectively arranged at the left end and the right end of the lifting rod frame, and the two third sliding rails are respectively and slidably arranged on the first guide block and the second guide block.

7. The heavy duty pick-up robot with floating structure of claim 1, wherein: the lifting rod is provided with a third toothed rail, the third driving device is installed on the second movable seat, a third gear is installed at the output end of the third driving device, and the third gear is meshed with the third toothed rail.

8. The heavy duty pick-up robot with floating structure of claim 1, wherein: the grabbing component comprises a fourth driving device, a fixing seat, a connecting rod and a grabbing piece;

The fixed seat is installed in the bottom of lifter frame, snatch the piece articulated in the fixed seat, the one end of connecting rod connect in snatch the piece, the other end of connecting rod is equipped with the adjustment tank, fourth drive arrangement install in the fixed seat, fourth drive arrangement's output articulated in the adjustment tank.