CN223405602U - A single-arm manipulator - Google Patents

Abstract

This application discloses a single-arm manipulator, relating to the technical field of transport equipment, comprising a transverse guide rail and a gripping manipulator capable of sliding along the length of the transverse guide rail; the gripping manipulator comprises a column, a gripping mechanism vertically slidably connected to the column, and a first drive source for driving the gripping mechanism; the transverse guide rail is provided with parallel racks, the gripping manipulator comprises a gear meshing with the rack, and a second drive source for driving the gear to rotate. This application has the effect of reducing space occupation and structural complexity.

Description

Single-arm mechanical arm

Technical Field

The application relates to the technical field of transportation equipment, in particular to a single-arm manipulator.

Background

In the field of full-automatic ultrasonic cleaning equipment, the high efficiency and miniaturization of the cleaning equipment have become industry development trend, and particularly in the face of high-capacity cleaning requirement, the improvement of the working efficiency and space utilization rate of the cleaning equipment has important significance for improving the production capacity and meeting the limit of a specific site of a customer. This trend has not only improved the production efficiency of the cleaning apparatus, but has also driven the development of mechanical automation technology, so that the cleaning apparatus can be operated more efficiently in a limited space.

At present, in order to meet the requirement of high productivity, the conventional cleaning equipment mostly adopts a gantry type mechanical arm to realize the carrying of the cleaning basket. In addition, there are also some devices that employ a multi-arm robot or a double-arm robot in an attempt to improve the cleaning efficiency by improving the carrying speed. However, these mechanical arm systems generally have the problems of large equipment volume, complex structure and the like, which is not beneficial to the application in the space-limited environment. Particularly in the application scene that needs to bear a large weight and simultaneously need to move fast, the traditional gantry type mechanical arm and the multi-arm mechanical arm have the defects in the aspects of improving the carrying speed and ensuring the balance of the structural stability due to the self design reason, and the ideal cleaning efficiency is difficult to achieve under the condition of not increasing the equipment size.

Disclosure of utility model

In order to enable a reduction in space occupation and a reduction in structural complexity, the present application provides a single-arm manipulator.

The application provides a single-arm mechanical arm, which adopts the following technical scheme:

The single-arm manipulator comprises a transverse guide rail and a clamping manipulator capable of sliding along the length direction of the transverse guide rail, wherein the clamping manipulator comprises an upright post, a clamping mechanism is vertically and slidably connected to the upright post, and a first driving source for driving the clamping mechanism to move is arranged on the upright post;

The transverse moving guide rail is provided with parallel racks, and the clamping manipulator comprises a gear meshed with the racks and a second driving source for driving the gear to rotate.

Through adopting above-mentioned technical scheme, first actuating source drive fixture is along vertical removal, and fixture can hold the basket and rise, and second actuating source drive gear rotates, because gear and rack mesh mutually, when gear rotates, whole centre gripping manipulator can follow sideslip guide rail length direction and upwards move, with the basket removal to next station department, vertical removal fixture and release the basket wash can, overall structure is comparatively simple, area occupied is less, can effectively improve work efficiency.

Optionally, fixture includes the mounting panel, sliding connection has two clamping parts on the mounting panel, and two clamping parts can move in opposite directions to and can move away from each other, be provided with the third actuating source that is used for driving the clamping part to remove on the mounting panel.

Through adopting above-mentioned technical scheme, the third actuating source can drive two clamping parts and remove in opposite directions and fix the basket clamping, perhaps move in opposite directions and release the basket with the basket, and clamping and release are more convenient and automatic.

Optionally, a plurality of hanging lugs are arranged on the opposite surfaces of the two clamping parts.

Through adopting above-mentioned technical scheme, because offered a plurality of through-holes on the basket, when clamping part moved in opposite directions, the suspension loop can peg graft in the through-hole on the basket to realize the connection of fixture and basket.

Optionally, rotate on the stand and be connected with the vertical lead screw of axis to be fixed with the vertical guide bar of length direction, fixture include with lead screw threaded connection's movable plate, movable plate sliding connection in the guide bar, first actuating source is used for the drive the lead screw rotates.

By adopting the technical scheme, when the first driving source drives the screw rod to rotate forwards and reversely, the lifting and descending of the clamping mechanism can be realized. The guide bar can provide a guide for the movement of the clamping mechanism.

Optionally, the device further comprises a guide sliding rail, the guide sliding rail is parallel to the transverse sliding rail, a limiting component matched with the guide sliding rail is arranged on the upright post, and the limiting component is used for guiding movement of the upright post.

Through adopting above-mentioned technical scheme, set up the direction slide rail and provide the removal direction for the centre gripping manipulator to and provide the support, reduce the damage to gear, rack structure, and provide the direction and provide spacingly for the removal of centre gripping manipulator that sets up spacing subassembly can be better, reduce the centre gripping manipulator and break away from predetermined removal track.

Optionally, the guide slide rail includes the deflector, the stand includes the connecting plate, spacing subassembly is including rotating the butt wheel that sets up in the connecting plate, and the butt wheel axis of rotation is vertical, the butt wheel with deflector lateral wall looks butt.

Through adopting above-mentioned technical scheme, abutting wheel and deflector lateral wall offset, and then realize spacing subassembly to the spacing of stand unilateral to rotate the abutting wheel and the deflector that set up and be rolling contact, can reduce the frictional force between each other, reduce the consumption.

Optionally, the abutting wheels are provided with a plurality of groups on the connecting plate, each group comprises two abutting wheels, and the guide plate is positioned between the two abutting wheels in the same group and is abutted with the outer walls of the two abutting wheels in the same group at the same time.

Through adopting above-mentioned technical scheme, two butt wheels grip the deflector, can be in the removal of the spacing stand of one direction completely for the stand can only be along deflector length direction removal, set up the butt wheel of multiunit and can increase the butt area, improve the stability that the stand removed.

Optionally, wear to be equipped with the connecting rod on the connecting plate, be provided with the butt ring with the connecting plate butt on the connecting rod outer wall, connecting rod one end is rotated through bearing and butt wheel and is connected, the one end threaded connection that the bearing was kept away from to the connecting rod has the nut, nut and butt ring clamp connecting plate.

Through adopting above-mentioned technical scheme, the butt wheel realizes through bearing and connecting rod and the mutual rotation of connecting plate to through nut and butt ring clamp connecting plate, can realize the connection between connecting rod and the connecting plate, simple structure, it is convenient to install and dismantle.

In summary, the present application includes at least one of the following beneficial effects:

1. After the clamping mechanism clamps the basket, the basket is lifted along the vertical direction, the basket can be integrally moved along the horizontal direction to be transferred to the next station, the mode of gears and racks is adopted, and the first driving source and the second driving source are arranged on the clamping manipulator, so that the structure of the single-arm manipulator is simple, the occupied space is small, and the cost is reduced.

2. The guide sliding rail is arranged to provide moving guide for the clamping manipulator, support is provided, damage to a gear and a rack structure is reduced, and the limiting assembly is arranged to better provide guide for the movement of the clamping manipulator, so that the clamping manipulator is reduced from being separated from a preset moving track;

3. The butt wheel realizes the mutual rotation with the connecting plate through the bearing and the connecting rod to can realize the connection between connecting rod and the connecting plate through the nut, simple structure, the installation is dismantled conveniently.

Drawings

FIG. 1 is a schematic side view of an embodiment of the present application;

FIG. 2 is a schematic elevational view of an embodiment of the present application;

Fig. 3 is a schematic view showing a partial structure of a driving structure of a second driving source according to an embodiment of the present application;

Fig. 4 is a schematic partial structure view showing a structure of a limiting component according to an embodiment of the present application.

The reference numerals are 1, a traversing guide rail, 11, a rack, 2, a clamping manipulator, 21, a column, 211, a lead screw, 212, a guide rod, 213, a sliding rod, 214, a sliding groove, 22, a clamping mechanism, 221, an L-shaped plate, 222, a reinforcing plate, 223, a mounting plate, 224, a clamping part, 225, a third driving source, 226, a hanging lug, 23, a first driving source, 24, a connecting plate, 241, an abutting wheel, 242, a connecting rod, 243, a nut, 244, an abutting ring, 25, a moving plate, 26, a second driving source, 27, a gear, 3, a guide rail, 31, a guide plate, 4, a basket, 41, a through hole, 5, a supporting guide rail, 51 and a supporting rod.

Detailed Description

The present application will be described in further detail with reference to fig. 1 to 4.

Referring to fig. 1 and 2, a single-arm manipulator disclosed in an embodiment of the present application includes a traversing rail 1 horizontally along a length direction, a guide rail 3 parallel to the traversing rail 1, a support rail 5 parallel to the traversing rail 1, and a clamping manipulator 2 capable of moving along the length direction of the traversing rail 1.

The clamping manipulator 2 comprises a stand column 21 and a clamping mechanism 22 which is vertically and slidably connected to the stand column 21, a first driving source 23 for driving the clamping mechanism 22 to vertically move is arranged on the stand column 21, and a second driving source 26 for driving the clamping manipulator 2 to integrally move along the length direction of the transverse guide rail 1 is arranged on the clamping manipulator 2. The clamping mechanism 22 can clamp or release the basket 4, and the basket 4 is driven by the first driving source 23 to move and lift along the vertical direction, and after the basket 4 is lifted, the basket 4 is driven by the second driving source 26 to move to a designated station position along the length direction of the transverse moving guide rail 1 along with the clamping mechanism 22, so that the loading, the conveying and the unloading of the basket 4 are realized.

Referring to fig. 1 and 2, the clamping mechanism 22 includes a moving plate 25 slidably connected to a column 21, a screw 211 is rotatably connected to the column 21 through a bearing, the screw 211 is vertically disposed, a guide rod 212 vertically extending in a longitudinal direction is fixedly connected to the column 21, the screw 211 is threadedly connected to the moving plate 25, and the guide rod 212 is slidably connected to the moving plate 25. The first driving source 23 is a servo motor and is fixed on the upright post 21, the output end of the first driving source 23 is connected with a speed reducer, the output end of the speed reducer is fixedly connected with the lead screw 211 coaxially, and when the first driving source 23 operates, namely, the output shaft of the first driving source 23 rotates positively or reversely, the lead screw 211 can be driven to rotate positively or reversely, so that the lifting or descending of the clamping mechanism 22 is realized.

Referring to fig. 1 and 2, an L-shaped plate 221 is fixedly coupled to the moving plate 25, and a reinforcing plate 222 is fixed to a right angle position of the L-shaped plate 221, and the reinforcing plate 222 may serve to reinforce the L-shaped plate 221. The L-shaped plate 221 is fixed with a horizontal mounting plate 223 at one end far away from the movable plate 25, two clamping parts 224 are slidably connected to two opposite sides of the mounting plate 223, and the two clamping parts 224 can move away from each other and move in opposite directions. Two third driving sources 225 are fixed on the mounting plate 223, and the two third driving sources 225 are respectively used for driving one clamping part 224 to move. Specifically, the third driving source 225 is an air cylinder fixed to the mounting plate 223 by bolts, and the output end of the third driving source 225 is fixed to the clamping portion 224. In other embodiments of the present application, the third driving source 225 may be an electric cylinder, a hydraulic cylinder, or the like.

Referring to fig. 1 and 2, hanging lugs 226 are fixedly connected to the opposite surfaces of the two clamping portions 224, and a plurality of fixing lugs are fixed to the clamping portions 224, two for example. The basket 4 is provided with a plurality of through holes 41 which are matched with the fixed lugs one by one. When the two clamping parts 224 move towards each other, the plurality of hanging lugs 226 can be inserted into the through holes 41, and the clamping parts 224 clamp and fix the basket 4 so as to facilitate the movement of the basket 4. In other embodiments of the present application, the upper outer wall of the basket 4 may be fixed with an abutment edge, the hanging lugs 226 may be movably abutted against the bottom of the abutment edge, so as to hang the basket 4 on the hanging lugs 226, and the clamping portion 224 may drive the basket 4 to move together.

Referring to fig. 2 and 3, a gear 27 is rotatably connected to the upright 21, a rack 11 engaged with the gear 27 is fixedly connected to the traverse rail 1, and the length direction of the rack 11 is along the length direction of the traverse rail 1. The second driving source 26 is a servo motor, the output end of the second driving source 26 is connected with a reduction gearbox, the output end of the reduction gearbox is fixedly connected with the gear 27 in a coaxial mode, when the second driving source 26 operates, the gear 27 can be driven to rotate forward or reversely, and the gear 27 is meshed with the rack 11, so that the whole clamping manipulator 2 can move along the length direction of the transverse moving guide rail 1. In other embodiments of the present application, a plurality of gears 27 may be provided, two racks 11 may be provided and simultaneously meshed with the gears 27, and the plurality of gears 27 may be linked by a belt or the like, so that by providing a plurality of gears 27 and/or two racks 11, the acting force applied to a single component can be further reduced, thereby further improving the service life of the apparatus.

Referring to fig. 2 and 4, a guide plate 31 is fixed to the guide rail 3, and a length direction of the guide plate 31 is parallel to the guide rail 3. The upright 21 is provided with a limiting component matched with the guide plate 31. The guide plate 31 can provide moving guide for the clamping manipulator 2 and support, so that damage to the structures of the gear 27 and the rack 11 is reduced, and the limiting assembly can better provide guide for the movement of the clamping manipulator 2, so that the clamping manipulator 2 is reduced from deviating from a preset moving track.

Referring to fig. 2 and 4, a horizontal connecting plate 24 is fixed at the bottom of the end of the upright 21 away from the clamping mechanism 22, and the limiting assembly comprises a plurality of groups of abutting wheels 241 rotatably arranged on the connecting plate 24, wherein each group comprises two abutting wheels 241, and the axes of the two abutting wheels 241 in the same group are vertical and abut against two sides of the guide plate 31. Specifically, the limiting component comprises a connecting rod 242 penetrating through the connecting plate 24 and with a vertical axis, an abutting ring 244 is coaxially fixed on the outer wall of the connecting rod 242, the abutting wheel 241 is rotatably connected to the connecting rod 242 through a bearing and is located at one end of the bottom of the connecting plate 24, one end of the connecting rod 242, far away from the abutting wheel 241, penetrates through the connecting plate 24, a nut 243 is in threaded connection after a gasket is sleeved, the connecting plate 24 is clamped through the nut 243 and the abutting ring 244, and then connection between the connecting rod 242 and the connecting plate 24 is achieved. Because the guide plate 31 is clamped by the two abutting wheels 241, the movement of the upright post 21 can be completely limited in one direction, the upright post 21 can only move along the length direction of the guide plate 31, the abutting area can be increased by arranging a plurality of groups of abutting wheels 241, and the movement stability of the upright post 21 is improved.

Referring to fig. 2 and 3, a support bar 51 having a length direction parallel to the support bar 5 is fixedly connected to the support bar 5 by a bolt, a sliding bar 213 is fixed to the column 21, and sliding grooves 214 are formed at both ends of the sliding bar 213 to be sleeved outside the support bar 51. The inner wall of the sliding groove 214 and the outer wall of the supporting rod 51 are the arc surfaces of the adaptation, in the horizontal movement process of the upright post 21, the supporting rod 51 can provide support and guide for the sliding rod 213, and the friction force formed by the inner wall of the sliding groove 214 and the outer wall of the supporting rod 51 is small, so that the obstruction to the movement of the clamping manipulator 2 is reduced.

The single-arm manipulator is implemented according to the principle that when a basket 4 needs to be transferred, the clamping manipulator 2 firstly moves horizontally, the clamping mechanism 22 is located right above the basket 4, the clamping mechanism 22 moves vertically downwards again, two clamping portions 224 are located on two sides of the basket 4 and opposite to through holes 41 of the basket 4, then the two clamping portions 224 move oppositely, the hanging ears 226 are inserted into the through holes 41, the two clamping portions 224 clamp and fix the basket 4, then the clamping mechanism 22 lifts the basket 4, the clamping mechanism 22 moves horizontally to drive the basket 4 to move along the length direction of a transverse guide rail 1, finally the clamping mechanism 22 moves vertically to release the basket 4 to the ground, and the two clamping portions 224 move away from each other to release the basket 4, so that the transfer of the basket 4 is realized.

The above embodiments are not intended to limit the scope of the application, so that the equivalent changes of the structure, shape and principle of the application are covered by the scope of the application.

Claims (8)

1. The single-arm manipulator is characterized by comprising a transverse guide rail (1) and a clamping manipulator (2) capable of sliding along the length direction of the transverse guide rail (1);

The clamping manipulator (2) comprises an upright post (21), wherein a clamping mechanism (22) is vertically connected to the upright post (21) in a sliding manner, and a first driving source (23) for driving the clamping mechanism (22) to move is arranged;

The transverse moving guide rail (1) is provided with parallel racks (11), and the clamping manipulator (2) comprises a gear (27) meshed with the racks (11) and a second driving source (26) used for driving the gear (27) to rotate.

2. The single-arm manipulator according to claim 1, wherein the clamping mechanism (22) comprises a mounting plate (223), two clamping parts (224) are slidably connected to the mounting plate (223), the two clamping parts (224) can move in opposite directions and can move in opposite directions, and a third driving source (225) for driving the clamping parts (224) to move is arranged on the mounting plate (223).

3. A single arm manipulator according to claim 2, characterised in that the two clamping parts (224) are provided with a number of suspension lugs (226) on their facing surfaces.

4. The single-arm manipulator according to claim 1, wherein the upright (21) is rotatably connected with a screw (211) with a vertical axis, and is fixed with a guide rod (212) with a vertical length direction, the clamping mechanism (22) comprises a moving plate (25) in threaded connection with the screw (211), the moving plate (25) is slidably connected with the guide rod (212), and the first driving source (23) is used for driving the screw (211) to rotate.

5. The single-arm manipulator according to claim 1, further comprising a guiding slide rail (3), wherein the guiding slide rail (3) is parallel to the traversing guide rail (1), and a limiting component matched with the guiding slide rail (3) is arranged on the upright (21) and used for guiding the movement of the upright (21).

6. The single-arm manipulator according to claim 5, wherein the guide slide rail (3) comprises a guide plate (31), the upright (21) comprises a connecting plate (24), the limiting assembly comprises an abutting wheel (241) rotatably arranged on the connecting plate (24), the rotating axis of the abutting wheel (241) is vertical, and the abutting wheel (241) is abutted against the side wall of the guide plate (31).

7. The single-arm manipulator according to claim 6, characterized in that the abutment wheels (241) are provided with a plurality of groups on the connection plate (24), each group comprising two abutment wheels (241), the guide plate (31) being located between two abutment wheels (241) of the same group and simultaneously abutting against the outer walls of two abutment wheels (241) of the same group.

8. The single-arm manipulator according to claim 6 or 7, wherein the connecting plate (24) is provided with a connecting rod (242) in a penetrating manner, an abutting ring (244) abutting against the connecting plate (24) is arranged on the outer wall of the connecting rod (242), one end of the connecting rod (242) is rotationally connected with the abutting wheel (241) through a bearing, one end of the connecting rod (242) far away from the bearing is connected with a nut (243) in a threaded manner, and the nut (243) and the abutting ring (244) clamp the connecting plate (24).