CN113400334B

CN113400334B - Manipulator for intelligent manufacturing

Info

Publication number: CN113400334B
Application number: CN202110752056.2A
Authority: CN
Inventors: 吴昊泽
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2022-01-11
Anticipated expiration: 2041-06-29
Also published as: CN113400334A

Abstract

The invention discloses a manipulator for intelligent manufacturing, which comprises: the object stage is used for bearing goods; a mounting frame, comprising: the supporting table and the upper cover are of U-shaped structures, the upper cover is covered on the supporting table and is connected with the supporting table through a first screw, an objective table is installed on one side of the supporting table, two sliding seats are installed in the supporting table and can move in the X direction relative to the supporting table; the clamping arm is arranged on the mounting frame, one end of the clamping arm extends into a position between the supporting table and the upper cover, and the clamping arm is pressed in the sliding seat by a pressing column on the upper cover; and the X-direction driving device is arranged on the support platform and is connected with the sliding seat, and the X-direction driving device is used for driving the sliding seat to move relative to the support platform. The manipulator for intelligent manufacturing solves the problem that in the prior art, the manipulator is inconvenient to disassemble after being fixed with a mounting bracket.

Description

Manipulator for intelligent manufacturing

Technical Field

The invention relates to a manipulator, in particular to a manipulator for intelligent manufacturing.

Background

Chinese patent discloses an intelligent manipulator and two-way running gear, full-automatic intelligent selling device of application number CN201821741260.4, this manipulator includes: the mounting bracket, the mounting bracket lower part is provided with rotating base, the mounting bracket can be followed rotating base axial makes a round trip to slide, but still be provided with the manipulator that moves in opposite directions or phase-to-phase apart from in order to press from both sides tight or loosen the goods on the mounting bracket, the manipulator is located the rotating base top, still be provided with the tray platform that is used for bearing the weight of the goods on the rotating base. Although the manipulator can clamp goods, the manipulator still has the following defects:

drag the thing bench and bear the goods, drag the other two manipulators that install of thing platform and can be close to each other or keep away from of thing platform, two manipulators press from both sides tight goods that drag the thing bench to the realization presss from both sides tight goods, because two manipulator single-ends are installed on the installing support, the tip that the manipulator did not install presss from both sides tight goods, leads to the manipulator to break from the middle easily, and the manipulator is fixed with the installing support, and the inconvenient change of manipulator leads to follow-up can not continue to use.

Disclosure of Invention

The invention provides a manipulator for intelligent manufacturing, and solves the problem that in the prior art, the manipulator is inconvenient to disassemble after being fixed with an installation support.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention discloses a manipulator for intelligent manufacturing, which comprises: the object stage is used for bearing goods; a mounting frame, comprising: the supporting table and the upper cover are of U-shaped structures, the upper cover is covered on the supporting table and is connected with the supporting table through a first screw, an objective table is installed on one side of the supporting table, two sliding seats are installed in the supporting table and can move in the X direction relative to the supporting table; the clamping arm is arranged on the mounting frame, one end of the clamping arm extends into a position between the supporting table and the upper cover, and the clamping arm is pressed in the sliding seat by a pressing column on the upper cover; and the X-direction driving device is arranged on the support platform and is connected with the sliding seat, and the X-direction driving device is used for driving the sliding seat to move relative to the support platform.

Preferably, the upper cover includes: the first cover body covers the second cover body, and the first cover body is connected with the second cover body through a second screw.

Preferably, the pressing column includes: the mounting disc, connecting rod and the portion that compresses tightly, the mounting disc is connected to the portion that compresses tightly through the connecting rod, the portion that compresses tightly is used for compressing tightly the centre gripping arm in the slide, connecting rod and mounting disc are the cylinder type structure, the central line of connecting rod and mounting disc is on a straight line, the diameter of connecting rod is less than the diameter of mounting disc, the inboard sunken mounting groove that forms of first lid, be used for placing the mounting disc in the mounting groove, the mounting disc is compressed tightly in the mounting groove by the second lid, the mounting disc can not pass the second lid, the connecting rod passes the second lid.

Preferably, the first cover body is provided with a through hole for the first screw to pass through, the inner wall of the through hole is not contacted with the first screw, and the second cover body is provided with a first screw hole matched with the first screw.

Preferably, the method further comprises the following steps: the output end of the Z-direction driving device is connected to the supporting platform, a guide seat is mounted at the bottom of the supporting platform, and the guide seat can move in the Z direction under the guidance of the guide rail.

Preferably, the clamping arms have pins mounted on the ends thereof for insertion into the slide.

Preferably, a first pushing mechanism is installed in the pin, the first pushing mechanism can move in the direction parallel to the Z direction relative to the first pin, the first pushing mechanism penetrates through the sliding seat under the extrusion of the pressing portion, a second pushing mechanism is acted with the first pushing mechanism, the first pushing mechanism is not separated from the second pushing mechanism when the sliding seat and the clamping arm move relative to the supporting table, the second pushing mechanism is installed in the supporting table, the second pushing mechanism can move in the Z direction relative to the supporting table, a release limiting mechanism is acted with the second pushing mechanism and installed in the supporting table, the release limiting mechanism can move in the X direction relative to the supporting table, and the release limiting mechanism is used for hooking the sliding rail and then limiting the guide seat to be separated from the sliding rail.

Compared with the prior art, the invention has the following beneficial effects:

because the clamping arm can appear the crackle after long-term the use, at the in-process of centre gripping goods, the clamping arm rupture very easily appears, the phenomenon of rupture back goods damage, in order to avoid this phenomenon, consequently designed the clamping arm and can change, also can dismantle the clamping arm rear and conveniently carry out the crackle and detect, the damage of goods in having avoided the production process has improved use value, the problem that whole manipulator all can not use after the clamping arm damages has also been avoided simultaneously, the life of other not parts has been prolonged, market competition has been improved.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

FIG. 1 is a schematic structural diagram of a robot for smart manufacturing with a carrier;

FIG. 2 is a cross-sectional view at the mounting bracket;

FIG. 3 is a view taken along direction A of FIG. 2 at the location of the insert;

FIG. 4 is a schematic structural view of the pin, the first pushing mechanism, the second pushing mechanism and the disengagement limiting mechanism;

fig. 5 is a schematic structural view of the robot for smart manufacturing without a carrier.

Reference numerals: the object stage 1, the mounting frame 2, the support table 21, the upper cover 22, the first cover 221, the second cover 222, the pressing column 23, the mounting plate 231, the connecting rod 232, the pressing portion 233, the slide 24, the first screw 25, the second screw 26, the guide rail 3, the clamping arm 4, the pin 40, the first pushing mechanism 5, the first wedge 51, the first moving rod 52, the roller 53, the first spring 54, the second pushing mechanism 6, the bar 61, the second wedge 62, the disengagement limiting mechanism 7, the third wedge 71, the second moving rod 72, the connecting rod 73, the disengagement limiting hook 74, the second spring 75, the guide seat 8, and the slide rail 9.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the functions of the invention clearer and easier to understand, the invention is further explained by combining the drawings and the detailed implementation mode:

as shown in fig. 1 to 5, the present invention discloses a robot for smart manufacturing, including: an object stage 1 for carrying cargo; mounting bracket 2, it includes: the device comprises a support table 21, an upper cover 22, a pressing column 23 and two sliding seats 24, wherein the support table 21 and the upper cover 22 are of U-shaped structures, the upper cover 22 of the support table 21 is provided with the upper cover 22, the upper cover 22 is connected with the support table 21 through a first screw 25, an objective table 1 is installed on one side of the support table 21, the two sliding seats 24 are installed in the support table 21, and the two sliding seats 24 can move in the X direction relative to the support table 21; the clamping arm 4 is arranged on the mounting frame 2, one end of the clamping arm 4 extends into a position between the support table 21 and the upper cover 22, and the clamping arm 4 is pressed in the sliding base 24 by a pressing column 23 on the upper cover 22; and an X-direction driving device (not shown) mounted on the support table 21, the X-direction driving device being connected to the carriage 24, the X-direction driving device being configured to drive the carriage 24 to move relative to the support table 21.

In order to design the upper cover 22 with a simple structure, in preparation for the subsequent installation of the pressing column 23, the upper cover 22 includes: the first cover 221 and the second cover 222, the first cover 221 covers the second cover 222, and the first cover 221 and the second cover 222 are connected by the second screw 26.

In order to design the pressing column 23 with simple structure and realize the matched installation with the upper cover 22, the pressing column 23 comprises: the mounting disc 231, the connecting rod 73232 and the pressing portion 233, the mounting disc 231 is connected to the pressing portion 233 through the connecting rod 73232, the pressing portion 233 is used for pressing the clamping arm 4 in the sliding seat 24, the connecting rod 73232 and the mounting disc 231 are both of a cylindrical structure, the center lines of the connecting rod 73232 and the mounting disc 231 are on the same straight line, the diameter of the connecting rod 73232 is smaller than that of the mounting disc 231, the inner side of the first cover 221 is recessed to form a mounting groove, the mounting groove is used for placing the mounting disc 231, the mounting disc 231 is pressed in the mounting groove by the second cover 222, the mounting disc 231 cannot pass through the second cover 222, and the connecting rod 73232 passes through the second cover 222.

In order to connect the first cover 221 and the second cover 222 by the second screw 26 and then mount them on the support platform 21, the first cover 221 is provided with a through hole for the first screw 25 to pass through, the inner wall of the through hole is not in contact with the first screw 25, and the second cover 222 is provided with a first screw hole matching with the first screw 25.

In order to realize moving the position of gripping in place, this manipulator for intelligent manufacturing still includes: a Z-direction driving device (not shown) and the guide rail 3, wherein the output end of the Z-direction driving device is connected to the supporting platform 21, the bottom of the supporting platform 21 is provided with a guide seat 8, and the guide seat 8 can move in the Z direction under the guidance of the guide rail 3.

In order to maintain the stability of the insertion of the gripping arm 4 into the carriage 24, the gripping arm 4 is fitted at its end with a prong 40, the prong 40 being intended to be inserted into the carriage 24.

In order to facilitate replacement of the clamping arm 4, the upper cover 22 is mounted to prevent the mounting frame 2 from being separated from the slide rail 9, the upper cover 22 is opened to separate the support table 21 from the slide rail 9, the mounting frame 2 is mounted to facilitate mounting, a first pushing mechanism 5 is mounted in the pin 40, the first pushing mechanism 5 can move in a direction parallel to the Z direction relative to the first pin 40, the first pushing mechanism 5 penetrates through the slide base 24 under the extrusion of the pressing portion 233, a second pushing mechanism 6 is acted on the first pushing mechanism 5, when the slide base 24 and the clamping arm 4 move relative to the support table 21, the first pushing mechanism 5 and the second pushing mechanism 6 are not separated, the second pushing mechanism 6 is mounted in the support table 21, the second pushing mechanism 6 can move in the Z direction relative to the support table 21, a release limiting mechanism 7 is acted on the second pushing mechanism 6, and the release limiting mechanism 7 is mounted in the support table 21, the separation limiting mechanism 7 can move in the X direction relative to the support table 21, and the separation limiting mechanism 7 is used for hooking the slide rail 9 and then limiting the separation of the guide seat 8 and the slide rail 9.

The first pushing mechanism 5 includes: the pressing part 233 is of a wedge-shaped structure, the pressing part 233 is formed with a pressing surface, the pressing surface is pressed against the first wedge 51, the first wedge 51 is fixed to one end of the first moving rod 52, a rotatable roller 53 is installed at the other end of the first moving rod 52, the first wedge 51 is fixed to the inner wall of the pin 40 through the first spring 54, the roller 53 can be kept in the pin 40 under the elastic force of the first spring 54, a through hole for the roller 53 and the first moving rod 52 to pass through is formed in the slide seat 24, and the roller 53 is used for acting with the second pushing mechanism 6. The first moving bar 52 and the roller 53 can move in the Z direction with respect to the pin 40.

The second pushing mechanism 6 includes: the bar 61 and the second wedge block 62, the bar 61 and the X direction, the bar 61 is located by the slide carriage 24, the bar 61 does not influence the slide of the slide carriage 24 in the support platform 21, the bar 61 is tangent to the roller 53, the second wedge block 62 is fixed, the second wedge block 62 is used for acting with the distance limiting mechanism 7, and the bar 61 and the second wedge block 62 can move in the Z direction relative to the support platform 21.

The offline limiting mechanism 7 includes: the third wedge 71, the second moving rod 72, the connecting rod 73232, the second spring 75 and the disengagement limiting hook 74, the second wedge 62 is pressed against the third wedge 71, the third wedge 71 is fixed to one end of the second moving rod 72, the other end of the second moving rod 72 is connected to one end of the connecting rod 73232, the connecting rod 73232 is connected to the disengagement limiting hook 74, the connecting rod 73232 is parallel to the Y direction, the second moving rod 72 and the disengagement limiting hook 74 are both parallel to the X direction, the slide rail 9 is recessed to form a disengagement preventing groove, the disengagement preventing groove is used for the disengagement limiting hook 74 to insert, the disengagement preventing groove is parallel to the Z direction, the third wedge 71 is connected to the supporting table 21 through the second spring 75, the disengagement limiting hook 74 can be kept away from the disengagement preventing groove under the elastic force of the second spring 75, and the bar 61 is in a state close to the slide 24. The third wedge 71, the second moving rod 72, the connecting rod 73232, and the disengagement-limiting hook 74 are movable in the X direction with respect to the support table 21

When the pressing column 23 is installed, firstly, the installation disc 231 of the pressing column 23 is placed in the installation groove formed in the first cover body 221; then, the pressing column 23 passes through the second cover 222, the first cover 221 covers the second cover 222, and the first cover 221 and the second cover 222 cooperate to clamp the mounting plate 231; finally, the second screw 26 is rotated so that the first cover 221 and the second cover 222 are coupled.

When the clamping arm 4 is disassembled, firstly, the first screw 25 is rotated to separate the upper cover 22 from the supporting table 21, and the upper cover 22 drives the pressing column 23 to be far away from the clamping arm 4; subsequently, under the elastic force of the first spring 54, the roller 53 retracts into the pin 40, so that the subsequent installation is prevented from being influenced; finally, under the elastic force of the second spring 75, the disengagement-limiting hook 74 disengages from the disengagement-preventing groove, so that the support platform 21 is conveniently disengaged from the slide rail 9, and the third wedge 71 presses the second wedge 62, so that the bar 61 moves toward the slide 24. Of course, the support table 21 can be separated from the Z-direction driving device.

When the clamp arm 4 is installed, first, the pin 40 is inserted into the slider 24, and the roller 53 does not obstruct the state of being inserted into the slider 24 due to the first spring 54; then, the upper cover 22 is covered on the supporting table 21, the pressing portion 233 of the pressing column 23 is inserted into the pin 40, the first wedge 51 is pushed to drive the roller 53 to be away from the pin 40, the first moving rod 52 and the roller 53 move in the Z direction relative to the pin 40 and the slide 24, the first moving rod 52 and the roller 53 pass through the slide 24 and then closely contact with the bar 61, the bar 61 is away from the slide 24, and the second wedge 62 on the bar 61 pushes the third wedge 71 to move in the X direction, so that the disengagement-limiting hook 74 is inserted into the disengagement-preventing groove.

Firstly, in order to replace the damaged clamping arm 4 conveniently, the upper cover 22 is provided with the pressing column 23, so that the clamping arm 4 can be released by opening the upper cover 22, and the operation is convenient; then, in order to mount the pressing column 23, the upper cover 22 is designed to include the first cover 221 and the second cover 222, the first cover 221 and the second cover 222 are clamped to achieve mounting, the first cover 221 can be mounted on the outside in a visible mode, and in order to avoid neglecting to mount the second cover 222, the first cover 221 is provided with a through hole which avoids interaction with the second screw 26, so that the upper cover 22 can be integrally mounted on the support table 21 only after the second cover 222 is mounted; afterwards, for the convenience of overhauling the X-direction driving device and the clamping arm 4, the whole installation frame 2, the clamping arm 4 and the X-direction driving device are required to be separated from the slide rail 9, and for the convenience of disassembly and installation, therefore, the first pushing mechanism 5, the second pushing mechanism 6 and the limiting and offline mechanism 7 are designed, the guide seat 8 and the supporting table 21 can be separated from the slide rail 9 by opening the upper cover 22, and the anti-drop positioning can be realized by installing the upper cover 22, therefore, the operation steps are greatly reduced, and the disassembly efficiency is improved.

Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims

1. The utility model provides a manipulator for intelligent manufacturing which characterized in that includes:

the object stage is used for bearing goods;

a mounting frame, comprising: the supporting table and the upper cover are of U-shaped structures, the upper cover is covered on the supporting table and is connected with the supporting table through a first screw, an objective table is installed on one side of the supporting table, two sliding seats are installed in the supporting table and can move in the X direction relative to the supporting table;

the clamping arm is arranged on the mounting frame, one end of the clamping arm extends into a position between the supporting table and the upper cover, and the clamping arm is pressed in the sliding seat by a pressing column on the upper cover; and

and the X-direction driving device is arranged on the support platform and is connected with the sliding seat, and the X-direction driving device is used for driving the sliding seat to move relative to the support platform.

2. The robot hand for smart manufacturing according to claim 1, wherein the upper cover includes: the first cover body covers the second cover body, and the first cover body is connected with the second cover body through a second screw.

3. The robot hand for smart manufacturing according to claim 2, wherein the pressing column includes: the mounting disc, connecting rod and the portion that compresses tightly, the mounting disc is connected to the portion that compresses tightly through the connecting rod, the portion that compresses tightly is used for compressing tightly the centre gripping arm in the slide, connecting rod and mounting disc are the cylinder type structure, the central line of connecting rod and mounting disc is on a straight line, the diameter of connecting rod is less than the diameter of mounting disc, the inboard sunken mounting groove that forms of first lid, be used for placing the mounting disc in the mounting groove, the mounting disc is compressed tightly in the mounting groove by the second lid, the mounting disc can not pass the second lid, the connecting rod passes the second lid.

4. The manipulator of claim 3, wherein the first cover has a through hole for a first screw to pass through, an inner wall of the through hole is not in contact with the first screw, and the second cover has a first screw hole engaged with the first screw.

5. The robot hand for smart manufacturing according to any one of claims 1 to 4, further comprising: the output end of the Z-direction driving device is connected to the supporting platform, a guide seat is mounted at the bottom of the supporting platform, and the guide seat can move in the Z direction under the guidance of the guide rail.

6. A robot as claimed in claim 5, wherein the gripping arms are provided with pins at their ends for insertion into the carriages.

7. The robot as claimed in claim 6, wherein the pin has a first pushing mechanism mounted therein, the first pushing mechanism is capable of moving in a direction parallel to the Z direction relative to the first pin, the first pushing mechanism passes through the slide under the extrusion of the pressing portion, the first pushing mechanism and the first pushing mechanism are operated to form a second pushing mechanism, the first pushing mechanism and the second pushing mechanism are not separated when the slide and the holding arm move relative to the support platform, the second pushing mechanism is mounted in the support platform, the second pushing mechanism is capable of moving in the Z direction relative to the support platform, the second pushing mechanism and the second pushing mechanism are operated to form a release limiting mechanism, the release limiting mechanism is mounted in the support platform, the release limiting mechanism is capable of moving in the X direction relative to the support platform, and the release limiting mechanism is used for limiting the guide holder from the slide rail after hooking the slide rail.