Servo transverse walking type manipulator

Abstract

The utility model discloses a servo transverse walking type manipulator which comprises an installation table, a sliding rail is fixedly installed on the upper surface of the installation table, an installation plate is installed on the outer surface of the sliding rail in a sliding mode, a servo motor is fixedly installed on the upper surface of the installation plate, an output shaft of the servo motor penetrates to the lower end of the installation plate and is fixedly provided with a gear, and the gear is meshed with a rack. The rack is fixedly mounted on the upper surface of the mounting table and located between the two sets of sliding rails, a connecting cylinder is fixedly mounted on the upper surface of the mounting plate, a linear module is fixedly mounted in the connecting cylinder, a fastening plate is fixedly mounted on the lower surface of a movable block of the linear module, and a transfer mechanism is fixedly mounted on the lower surface of the fastening plate. Through the design of the transfer mechanism, the suction cups can conduct self-adaptive rotation adjustment according to the radian of the lampshade, then the contact area of the suction cups and the surface of the lampshade can be increased, the more stable adsorption effect is achieved, the problem of slippage caused by poor contact can be solved through self-adaptive adjustment, and the stability of the grabbing process is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of lampshade production, in particular to a servo horizontal walking manipulator. Background Art

[0002] The production process of lampshades often involves a variety of parts and materials. During the production of lampshades, they need to be transferred from one process to another. The servo-type horizontal robot can quickly and accurately complete the transfer work, improving production efficiency. Compared with manual handling, the robot can transfer materials from one place to another more quickly and accurately, saving a lot of time.

[0003] However, the servo horizontal walking robot in the prior art does not have a robot specifically used for sucking and transporting lampshades. The traditional servo horizontal walking robot may slip when grabbing the lampshade because the lampshade has a smooth surface and is in a circular arc shape, which increases the difficulty of grabbing by the robot and may cause the lampshade to fall during transportation. Therefore, a servo horizontal walking robot is proposed. Utility Model Content

[0004] The purpose of the utility model is to provide a servo transverse walking robot to solve the problem that the servo transverse walking robot in the prior art mentioned in the above background technology does not have a robot specifically used for sucking and transporting lampshades, and the traditional servo transverse walking robot may slip when grasping because the surface of the lampshade is smooth and arc-shaped.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A servo transverse walking manipulator comprises: a mounting platform, a slide rail is fixedly mounted on the top of the mounting platform, a mounting plate is slidably mounted on the outer surface of the slide rail, a servo motor is fixedly mounted on the top surface of the mounting plate, an output shaft of the servo motor passes through the lower end of the mounting plate and is fixedly mounted with a gear, the gear is meshed with a rack, the rack is fixedly mounted on the top surface of the mounting platform and is located between two sets of the slide rails;

[0007] Among them, a connecting cylinder is fixedly installed on the upper surface of the mounting plate, a linear module is fixedly installed in the connecting cylinder, a fastening plate is fixedly installed on the lower surface of the moving block of the linear module, and a transfer mechanism is fixedly installed on the lower surface of the fastening plate.

[0008] Preferably, the transfer mechanism includes an electric push rod, and the electric push rod and the vacuum pump are both fixedly mounted on the lower surface of the fastening plate. A connecting disk is fixedly mounted on the lower surface of the piston rod of the electric push rod, a rotating groove is opened on the outer surface of the connecting disk, a connecting plate is rotatably mounted in the rotating groove, a guide column is fixedly mounted in the connecting plate, and a suction cup is rotatably mounted on the lower surface of the guide column.

[0009] Preferably, the suction cup is connected to the suction port of the vacuum pump through an air pipe passing through a guide column, and the vacuum pump is fixedly mounted on the lower surface of the fastening plate.

[0010] Preferably, pull rings are fixedly installed in the rotating groove and on the lower surface of the connecting plate, and a spring is fixedly connected between the two groups of pull rings.

[0011] Preferably, the lower surface of the connecting plate contacts the upper surface of the rotating groove, so that the connecting plate can only be rotated and tilted upward.

[0012] Preferably, a docking plate is fixedly mounted on the lower surface of the guide column, and the docking plate is rotatably mounted in a docking groove, and the docking groove is formed on the outer surface of the convex column on the upper surface of the suction cup.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] 1. Through the design of servo motor, gear, rack, linear module and transfer mechanism, when the lampshade is transferred, the servo motor can be started to drive the gear to mesh with the rack for transmission, so that the transmission force between the gear and the rack drives the mounting plate to slide laterally on the outer surface of the slide rail, and when it slides to the position of the lampshade output outlet, the linear module can be started to drive the transfer mechanism to be flush with the upper surface of the lampshade, and then the transfer mechanism can be pressed down vertically to the top of the upper surface of the lampshade, and as the transfer mechanism continues to press down, the transfer mechanism can be matched with the arc surface of the lampshade for adsorption and grasping, and the transfer mechanism can be adaptively adjusted according to the curvature of the lampshade surface, which can increase the contact area between the transfer mechanism and the lampshade surface, forming a more stable adsorption effect. This adaptive adjustment can reduce the slippage problem caused by poor contact and improve the stability of the grasping process.

[0015] 2. Through the design of electric push rod, connecting plate, guide column, suction cup, spring and vacuum pump, after the fastening plate on the lower surface of the moving block driven by the linear module is flush with the upper surface of the lampshade, the electric push rod can be started to push the guide column on the lower surface of the piston rod to drive the suction cup to touch the outer surface of the lampshade. As the transfer mechanism continues to press down, the connecting plate will rotate and tilt upward in the rotating groove through the pull ring pulling the spring, which can drive the suction cup on the lower surface of the guide column to expand in all directions. At the same time, as the electric push rod applies pressure, the suction cup will also The docking groove is rotated and tilted inward on the outer surface of the docking plate, which can make the suction cup rotate and tilt accordingly with the curvature of the lampshade surface, so that the suction cup can be fully sucked on the outer surface of the lampshade. Then, the air in the suction cup can be sucked out through the air pipe by starting the vacuum pump. Since the air inside the suction cup is sucked out, a low-pressure area is formed, while the outside of the suction cup is still at normal atmospheric pressure. At this time, the external atmospheric pressure will press the suction cup to the surface of the lampshade, thereby generating a strong adsorption force to firmly adsorb the suction cup on the lampshade.

[0016] When the suction cup is adaptively rotated according to the curvature of the lampshade, the contact area between the suction cup and the surface of the lampshade will increase, forming a more stable adsorption effect. This adaptive adjustment can reduce the slippage problem caused by poor contact and improve the stability of the grasping process. When the curved lampshade is grasped, the suction cup may cause local stress concentration and easily damage the surface of the lampshade. The adaptive suction cup can evenly distribute the grasping force, reduce local stress concentration, and protect the lampshade from being damaged by grasping. The adaptive tilted suction cup can adapt to lampshades of different shapes and sizes, improving the versatility of the manipulator. No matter how the curvature of the lampshade changes, the suction cup can adjust to the optimal grasping angle to improve grasping efficiency and success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the linear module structure of the utility model;

[0019] Figure 3 This is a schematic diagram of the gear and rack structure of the utility model;

[0020] Figure 4 This is a schematic diagram of the structure of the transfer mechanism of the utility model;

[0021] Figure 5 It is a schematic diagram of the rotation connection between the suction cup and the guide column of the utility model.

[0022] In the figure: 1. mounting table; 101. slide rail; 102. rack; 103. mounting plate; 104. servo motor; 105. connecting tube; 106. gear; 2. linear module; 201. fastening plate; 3. transfer mechanism; 301. vacuum pump; 302. electric push rod; 303. connecting plate; 304. rotating groove; 305. connecting plate; 306. guide column; 307. suction cup; 308. spring; 309. pull ring; 310. docking plate; 311. docking groove. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] See also Figure 1-Figure 5 , the utility model provides a technical solution:

[0025] like Figure 1-Figure 3 As shown, a servo transverse walking manipulator comprises: a mounting platform 1, a slide rail 101 is fixedly mounted on the upper surface of the mounting platform 1, a mounting plate 103 is slidably mounted on the outer surface of the slide rail 101, a servo motor 104 is fixedly mounted on the upper surface of the mounting plate 103, an output shaft of the servo motor 104 passes through the lower end of the mounting plate 103 and is fixedly mounted with a gear 106, the gear 106 is meshed with a rack 102, and the rack 102 is fixedly mounted on the upper surface of the mounting platform 1 and is located between two sets of slide rails 101;

[0026] Among them, a connecting tube 105 is fixedly installed on the upper surface of the mounting plate 103, a linear module 2 is fixedly installed inside the connecting tube 105, a fastening plate 201 is fixedly installed on the lower surface of the moving block of the linear module 2, and a transfer mechanism 3 is fixedly installed on the lower surface of the fastening plate 201.

[0027] Through the design of the servo motor 104, gear 106, rack 102, linear module 2 and transfer mechanism 3, when the lampshade is transported, the servo motor 104 can be started to drive the gear 106 to mesh with the rack 102 for transmission, so that the transmission force between the gear 106 and the rack 102 drives the mounting plate 103 to slide laterally on the outer surface of the slide rail 101, and when it slides to the position of the lampshade output outlet, the linear module 2 can be started to drive the transfer mechanism 3 to be flush with the upper surface of the lampshade, and then the transfer mechanism 3 can be pressed down vertically to the top of the upper surface of the lampshade, and as the transfer mechanism 3 continues to be pressed down, the transfer mechanism 3 can be matched with the arc surface of the lampshade surface for adsorption and grasping, and the transfer mechanism 3 can be adaptively adjusted according to the curvature of the lampshade surface, which can increase the contact area between the transfer mechanism 3 and the lampshade surface, forming a more stable adsorption effect, and this adaptive adjustment can reduce the slippage problem caused by poor contact and improve the stability of the grasping process.

[0028] like Figure 4-Figure 5 As shown, the transfer mechanism 3 includes an electric push rod 302, and the electric push rod 302 and the vacuum pump 301 are both fixedly mounted on the lower surface of the fastening plate 201. A connecting disk 303 is fixedly mounted on the lower surface of the piston rod of the electric push rod 302. A rotating groove 304 is opened on the outer surface of the connecting disk 303. A connecting plate 305 is rotatably mounted in the rotating groove 304. A guide column 306 is fixedly mounted in the connecting plate 305, and a suction cup 307 is rotatably mounted on the lower surface of the guide column 306.

[0029] The suction cup 307 is connected to the suction port of the vacuum pump 301 through an air pipe passing through the guide column 306 , and the vacuum pump 301 is fixedly installed on the lower surface of the fastening plate 201 .

[0030] Pull rings 309 are fixedly installed in the rotating groove 304 and on the lower surface of the connecting plate 305 , and a spring 308 is fixedly connected between the two sets of pull rings 309 .

[0031] The lower surface of the connecting plate 305 contacts the upper surface of the rotating groove 304, so that the connecting plate 305 can only rotate and tilt upward.

[0032] A docking plate 310 is fixedly mounted on the lower surface of the guide column 306 . The docking plate 310 is rotatably mounted in a docking groove 311 . The docking groove 311 is formed on the outer surface of the convex column on the upper surface of the suction cup 307 .

[0033] Through the design of the electric push rod 302, the connecting plate 305, the guide column 306, the suction cup 307, the spring 308 and the vacuum pump 301, after the linear module 2 drives the fastening plate 201 on the lower surface of the moving block to be flush with the upper surface of the lampshade, the electric push rod 302 can be started to push the guide column 306 on the lower surface of the piston rod to drive the suction cup 307 to touch the outer surface of the lampshade. As the transfer mechanism 3 continues to press downward, the connecting plate 305 will pull the spring 308 through the pull ring 309 to rotate and tilt upward in the rotating groove 304, which can drive the suction cup 307 on the lower surface of the guide column 306 to expand in all directions. At the same time, as the electric push rod 302 When pressure is applied, the suction cup 307 will also rotate and tilt inward on the outer surface of the docking plate 310 through the docking groove 311, so that the suction cup 307 can rotate and tilt accordingly with the curvature of the lampshade surface, so that the suction cup 307 can be fully sucked on the outer surface of the lampshade, and then the air in the suction cup 307 can be sucked out through the air pipe by starting the vacuum pump 301. Since the air inside the suction cup 307 is sucked out, a low-pressure area is formed, while the outside of the suction cup 307 is still at normal atmospheric pressure. At this time, the external atmospheric pressure will press the suction cup 307 to the surface of the lampshade, thereby generating a strong adsorption force to firmly adsorb the suction cup 307 on the lampshade;

[0034] When the suction cup 307 is adaptively rotated and adjusted according to the curvature of the lampshade, the contact area between the suction cup 307 and the surface of the lampshade will increase, forming a more stable adsorption effect. This adaptive adjustment can reduce the slippage problem caused by poor contact and improve the stability of the grasping process. When the curved lampshade is grasped, the suction cup 307 may cause local stress concentration and easily damage the surface of the lampshade. The adaptive suction cup 307 can evenly distribute the grasping force, reduce local stress concentration, and protect the lampshade from being damaged by grasping. The adaptively inclined suction cup 307 can adapt to lampshades of different shapes and sizes, thereby improving the versatility of the manipulator. No matter how the curvature of the lampshade changes, the suction cup 307 can be adjusted to the optimal grasping angle to improve the grasping efficiency and success rate.

[0035] According to the above technical scheme, the working steps of this scheme are summarized and sorted out: when the lampshade is transported, the servo motor 104 can be started to drive the gear 106 to mesh with the rack 102 for transmission, so that the transmission force between the gear 106 and the rack 102 drives the mounting plate 103 to slide horizontally on the outer surface of the slide rail 101, and when it slides to the position of the lampshade output outlet, the linear module 2 can be started to drive the fastening plate 201 on the lower surface of the moving block to be flush with the upper surface of the lampshade, and then the electric push rod 302 can be started to push the guide column 306 on the lower surface of the piston rod to drive the suction cup 307 to touch the outer surface of the lampshade, and as the transport mechanism 3 continues to press down, the connecting plate 305 will pull the spring 308 through the pull ring 309 to rotate and tilt upward in the rotating groove 304, which can drive the suction cup 307 on the lower surface of the guide column 306 to expand in all directions, and at the same time, as the electric push rod 302 The suction cup 307 is pressed against the outer surface of the docking plate 310 through the docking groove 311, and the suction cup 307 is rotated and tilted inwardly along the curvature of the lampshade surface, so that the suction cup 307 can be fully sucked on the outer surface of the lampshade. Then, the air in the suction cup 307 can be extracted through the air pipe by starting the vacuum pump 301. Since the air inside the suction cup 307 is extracted, a low-pressure area is formed, while the outside of the suction cup 307 is still at normal atmospheric pressure. At this time, the external atmospheric pressure will press the suction cup 307 against the surface of the lampshade, thereby generating a strong adsorption force, which firmly adsorbs the suction cup 307 on the lampshade, and drives the lampshade to move to all lateral positions again through the servo motor 104. Then, the vacuum pump 301 can inflate the suction cup 307 to release the suction force of the suction cup 307 on the lampshade, thereby completing the transportation operation of the lampshade.

[0036] In summary: the suction cup 307 can be adaptively rotated according to the curvature of the lampshade, thereby increasing the contact area between the suction cup 307 and the surface of the lampshade, forming a more stable adsorption effect. This adaptive adjustment can reduce the slippage problem caused by poor contact and improve the stability of the grasping process.

[0037] Parts not involved in the present invention are the same as the prior art or can be implemented by the prior art. Although the embodiments of the present invention have been shown and described, it is understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A servo traverse manipulator, characterized in that: include: A mounting platform (1), wherein a slide rail (101) is fixedly mounted on the upper surface of the mounting platform (1), a mounting plate (103) is slidably mounted on the outer surface of the slide rail (101), a servo motor (104) is fixedly mounted on the upper surface of the mounting plate (103), an output shaft of the servo motor (104) passes through the lower end of the mounting plate (103) and is fixedly mounted with a gear (106), the gear (106) is meshed with a rack (102), and the rack (102) is fixedly mounted on the upper surface of the mounting platform (1) and is located between two groups of the slide rails (101); A connecting tube (105) is fixedly mounted on the upper surface of the mounting plate (103), a linear module (2) is fixedly mounted inside the connecting tube (105), a fastening plate (201) is fixedly mounted on the lower surface of the movable block of the linear module (2), and a transfer mechanism (3) is fixedly mounted on the lower surface of the fastening plate (201).

2. A servo traverse manipulator according to claim 1, characterized in that: The transfer mechanism (3) comprises an electric push rod (302), wherein the electric push rod (302) and the vacuum pump (301) are both fixedly mounted on the lower surface of the fastening plate (201), a connecting disk (303) is fixedly mounted on the lower surface of the piston rod of the electric push rod (302), a rotating groove (304) is provided on the outer surface of the connecting disk (303), a connecting plate (305) is rotatably mounted in the rotating groove (304), a guide column (306) is fixedly mounted in the connecting plate (305), and a suction cup (307) is rotatably mounted on the lower surface of the guide column (306).

3. A servo-type traverse robot according to claim 2, characterized in that: The suction cup (307) is connected to the suction port of the vacuum pump (301) through an air pipe passing through the guide column (306), and the vacuum pump (301) is fixedly mounted on the lower surface of the fastening plate (201).

4. A servo-type traverse robot according to claim 2, characterized in that: Pull rings (309) are fixedly installed in the rotating groove (304) and on the lower surface of the connecting plate (305), and a spring (308) is fixedly connected between the two groups of pull rings (309).

5. The servo-type traverse robot according to claim 2, characterized in that: The lower surface of the connecting plate (305) contacts the upper surface of the rotating groove (304), so that the connecting plate (305) can only rotate and tilt upward.

6. The servo-type traverse robot according to claim 2, characterized in that: A docking plate (310) is fixedly mounted on the lower surface of the guide column (306), and the docking plate (310) is rotatably mounted in a docking groove (311). The docking groove (311) is formed on the outer surface of the convex column on the upper surface of the suction cup (307).

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