High-precision rack mechanical arm and working method

Abstract

The application provides a high-precision rack mechanical hand and relates to the field of mechanical equipment. The high-precision rack mechanical hand comprises a workbench, an up-down movement shaft and a clamping jaw mounting seat, the top of the workbench is provided with a mounting seat, a sliding table, a placing rack and a hydraulic cylinder, and the top of the workbench is provided with a supporting cross beam. The high-precision rack mechanical hand is driven by friction and positioned by an electromagnet, the precision of left-right movement distance control of the up-down movement shaft is improved, and the precision of displacement control of the up-down movement shaft is ensured. The up-down position of the up-down movement shaft is controlled by a lifting positive and negative motor and a lifting friction wheel, the position of the up-down movement shaft is fixed by a limiting electromagnet and the lifting positive and negative motor, the precision of up-down position control of the up-down movement shaft is ensured, and a high-precision mechanical hand is provided.

Description

TECHNICAL FIELD

[0001] The application relates to a mechanical hand, in particular a high-precision mechanical hand, and belongs to the technical field of mechanical equipment. BACKGROUND

[0002] In a production line, various forms of mechanical hands are applied more and more widely. Modern mechanical hands adopt various electrical, mechanical, hydraulic and pneumatic transmission mechanisms and are controlled by electronic systems to realize the action of imitating human arms and fingers. The structures of the hand claws are various, and the pneumatic hand claw is relatively common in driving by compressed air.

[0003] The existing patent application No. 201320701165.2 relates to a mechanical hand, in particular to a simple mechanical hand with gear transmission, which comprises a base body, a cylinder, a left hand claw, a right hand claw and a driving sliding block. The cylinder is fixed on the base body, and the piston rod of the cylinder is connected with the driving sliding block. The driving sliding block is provided with a first rack on both sides. In addition, a first driven block, a second driven block and a secondary gear are additionally provided. The first driven block and the second driven block are provided with a second rack, and are respectively connected with the base body along the radial direction of the cylinder. The base body on both sides of the driving sliding block is provided with a secondary gear. The secondary gear on one side of the driving sliding block is matched with the first rack on one side of the driving sliding block and the second rack of the first driven block. The secondary gear on the other side is matched with the first rack on the other side of the driving sliding block and the second rack of the second driven block. The transmission of the gear and the rack structure is stable during use.

[0004] Some mechanical hands control the displacement of the mechanical hands by the gear and rack transmission structure during application. However, the displacement of the mechanical hands is limited by the gear and rack transmission process. When the gear and rack are not completely engaged but the mechanical hand stops moving, there is an unstable phenomenon. The mechanical hand cannot stop or stop in time due to the influence of the gear and rack transmission in some positions, which affects the stability and precision of the overall movement of the mechanical hand. SUMMARY

[0005] (I) Technical problems solved

[0006] The purpose of the present application is to provide a high-precision mechanical hand to solve the problems in the prior art that the displacement of the mechanical hand is limited by the gear and rack transmission process. When the gear and rack are not completely engaged but the mechanical hand stops moving, there is an unstable phenomenon. The mechanical hand cannot stop or stop in time due to the influence of the gear and rack transmission in some positions, which affects the stability and precision of the overall movement of the mechanical hand.

[0007] (II) Technical solutions

[0008] In order to achieve the above object, the application is implemented by the following technical scheme: the high-precision shelf manipulator comprises a workbench, an up-down movement shaft and a clamping jaw mounting seat, the top of the workbench is provided with a mounting seat, a sliding table, a placing rack and a hydraulic cylinder, the top of the workbench is provided with a support cross beam, one side of the support cross beam is slidably connected with a mounting box, the inside of the mounting box is provided with a lifting reversible motor, a lifting friction wheel, a limiting electromagnet and a fixing plate, and the top of the support cross beam is provided with a mounting horizontal plate, an electromagnet, a friction wheel, a reversible motor and a friction plate.

[0009] Preferably, the mounting seat is fixedly connected to the top of the workbench, the sliding table is slidably connected to the top of the mounting seat, and the placing rack is mounted on the top of the sliding table.

[0010] Preferably, the hydraulic cylinder is fixedly connected to one side of the sliding table, and the hydraulic cylinder is fixedly connected to the workbench, and an auxiliary table is mounted on one side of the top of the workbench.

[0011] Preferably, a vertical beam is fixedly connected between the workbench and the support cross beam, a protection box is sleeved outside the support cross beam, and the protection box is fixedly connected with the mounting box, so that the reversible motor is protected from dust falling on the top of the reversible motor.

[0012] Preferably, the mounting horizontal plate is fixedly connected between the protection box and the mounting box, the reversible motor is fixedly connected between the mounting horizontal plate and the friction wheel, and the electromagnet is arranged on the top of the support cross beam and fixedly connected with the mounting horizontal plate.

[0013] Preferably, the friction plate is fixedly connected to the top of the support cross beam, and the friction plate is arranged on one side of the friction wheel, the reversible motor works to rotate the friction wheel, the friction wheel rubs against the fixed friction plate of the support cross beam, and the mounting box moves left and right under the limitation of the support cross beam.

[0014] Preferably, the clamping jaw mounting seat is mounted on the bottom of the up-down movement shaft, the up-down movement shaft penetrates through the mounting box and is slidably connected with the mounting box, the fixing plate is fixedly connected between the lifting reversible motor and the mounting box, the lifting reversible motor and the lifting friction wheel cooperate to drive the up-down movement shaft, and the up-down positions of the up-down movement shaft and the clamping jaw mounting seat are adjusted.

[0015] Preferably, the up-down movement shaft is fixedly connected with a vertical friction plate, the vertical friction plate is arranged on one side of the lifting friction wheel, the lifting friction wheel is mounted on the output end of the lifting reversible motor, the limiting electromagnet works synchronously with the up-down movement shaft to be fixed by magnetic force adsorption, the position of the up-down movement shaft is fixed, and a bent plate is fixedly connected between the limiting electromagnet and the fixing plate.

[0016] A high-precision rack mechanical hand and a working method, based on the high-precision rack mechanical hand,

[0017] Step one: the controller receives a start command, and the controller controls the lifting positive and negative motor to work;

[0018] Step two: the controller judges the stroke length according to the working time length of the lifting positive and negative motor, and records the stroke;

[0019] Step three: the controller adjusts the output magnetic force according to the stroke length of the last time, controls the magnetic force size of the limit electromagnet and the electromagnet, and takes the magnetic force as the pressure to control the sliding friction.

[0020] The present application provides a high-precision rack mechanical hand, which has the following beneficial effects:

[0021] 1. The high-precision rack mechanical hand controls the left and right positions of the up and down movement shaft through the cooperation of the friction wheel and the friction plate, positions the electromagnet after driving by friction, improves the precision of the left and right movement distance control of the up and down movement shaft, and ensures the precision of the displacement control of the up and down movement shaft. At the same time, the limit electromagnet works synchronously with the up and down movement shaft to fix the position of the up and down movement shaft by magnetic attraction. The up and down position of the up and down movement shaft is controlled by the cooperation of the lifting positive and negative motor and the lifting friction wheel, the position of the up and down movement shaft is fixed by the cooperation of the limit electromagnet and the lifting positive and negative motor, the precision of the up and down position control of the up and down movement shaft is ensured, and a high-precision mechanical hand is provided by the parts such as the up and down movement shaft, the jaw mounting seat, the support beam, the electromagnet, the friction wheel, the positive and negative motor, the friction plate, the lifting positive and negative motor, the lifting friction wheel, the vertical friction plate, and the limit electromagnet.

[0022] 2. The high-precision rack mechanical hand controls the left and right positions of the sliding table through the hydraulic cylinder, drives the placing rack to move left and right, transports the workpiece on the top of the placing rack, reduces the stroke of the jaw mounting seat movement, reduces the use frequency of the positive and negative motor and the lifting positive and negative motor, prolongs the service life of the positive and negative motor and the lifting positive and negative motor, and reduces economic losses. DETAILED DESCRIPTION

[0023] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0024] Figure 2 It is a schematic diagram of the structure of the support beam of the present application;

[0025] Figure 3 It is a schematic diagram of the A part structure of the present application; Figure 2

[0026] Figure 4 It is a schematic diagram of the structure of the fixed plate of the present application.

[0027] ​In the figure: 1, workbench; 2, mounting seat; 3, sliding table; 4, placing rack; 5, hydraulic cylinder; 6, auxiliary table; 7, vertical beam; 8, up-down movement shaft; 9, clamping jaw mounting seat; 10, mounting box; 11, protection box; 12, support cross beam; 13, mounting cross plate; 14, electromagnet; 15, friction wheel; 16, forward-reverse motor; 17, friction plate; 18, fixed plate; 19, lifting forward-reverse motor; 20, lifting friction wheel; 21, vertical friction plate; 22, limit electromagnet. DETAILED DESCRIPTION

[0028] Example one:

[0029] The embodiment of the application provides a high-precision mechanical shelf mechanical hand.

[0030] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 , including workbench 1, up-down movement shaft 8 and clamping jaw mounting seat 9, the top of the workbench 1 is provided with mounting seat 2, sliding table 3, placing rack 4 and hydraulic cylinder 5, the mounting seat 2 is fixedly connected to the top of the workbench 1, the sliding table 3 is slidingly connected to the top of the mounting seat 2, the placing rack 4 is installed on the top of the sliding table 3, the hydraulic cylinder 5 is fixedly connected to one side of the sliding table 3, the hydraulic cylinder 5 is fixedly connected with the workbench 1, the auxiliary table 6 is installed on one side of the top of the workbench 1, the support cross beam 12 is arranged on the top of the workbench 1, the vertical beam 7 is fixedly connected between the workbench 1 and the support cross beam 12, the protection box 11 is sleeved outside the support cross beam 12, the protection box 11 is fixedly connected with the mounting box 10, the mounting box 10 is slidingly connected to one side of the support cross beam 12, the lifting forward-reverse motor 19, the lifting friction wheel 20, the limit electromagnet 22 and the fixed plate 18 are arranged in the mounting box 10, the mounting cross plate 13, the electromagnet 14, the friction wheel 15, the forward-reverse motor 16 and the friction plate 17 are arranged on the top of the support cross beam 12, the clamping jaw mounting seat 9 is installed on the bottom of the up-down movement shaft 8, the up-down movement shaft 8 penetrates through the mounting box 10 and is slidingly connected with the mounting box 10, the fixed plate 18 is fixedly connected between the lifting forward-reverse motor 19 and the mounting box 10, the vertical friction plate 21 is fixedly connected to the up-down movement shaft 8, the vertical friction plate 21 is arranged on one side of the lifting friction wheel 20, the lifting friction wheel 20 is installed on the output end of the lifting forward-reverse motor 19, the limit electromagnet 22 is fixedly connected with the fixed plate 18, the bending plate is arranged between the limit electromagnet 22 and the fixed plate 18, the mounting cross plate 13 is fixedly connected between the protection box 11 and the mounting box 10, the forward-reverse motor 16 is fixedly connected between the mounting cross plate 13 and the friction wheel 15, the electromagnet 14 is arranged on the top of the support cross beam 12 and is fixedly connected with the mounting cross plate 13, the support cross beam 12 is fixedly connected with the friction plate 17 on the top, and the friction plate 17 is arranged on one side of the friction wheel 15.

[0031] Specifically, the sliding table 3 is installed on the top of the workbench 1 through the mounting seat 2, and the hydraulic cylinder 5 is installed between the sliding table 3 and the workbench 1. The left and right positions of the sliding table 3 are controlled through the hydraulic cylinder 5, so that the sliding table 3 drives the placing rack 4 to move left and right. The workpiece on the top of the placing rack 4 is transported, the stroke of the clamping jaw mounting seat 9 is reduced, the use frequency of the forward and reverse motor 16 and the lifting forward and reverse motor 19 is reduced, the service life of the forward and reverse motor 16 and the lifting forward and reverse motor 19 is prolonged, and economic loss is reduced.

[0032] The lifting forward and reverse motor 19 is installed in the mounting box 10 installed on the support beam 12 through the fixed plate 18. The working lifting forward and reverse motor 19 drives the lifting friction wheel 20 to rotate forward or reverse, and the lifting friction wheel 20 and the vertical friction plate 21 fixed with the up-down moving shaft 8 have a large friction force. Therefore, the rotating lifting friction wheel 20 drives the up-down moving shaft 8 to move up and down through the vertical friction plate 21, so that the up-down moving shaft 8 drives the clamping jaw mounting seat 9 to move up and down. At the same time, a limiting electromagnet 22 is installed on one side of the fixed plate 18. When the lifting forward and reverse motor 19 stops working, the limiting electromagnet 22 works synchronously with the up-down moving shaft 8 to be fixed by magnetic force adsorption, so as to fix the position of the up-down moving shaft 8. The up-down moving shaft 8 is driven by the lifting forward and reverse motor 19 and the lifting friction wheel 20, and the up-down position of the up-down moving shaft 8 and the clamping jaw mounting seat 9 is adjusted.

[0033] At the same time, the mounting box 10 is fixedly connected with the forward and reverse motor 16 through the installation horizontal plate 13. The friction wheel 15 rotates through the working of the forward and reverse motor 16, and the friction wheel 15 and the friction plate 17 fixed with the support beam 12 are rubbed, so that the mounting box 10 moves left and right under the limitation of the support beam 12. The left and right positions of the up-down moving shaft 8 and the clamping jaw mounting seat 9 are controlled. When the forward and reverse motor 16 stops working, the electromagnet 14 works synchronously to be adsorbed and fixed with the support beam 12 by magnetic force, so as to limit the position of the mounting box 10.

[0034] The left and right positions of the upper and lower moving shafts 8 are controlled by the cooperation of the friction wheel 15 and the friction plate 17. The electromagnet 14 is driven by friction to position the rear end, thereby improving the accuracy of the left and right movement distance control of the upper and lower moving shafts 8 and ensuring the accuracy of the displacement control of the upper and lower moving shafts 8. At the same time, the limit electromagnet 22 works synchronously with the upper and lower moving shafts 8 through magnetic adsorption to fix the position of the upper and lower moving shafts 8. The upper and lower positions of the upper and lower moving shafts 8 are controlled by the cooperation of the lifting forward and reverse motor 19 and the lifting friction wheel 20. The position of the upper and lower moving shafts 8 is fixed by the cooperation of the limit electromagnet 22 and the lifting forward and reverse motor 19 to ensure the accuracy of the upper and lower position control of the upper and lower moving shafts 8. A high-precision manipulator is provided by the upper and lower moving shafts 8, the clamp mounting seat 9, the support beam 12, the electromagnet 14, the friction wheel 15, the forward and reverse motor 16, the friction plate 17, the lifting forward and reverse motor 19, the lifting friction wheel 20, the vertical friction plate 21, the limit electromagnet 22 and other parts.

[0035] Example 2:

[0036] A high-precision mechanical frame manipulator and a working method, based on the high-precision mechanical frame manipulator of embodiment 1,

[0037] Step 1: The controller receives the start command and controls the lifting forward and reverse motor 19 to work;

[0038] Step 2: The controller determines the stroke length based on the working time of the lifting forward and reverse motor 19 and records the stroke;

[0039] Step 3: The controller adjusts the output magnetic force according to the last stroke length, controls the magnetic force of the limit electromagnet 22 and the electromagnet 14, and uses the magnetic force as pressure to control the sliding friction force.

[0040] In terms of control, by continuously adjusting and changing the friction force of each sliding, it can better adapt to the current working conditions and make adjustments based on the current movement error. The friction force can be increased or reduced to make the robot movement more precise.

[0041] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-precision mechanical frame manipulator, comprising a workbench (1), an upper and lower motion axis (8) and a gripper mounting seat (9), characterized in that: The top of the workbench (1) is provided with a mounting seat (2), a sliding table (3), a placement frame (4) and a hydraulic cylinder (5); the top of the workbench (1) is provided with a supporting beam (12); one side of the supporting beam (12) is slidably connected to a mounting box (10); the interior of the mounting box (10) is provided with a lifting forward and reverse motor (19), a lifting friction wheel (20), a limiting electromagnet (22) and a fixing plate (18); the top of the supporting beam (12) is provided with a mounting plate (13), an electromagnet (14), a friction wheel (15), a forward and reverse motor (16) and a friction plate (17); The mounting seat (2) is fixedly connected to the top of the workbench (1), the sliding platform (3) is slidably connected to the top of the mounting seat (2), and the placement rack (4) is installed on the top of the sliding platform (3); The hydraulic cylinder (5) is fixedly connected to one side of the sliding platform (3), the hydraulic cylinder (5) is fixedly connected to the workbench (1), and an auxiliary platform (6) is installed on one side of the top of the workbench (1); A vertical beam (7) is fixedly connected between the workbench (1) and the supporting beam (12); a protective box (11) is sleeved on the outer side of the supporting beam (12); and the protective box (11) is fixedly connected to the installation box (10); The mounting transverse plate (13) is fixedly connected between the protection box (11) and the mounting box (10), the forward and reverse motor (16) is fixedly connected between the mounting transverse plate (13) and the friction wheel (15), and the electromagnet (14) is arranged on the top of the supporting beam (12) and fixedly connected to the mounting transverse plate (13); A friction plate (17) is fixedly connected to the top of the support beam (12), and the friction plate (17) is arranged on one side of the friction wheel (15); The clamping claw mounting seat (9) is mounted on the bottom of the up-and-down motion shaft (8), the top of the up-and-down motion shaft (8) passes through the mounting box (10) and is slidably connected to the mounting box (10), and the fixing plate (18) is fixedly connected between the lifting forward and reverse motor (19) and the mounting box (10); The up-and-down motion shaft (8) is fixedly connected to a vertical friction plate (21), the vertical friction plate (21) is arranged on one side of the lifting friction wheel (20), the lifting friction wheel (20) is installed on the output end of the lifting forward and reverse motor (19), and a bent plate is fixedly connected between the limiting electromagnet (22) and the fixed plate (18).

2. A high-precision mechanical frame manipulator and a working method, based on the high-precision mechanical frame manipulator according to claim 1, characterized in that: Step 1: The controller receives a start command, and the controller controls the lifting forward and reverse motors (19) and the forward and reverse motors (16) to work respectively; Step 2: The controller determines the stroke length according to the working time of the lifting forward and reverse motor (19) and the forward and reverse motor (16), and records the stroke; Step 3: The controller adjusts the output magnetic force according to the previous stroke length, controls the magnetic force of the limit electromagnet (22) and the electromagnet (14), and uses the magnetic force as pressure to control the sliding friction force.

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