Mechanical arm

Abstract

A manipulator comprises a guide rail assembly, a moving seat, a lifting stand column, a clamping assembly, a rotary opening and closing assembly, a first driving device, a second driving device and a third driving device. The moving seat is mounted on the guide rail assembly in a left-right moving mode, the first driving device is used for driving the moving seat to move left and right, the lifting stand column is mounted on the moving seat in an up-down moving mode, and the second driving device is used for driving the lifting stand column to lift up and down. The clamping assembly comprises a mounting base and clamping plates, the mounting base is mounted at the bottom of the lifting stand column, and the clamping plates are mounted at the left end and the right end of the mounting base and movably mounted on the mounting base. The utility model provides the manipulator according to the content, and solves the problem that parts of the manipulator in the prior art are corroded by steam generated by heating electroplating liquid and cannot work normally.

Description

Technical Field

[0001] The utility model relates to the technical field of material taking and placing, in particular to a manipulator. Background Art

[0002] Centrifugal plating is an electroplating technology that uses centrifugal force to deposit metal ions on the surface of the substrate. It is an efficient, fast and uniform electroplating method, widely used in electronics, aviation, automobiles, medical and other fields. In the centrifugal plating process, the products in the plating tank need to be nickel-plated, tin-plated, cleaned and dried, so the plating tank needs to be frequently placed in different stations by a robot.

[0003] However, in the prior art, during the electroplating process, the steam generated by heating the electroplating solution will corrode the robot, causing the parts of the robot to be damaged and unable to work normally. Utility Model Content

[0004] The utility model aims to provide a manipulator, which solves the problem that the parts of the manipulator in the prior art are corroded by the steam generated by the heating of the electroplating liquid and cannot work normally.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] A manipulator comprises a guide rail assembly, a moving seat, a lifting column, a clamping assembly, a rotating opening and closing assembly, a first driving device, a second driving device and a third driving device;

[0007] The movable seat can be moved left and right and installed on the guide rail assembly, the first driving device is used to drive the movable seat to move left and right, the lifting column can be moved up and down and installed on the movable seat, and the second driving device is used to drive the lifting column to move up and down;

[0008] The clamping assembly comprises a mounting seat and a clamping plate, wherein the mounting seat is mounted on the bottom of the lifting column, and the clamping plates are respectively mounted on the left and right ends of the mounting seat, and the clamping plates are movably mounted on the mounting seat;

[0009] The rotating opening and closing assembly includes a rotating disk, a rotating wheel and a connecting piece;

[0010] The turntable is located inside the mounting seat, and the turntable can be rotatably mounted on the lifting column. The turntable is provided with an arc groove, and the rotating wheel is located in the arc groove. One end of the connecting member is connected to the rotating wheel, and the other end of the connecting member is connected to the clamping plate. The third driving device is used to drive the turntable to rotate;

[0011] The third driving device, the second driving device and the first driving device are respectively located above the clamping assembly.

[0012] Further, the guide rail assembly includes a guide rail, a connecting frame, a mounting frame and a first rack rail;

[0013] The two guide rails are connected by the connecting frame, the mounting frame is installed on the outer side of the guide rails, and the mounting frame is installed with the first rack rail;

[0014] The first driving device is installed on the moving seat, and a first gear is installed at the output of the first driving device, and the first gear is meshed with the first rack.

[0015] Specifically, the lifting column is provided with a second rack, the second driving device is installed on the moving seat, a second gear is installed at the output end of the second driving device, and the second gear is meshed with the second rack.

[0016] Preferably, the movable seat is provided with a guide slider, the lifting column is provided with a guide rail, and the guide rail is slidably mounted on the guide slider.

[0017] In some embodiments, the rotary opening and closing assembly further includes a rotating shaft, and the rotating shaft is rotatably mounted on the lifting column. The third driving device is mounted on the column, and the third driving device is used to drive the rotating shaft to rotate.

[0018] Furthermore, the rotating opening and closing assembly also includes a first bevel gear, a second bevel gear, a third gear, a fixed seat, a synchronization rod and a driving rack;

[0019] The fixing seat is fixedly mounted on the lifting column, the synchronization rod is rotatably mounted on the fixing seat, one end of the synchronization rod is mounted with the first bevel gear, and the other end of the synchronization rod is mounted with the third gear;

[0020] The second bevel gear is installed on the top of the rotating shaft, the second bevel gear is meshed with the first bevel gear, the output end of the third driving device is connected to the driving rack, the third driving device is used to drive the driving rack to move up and down, and the driving rack is meshed with the third gear.

[0021] Specifically, a clearing area is provided in the middle of the movable seat, and the lifting column is located in the clearing area.

[0022] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0023] 1. Through the guide rail assembly, the moving seat, the lifting column, the clamping assembly, the mounting seat, the clamping plate, the rotating opening and closing assembly, the turntable, the arc groove, the rotating wheel, the connecting piece, the first driving device, the second driving device and the third driving device, a rotating driving opening and closing method is adopted instead of a telescopic opening and closing method. Under the arc limiting action of the arc groove, it is beneficial to improve the stability of the opening and closing. Further, combined with the rotation of the rotating wheel, it is beneficial to improve the smoothness of the rotation of the turntable, prevent jamming and stopping, so that the two clamping blocks can be opened and closed quickly and stably, so as to improve the clamping quality and efficiency of the manipulator;

[0024] 2. The third drive device, the second drive device and the first drive device are respectively located above the clamping assembly, and the turntable and the rotating wheel are both located inside the mounting seat. The mounting seat plays a blocking and protective role. The steam generated by the heating of the electroplating liquid cannot directly corrode the transmission parts and the drive assembly, thereby achieving the effect of improving the service life of each component of the manipulator. In addition, the components are made of stainless steel and corrosion-resistant materials, which can ensure the long-term use of each component, are suitable for various harsh environments, and can effectively resist corrosive gases. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the structure of a manipulator in one embodiment of the utility model;

[0026] Figure 2 This is a schematic structural diagram of a guide rail assembly in one embodiment of the utility model;

[0027] Figure 3 This is a schematic diagram of the structure of a turntable in one embodiment of the utility model;

[0028] Figure 4 This is a schematic diagram of the structure of a driving rack in one embodiment of the utility model;

[0029] Among them: guide rail assembly 1, guide rail 11, connecting frame 12, mounting frame 13, first rack 14, moving seat 2, guide slider 21, lifting column 3, guide slide rail 31, second rack 32, clamping assembly 4, mounting seat 41, clamping plate 42, rotating opening and closing assembly 5, turntable 51, arc groove 511, rotating wheel 52, connecting piece 53, rotating shaft 54, first bevel gear 55, second bevel gear 56, third gear 57, fixing seat 58, synchronization rod 59, driving rack 510, first driving device 6, second driving device 7, third driving device 8. DETAILED DESCRIPTION

[0030] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0031] In the description of the present utility model, it is necessary to understand that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", "inner side", "outer side", "inner end", "outer end", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features, which are used to distinguish and describe the features, without distinction of order or importance. In the description of the present utility model, unless otherwise specified, "multiple" means more than two.

[0032] In one embodiment of the present invention, Figure 1-4As shown, a manipulator comprises a guide rail assembly 1, a moving seat 2, a lifting column 3, a clamping assembly 4, a rotating opening and closing assembly 5, a first driving device 6, a second driving device 7 and a third driving device 8; the moving seat 2 can be installed on the guide rail assembly 1 for left-right movement, the first driving device 7 is used to drive the moving seat 2 to move left-right, the lifting column 3 can be installed on the moving seat 2 for up-down movement, and the second driving device 7 is used to drive the lifting column 3 to move up and down; the clamping assembly 4 comprises a mounting seat 41 and a clamping plate 42, the mounting seat 41 is installed at the bottom of the lifting column 3, and the clamping plates 42 are installed at the left and right ends of the mounting seat 41 respectively. The clamping plate 42 can be movably installed on the mounting seat 41; the rotating opening and closing component 5 includes a turntable 51, a rotating wheel 52 and a connecting member 53; the turntable 51 is located inside the mounting seat 41, and the turntable 51 can be rotatably installed on the lifting column 3, the turntable 51 is provided with an arc groove 511, the rotating wheel 52 is located in the arc groove 511, one end of the connecting member 53 is connected to the rotating wheel 52, and the other end of the connecting member 53 is connected to the clamping plate 42, and the third driving device 8 is used to drive the turntable 51 to rotate; the third driving device 6, the second driving device 7 and the first driving device 8 are respectively located above the clamping component 4.In this embodiment, the turntable 51 is provided with two arc-shaped grooves 511, one end of the arc-shaped groove 511 is closer to the center of the turntable 51, and the other end of the arc-shaped groove 511 is farther from the center of the turntable 51. The number of the rotating wheels 52 is two. When working, the first driving device 6 drives the moving seat 2 to move left and right on the guide rail assembly 1, so that the clamping assembly 4 moves to the top of the electroplating cylinder, and then the third driving device 8 drives the turntable 51 to rotate. When the turntable 51 rotates, the two rotating wheels 52 gradually move away from the turntable under the limiting action of the corresponding arc-shaped grooves 511. The center of 51, that is, the two rotating wheels 52 move away from each other, so that the connecting member 53 drives the clamping plates 42 to move away from each other and open. After reaching the maximum opening amount, the second driving device 7 drives the lifting column 3 to descend, so that the mounting seat drives the clamping plates 42 to descend to facilitate the position of clamping the electroplating cylinder. The third driving device 8 drives the turntable 51 to rotate, so that the two rotating wheels 52 drive the two clamping plates 42 to move closer to each other through the connecting member 53 under the action of the arc groove 511, thereby clamping the electroplating cylinder. After the electroplating cylinder is clamped, the second driving device 7 drives the lifting column 3 to move upward. The movable seat 2 is lifted and driven to move to the rear process by the first driving device 71; the present application adopts a rotary drive opening and closing method rather than a telescopic opening and closing method through the guide rail assembly 1, the movable seat 2, the lifting column 3, the clamping assembly 4, the mounting seat 41, the clamping plate 42, the rotary opening and closing assembly 5, the turntable 51, the arc groove 511, the rotating wheel 52, the connecting piece 53, the first driving device 6, the second driving device 7 and the third driving device 8. Under the arc limiting action of the arc groove 511, it is beneficial to improve the stability of the opening and closing. Further, combined with the rotatability of the rotating wheel 52, it is beneficial to improve the turntable The rotation smoothness of 51 prevents jamming and stopping, so that the two clamping blocks 42 can open and close quickly and stably, thereby improving the clamping quality and clamping efficiency of the manipulator, and the third drive device 6, the second drive device 7 and the first drive device 8 are respectively located above the clamping assembly 4, and the turntable 51 and the rotating wheel 52 are both located inside the mounting seat 41. The mounting seat 41 plays a blocking and protective role. The steam generated by the heating of the electroplating liquid cannot directly corrode the transmission parts and the drive assembly, thereby achieving the effect of improving the service life of each component of the manipulator. Preferably, the components are made of stainless steel and corrosion-resistant materials, which can ensure the long-term use of each component, are suitable for various harsh environments, and can effectively resist corrosive gases.

[0033] like Figure 1-2As shown, the guide rail assembly 1 includes a guide rail 11, a connecting frame 12, a mounting frame 13 and a first rack 14; the two guide rails 11 are connected by the connecting frame 12, the mounting frame 13 is mounted on the outer side of the guide rail 11, and the mounting frame 13 is mounted with the first rack 14; the first driving device 6 is mounted on the moving seat 2, and the output of the first driving device 6 is mounted with a first gear, and the first gear is meshed with the first rack 14. In this embodiment, the number of the guide rails 11 is two, and the two guide rails 11 are connected and fixed by the connecting frame 12 to improve the structural stability, and a sensor can be installed on the connecting frame 12 to detect the moving position of the moving seat 2. Further, the mounting frame 13 is installed on the outer side of one of the guide rails 11, and the first rack 14 is installed on the mounting frame 13. The first driving device 6 is a motor. When working, the first driving device 6 drives the first gear at its output end to rotate, and the first gear moves on the first rack 14, so that the moving seat 2 moves left and right, which is convenient and fast, and has high transmission efficiency.

[0034] like Figure 1 and Figure 4 As shown, the lifting column 3 is provided with a second rack 32, the second driving device 7 is installed on the moving seat 2, and the output end of the second driving device 7 is provided with a second gear, and the second gear is meshed with the second rack 32. In this embodiment, the second driving device 7 is a motor. When working, the second driving device 7 drives the second gear at its output end to rotate. Under the action of the second gear and the second rack 32, the second rack 32 drives the lifting column 3 to move up and down, which is convenient and fast with high transmission efficiency.

[0035] like Figure 1 As shown, the moving seat 2 is provided with a guide slider 21, and the lifting column 3 is provided with a guide rail 31, and the guide rail 31 is slidably mounted on the guide slider 21. In this embodiment, the number of the guide slider 21 and the guide rail 31 is two, and the two guide sliders 21 are respectively mounted on the left and right inner walls of the moving seat 2, and the two guide rails 31 are respectively mounted on the left and right sides of the lifting column 31, and the two guide rails 31 are respectively slidably mounted on the two guide sliders 21, so as to improve the moving smoothness of the lifting column 3.

[0036] like Figure 4As shown, the rotary opening and closing assembly 5 further includes a rotating shaft 54, which is rotatably mounted on the lifting column 3, and the third driving device 8 is mounted on the column 3, and the third driving device 8 is used to drive the rotating shaft 54 ​​to rotate. In this embodiment, the rotating shaft 54 ​​is mounted inside the lifting column 3, the bottom of the rotating shaft 54 ​​is connected to the top surface of the rotating disk 51, and the top of the rotating shaft 54 ​​is directly connected to the output shaft of the third driving device 8. The third driving device 8 is a motor. When working, the output shaft of the third driving device 8 rotates, thereby driving the rotating shaft 54 ​​to rotate, which is convenient and fast, and has high transmission efficiency.

[0037] like Figure 4 As shown, the rotating opening and closing component 5 also includes a first bevel gear 55, a second bevel gear 56, a third gear 57, a fixed seat 58, a synchronization rod 59 and a driving rack 510; the fixed seat 58 is fixedly installed on the lifting column 3, the synchronization rod 59 is rotatably installed on the fixed seat 58, one end of the synchronization rod 58 is installed with the first bevel gear 55, and the other end of the synchronization rod 58 is installed with the third gear 57; the second bevel gear 56 is installed on the top of the rotating shaft 54, the second bevel gear 56 is meshed with the first bevel gear 55, the output end of the third driving device 8 is connected to the driving rack 510, the third driving device 8 is used to drive the driving rack 510 to move up and down, and the driving rack 510 is meshed with the third gear 57. In this embodiment, the third driving device 8 is a cylinder. When working, the third driving device 8 drives the driving rack 510 to move up and down. The driving rack 510 drives the third gear 57 to rotate by moving up and down. The third gear 57 makes the first bevel gear 55 rotate synchronously under the action of the synchronization rod 59, so that the first bevel gear 55 drives the rotating shaft 54 ​​to rotate through the second bevel gear 56. The rotating shaft 54 ​​is rotated through the structure of the cylinder rack gear, which is convenient and fast with high transmission efficiency.

[0038] like Figure 1 As shown, a clearing zone is provided in the middle of the moving seat 2, and the lifting column 3 is located in the clearing zone. In this embodiment, a clearing zone is provided in the middle of the moving seat 2, so that the lifting column 3 is arranged in the clearing zone, that is, the lifting column 3 moves up and down in the clearing zone. The clearing zone is arranged in the middle of the moving seat 2, so that the center of gravity of the lifting column 3 can be in the middle of the moving seat 2, preventing it from tilting or uneven force.

[0039] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0040] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A robot, characterized in that: It includes a guide rail assembly, a moving seat, a lifting column, a clamping assembly, a rotating opening and closing assembly, a first driving device, a second driving device and a third driving device; The movable seat can be moved left and right and installed on the guide rail assembly, the first driving device is used to drive the movable seat to move left and right, the lifting column can be moved up and down and installed on the movable seat, and the second driving device is used to drive the lifting column to move up and down; The clamping assembly comprises a mounting seat and a clamping plate, wherein the mounting seat is mounted on the bottom of the lifting column, and the clamping plates are respectively mounted on the left and right ends of the mounting seat, and the clamping plates are movably mounted on the mounting seat; The rotating opening and closing assembly includes a rotating disk, a rotating wheel and a connecting piece; The turntable is located inside the mounting seat, and the turntable can be rotatably mounted on the lifting column. The turntable is provided with an arc groove, and the rotating wheel is located in the arc groove. One end of the connecting member is connected to the rotating wheel, and the other end of the connecting member is connected to the clamping plate. The third driving device is used to drive the turntable to rotate; The third driving device, the second driving device and the first driving device are respectively located above the clamping assembly.

2. A robot according to claim 1, characterized in that: The guide rail assembly comprises a guide rail, a connecting frame, a mounting frame and a first rack rail; The two guide rails are connected by the connecting frame, the mounting frame is installed on the outer side of the guide rails, and the mounting frame is installed with the first rack rail; The first driving device is installed on the moving seat, and a first gear is installed at the output of the first driving device, and the first gear is meshed with the first rack.

3. A robot according to claim 1, characterized in that: The lifting column is provided with a second rack, the second driving device is installed on the moving seat, the output end of the second driving device is installed with a second gear, and the second gear is meshed with the second rack.

4. A robot according to claim 3, characterized in that: The movable seat is provided with a guide slider, and the lifting column is provided with a guide rail, and the guide rail is slidably mounted on the guide slider.

5. A robot according to claim 1, characterized in that: The rotary opening and closing assembly further comprises a rotating shaft, which is rotatably mounted on the lifting column. The third driving device is mounted on the column, and the third driving device is used to drive the rotating shaft to rotate.

6. A robot according to claim 5, characterized in that: The rotating opening and closing assembly also includes a first bevel gear, a second bevel gear, a third gear, a fixed seat, a synchronization rod and a driving rack; The fixing seat is fixedly mounted on the lifting column, the synchronization rod is rotatably mounted on the fixing seat, one end of the synchronization rod is mounted with the first bevel gear, and the other end of the synchronization rod is mounted with the third gear; The second bevel gear is installed on the top of the rotating shaft, the second bevel gear is meshed with the first bevel gear, the output end of the third driving device is connected to the driving rack, the third driving device is used to drive the driving rack to move up and down, and the driving rack is meshed with the third gear.

7. A robot according to claim 1, characterized in that: A clearing area is provided in the middle of the movable seat, and the lifting column is located in the clearing area.

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