Manipulator grabbing structure

Abstract

The utility model discloses a mechanical arm grabbing structure and relates to the technical field of mechanical arms, the mechanical arm grabbing structure comprises a rack, a base, a supporting frame and a lifting frame, a rotating shaft is rotationally arranged on the lifting frame, a mounting frame is fixedly arranged on the rotating shaft, and a driving source used for driving the rotating shaft to rotate is arranged on the lifting frame; a plurality of grabbing mechanisms used for taking and placing workpieces are arranged on the mounting frame in the circumferential direction of the rotating shaft. The mechanical arm has the effect that the grabbing and assembling efficiency of the mechanical arm is improved.

Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and in particular to a manipulator grasping structure. Background Art

[0002] A weight-reducing manipulator is an auxiliary device used to help workers reduce weight and improve work efficiency and safety during manufacturing, assembly, and maintenance. It is usually composed of a robotic arm, a control system, and an end effector, and can be precisely positioned and moved according to the worker's operational needs. A weight-reducing manipulator can reduce the physical burden on workers, reduce work intensity, and reduce the risk of work-related accidents.

[0003] At present, industrial robots have been widely used in various production lines to realize automated grasping, handling, assembly and other operations. The robot usually includes a frame, a base that slides on the frame along the X-axis, a support frame that slides on the base along the Y-axis, and a lifting frame that slides on the support frame along the Z-axis. The lifting frame is usually equipped with a grasping mechanism for picking up and placing workpieces. However, most existing robots are only equipped with a single grasping mechanism, and their processing efficiency is low for products with more modules that need to be assembled. Utility Model Content

[0004] In view of the problems existing in the prior art, the present application provides a robot gripping structure.

[0005] The present application provides a mechanical gripping structure, which adopts the following technical solution:

[0006] A robot gripping structure comprises a frame, a base, a support frame and a lifting frame, wherein a rotating shaft is rotatably arranged on the lifting frame, a mounting frame is fixedly arranged on the rotating shaft, a driving source for driving the rotating shaft to rotate is arranged on the lifting frame, and a plurality of gripping mechanisms for picking up and placing workpieces are arranged on the mounting frame along the circumference of the rotating shaft.

[0007] Optionally, a plurality of connecting plates are detachably provided on the mounting frame, and the grabbing mechanism is mounted on the connecting plates.

[0008] Optionally, the mounting frame and the connecting plate are both hollowed out.

[0009] Optionally, the mounting frame and the connecting plate are both made of aviation aluminum.

[0010] Optionally, the gripping mechanism includes a suction block, a driving member and a magnetic suction assembly, the suction block is slidably arranged on the connecting plate along the vertical direction, the driving member is used to drive the suction block to slide, and the magnetic suction assembly is used to fix the workpiece on the suction block.

[0011] Optionally, the magnetic suction assembly includes a ventilation pipe and a suction cup, an airway is provided inside the suction block, a plurality of ventilation holes connected to the airway are opened at the bottom of the suction block, the suction cup is provided at each ventilation hole, the ventilation pipe is passed through the airway and connected to each suction cup, and the ventilation pipe is connected to an air pump.

[0012] Optionally, a plurality of holes are formed on the suction block.

[0013] Optionally, a camera and an annular LED aperture are fixedly disposed on the installation, and the camera is disposed within the annular LED aperture.

[0014] In summary, the present application includes at least one of the following beneficial technical effects:

[0015] 1. The present application sets up multiple grasping mechanisms, drives the mounting frame to rotate, and drives each grasping mechanism to rotate, so that each grasping mechanism can grasp different workpieces respectively, thereby achieving the most efficient grasping and assembly, and effectively improving production efficiency.

[0016] 2. The present application realizes a modular setting of the manipulator by detachably setting a plurality of connecting plates on the mounting frame and installing the grabbing mechanisms on the connecting plates, so as to facilitate adjustment of the number of grabbing mechanisms on the mounting frame, as well as the position and type of each grabbing mechanism according to the needs of production and processing, and has strong adaptability.

[0017] 3. This application hollows out the mounting frame and the connecting plate, and uses aviation aluminum for both the mounting frame and the connecting plate, thereby reducing the overall weight of the manipulator while ensuring the structural strength of the manipulator, making the operation of the manipulator faster and more sensitive. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0019] Figure 2 is a schematic diagram of the structure of the mounting frame used in the embodiment of the present application;

[0020] Figure 3 It is a structural schematic diagram used to express the suction block in an embodiment of the present application.

[0021] Explanation of the accompanying drawings: 1. frame; 2. base; 3. support frame; 4. lifting frame; 41. rotating shaft; 42. driving source; 5. mounting frame; 51. connecting plate; 52. camera; 53. ring-shaped LED aperture; 6. grabbing mechanism; 61. suction block; 611. airway; 612. vent; 613. hole; 62. driving member; 63. ventilation pipe; 64. suction cup. DETAILED DESCRIPTION

[0022] The following is combined with Figure 1-3 This application is described in further detail.

[0023] The present application embodiment discloses a mechanical gripping structure. Figure 1 , including a frame 1, a base 2 slidably arranged on the frame 1 along a horizontal direction, a support frame 3 slidably arranged on the base 2 along a horizontal direction, and a lifting frame 4 slidably arranged on the support frame 3 along a vertical direction. The sliding direction of the base 2 is perpendicular to the sliding direction of the support frame 3 on the base 2. The frame 1 is respectively equipped with linear motors for driving the base 2, the support frame 3 and the lifting frame 4 to slide.

[0024] Reference Figure 1 , 2 A rotating shaft 41 is rotatably provided on the lifting frame 4, and the axial direction of the rotating shaft 41 is vertical. A driving source 42 for driving the rotating shaft 41 to rotate is provided on the lifting frame 4. The driving source 42 includes a servo motor, which is fixedly provided on the lifting frame 4, and the output shaft of the servo motor is coaxially fixedly connected with the rotating shaft 41.

[0025] Reference Figure 2 A mounting frame 5 is fixedly provided at the bottom of the rotating shaft 41, and a plurality of connecting plates 51 are fixed to the mounting frame 5 by bolts. Both the mounting frame 5 and the connecting plates 51 are hollowed out. By hollowing out the mounting frame 5 and the connecting plates 51, the overall mass of the manipulator is effectively reduced; and after the processing of the mounting frame 5 and the connecting plates 51 is completed, the strength test needs to be carried out respectively, so as to achieve effective weight reduction under the premise of ensuring the strength and rigidity of the mounting frame 5 and the connecting plates 51.

[0026] Reference Figure 2 The mounting frame 5 and the connecting plate 51 are both made of aviation aluminum. Since aviation aluminum has the advantages of light weight and high strength, the mounting frame 5 and the connecting plate 51 are both made of aviation aluminum. While ensuring the structural strength of the mounting frame 5 and the connecting plate 51, further weight reduction of the mounting frame 5 and the connecting plate 51 is achieved.

[0027] Reference Figure 2 One or more grasping mechanisms 6 for picking up and placing workpieces are respectively arranged on each connecting plate 51. The grasping mechanisms 6 include clamp-type grasping mechanisms, adsorption-type grasping mechanisms, magnetic grasping mechanisms and bionic grasping mechanisms. According to the different workpieces to be picked up and placed, the corresponding grasping mechanisms 6 are selected and installed on the connecting plate 51 one by one or in combination to realize efficient, stable and reliable manipulator grasping operation, and each grasping mechanism 6 is distributed along the circumference of the rotating shaft 41.

[0028] Reference Figure 2A camera 52 is fixedly installed on the installation, and the camera 52 is arranged between each grasping mechanism 6. An annular LED aperture 53 is also fixedly installed on the mounting frame 5, and the camera 52 is arranged in the annular LED aperture 53. When the grasping mechanism 6 grasps and assembles the workpiece, it takes a photo by the camera 52 and fills the light through the annular LED aperture 53. The photo taken by the camera 52 is transmitted to the display through an electrical signal. By analyzing the data, whether the grasping position of the grasping mechanism 6 and the position of the assembled workpiece are accurate, the grasping and assembly of each grasping mechanism 6 are monitored in real time, thereby ensuring the processing quality.

[0029] Reference Figure 2 In the present application, the grabbing mechanism 6 adopts an adsorption-type grabbing mechanism, including a suction block 61, a driving member 62 and a magnetic suction component. The suction block 61 is slidably arranged on the connecting plate 51 in the vertical direction, and the bottom wall of the suction block 61 is horizontal. The driving member 62 includes a blade cylinder, which is fixedly arranged on the connecting plate 51, and the piston of the blade cylinder is fixedly connected to the suction block 61. Since a mounting frame 5 usually needs to be equipped with multiple grabbing mechanisms 6, and the blade cylinder has a lighter weight than other cylinders, applying it to the grabbing mechanism 6 can further reduce the overall weight of the mounting frame 5.

[0030] Reference Figure 2 , 3 The magnetic suction component includes a vent pipe 63 and a suction cup 64. An air channel 611 is arranged inside the suction block 61. A plurality of vent holes 612 connected to the air channel 611 are opened at the bottom of the suction block 61. Each vent hole 612 is connected to a suction cup 64. The vent pipe 63 is arranged in the air channel 611 and is connected to each suction cup 64. The vent pipe 63 is connected to an air pump (not shown in the figure).

[0031] Reference Figure 3 A plurality of holes 613 are provided on the suction block 61 . By providing the holes 613 on the suction block 61 , the mass of the suction block 61 can be effectively reduced.

[0032] The implementation principle of a robot gripping structure in an embodiment of the present application is as follows: by setting up a plurality of gripping mechanisms 6 and driving the mounting frame 5 to rotate, each gripping mechanism 6 is driven to rotate, so that each gripping mechanism 6 is respectively aimed at a different workpiece for gripping, thereby achieving the most efficient gripping and assembly, and effectively improving production efficiency.

[0033] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A robot gripping structure, comprising a frame (1), a base (2), a support frame (3) and a lifting frame (4), characterized in that: A rotating shaft (41) is rotatably arranged on the lifting frame (4), a mounting frame (5) is fixedly arranged on the rotating shaft (41), a driving source (42) for driving the rotating shaft (41) to rotate is arranged on the lifting frame (4), and a plurality of gripping mechanisms (6) for picking up and placing workpieces are arranged on the mounting frame (5) along the circumference of the rotating shaft (41).

2. A robot gripping structure according to claim 1, characterized in that: A plurality of connecting plates (51) are detachably provided on the mounting frame (5), and the grabbing mechanism (6) is mounted on the connecting plates (51).

3. A robot gripping structure according to claim 2, characterized in that: The mounting frame (5) and the connecting plate (51) are both hollowed out.

4. A robot gripping structure according to claim 2, characterized in that: The mounting frame (5) and the connecting plate (51) are both made of aviation aluminum.

5. A robot gripping structure according to claim 2, characterized in that: The gripping mechanism (6) comprises a suction block (61), a driving member (62) and a magnetic suction assembly; the suction block (61) is slidably arranged on the connecting plate (51) along a vertical direction; the driving member (62) is used to drive the suction block (61) to slide; and the magnetic suction assembly is used to fix the workpiece on the suction block (61).

6. A robot gripping structure according to claim 5, characterized in that: The magnetic suction component comprises a vent pipe (63) and a suction cup (64); an air channel (611) is arranged inside the suction block (61); a plurality of vent holes (612) connected to the air channel (611) are opened at the bottom of the suction block (61); the suction cup (64) is arranged at each of the vent holes (612); the vent pipe (63) is passed through the air channel (611) and is connected to each suction cup (64); and the vent pipe (63) is connected to an air pump.

7. A robot gripping structure according to claim 5, characterized in that: The suction block (61) is provided with a plurality of holes (613).

8. The robot gripping structure according to claim 1, characterized in that: A camera (52) and an annular LED aperture (53) are fixedly arranged on the device, and the camera (52) is arranged inside the annular LED aperture (53).

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