Double-fork main shaft manipulator structure

Abstract

The utility model discloses a double-fork main shaft manipulator structure, and relates to the technical field of manipulators, the double-fork main shaft manipulator structure comprises a base and a driving mechanism arranged on the base, the base is slidably connected with a main plate, the driving mechanism is used for driving the main plate to move, the main plate is provided with at least two mounting frames, and the mounting frames are provided with first clamping plates; the mounting frame is slidably connected with a second clamping plate opposite to the first clamping plate, and the mounting frame is provided with a transmission assembly used for driving the second clamping plate to slide in the direction close to or away from the first clamping plate. The problem that the storage work efficiency is low is solved, the efficient and stable effects are achieved, the overall time needed by storage work is shortened, and the storage work efficiency is improved.

Description

Technical Field

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

[0002] A manipulator is usually composed of a mechanical structure, an actuator, and a control system. The mechanical structure includes joints, arms, and end effectors. Manipulators are widely used in industrial automation, and they can perform tasks that are highly repetitive, dangerous, or require high precision.

[0003] At present, robots are often used to store various materials, that is, they clamp and move materials one by one through the robot, and place the materials on the corresponding material racks. However, generally robots need to move a large number of materials, which makes the overall storage work take a long time, that is, the work efficiency of the storage process is low, so it needs to be improved. Utility Model Content

[0004] The purpose of the present application is to provide a double-fork spindle manipulator structure in order to solve the problem of low storage work efficiency.

[0005] The double-fork spindle manipulator structure provided in this application adopts the following technical solution:

[0006] A double-fork spindle manipulator structure includes a base and a driving mechanism arranged on the base, the base is slidably connected to a main board, the driving mechanism is used to drive the main board to move, the main board is provided with at least two mounting frames, the mounting frames are provided with a first clamping plate, the mounting frames are slidably connected to a second clamping plate arranged opposite to the first clamping plate, and the mounting frames are provided with a transmission assembly for driving the second clamping plate to slide in a direction close to or away from the first clamping plate.

[0007] By adopting the above technical solution, when the material needs to be stored, the material is placed between the first clamping plate and the corresponding second clamping plate, and the transmission component drives the second clamping plate to slide in the direction close to the first clamping plate until the first clamping plate and the corresponding second clamping plate are in contact with the material on the opposite side, that is, the first clamping plate and the corresponding second clamping plate clamp the material, and then the transmission component no longer drives the second clamping plate to slide, and then the driving mechanism drives the main board to move, that is, transports the material to the specified position. When it reaches the appropriate position, the transmission component drives the second clamping plate to slide in the direction away from the first clamping plate, that is, cancels the clamping of the material, and drives the main board to move through the driving mechanism, so that the material is placed on the specified material rack, thereby realizing the storage of the material.

[0008] At least two mounting frames are installed on the main board, and each mounting frame is equipped with a first clamping plate and a second clamping plate, so that the manipulator can store multiple materials at the same time, thereby shortening the overall storage time and improving storage efficiency.

[0009] Optionally, the transmission assembly includes a screw rod rotatably connected to the mounting frame, a rotating member disposed on the mounting frame and used to drive the screw rod to rotate, the second clamping plate is threadedly connected to the screw rod, and the mounting frame is provided with a limit assembly for limiting the rotation of the second clamping plate.

[0010] By adopting the above technical solution, when it is necessary to drive the second clamping plate to slide in a direction close to or away from the first clamping plate, the rotating member drives the screw to rotate, the second clamping plate is threadedly connected to the screw, and the mounting frame is installed with a limit assembly for limiting the rotation of the second clamping plate, so that the second clamping plate slides on the screw, thereby making the second clamping plate slide in a direction close to or away from the first clamping plate. The screw is used to drive the second clamping plate to rotate, wherein the screw plays a certain guiding role on the sliding trajectory of the second clamping plate, reducing the risk of the movement trajectory of the second clamping plate being offset and affecting the material clamping, and improving the stability of the manipulator.

[0011] Optionally, the second clamping plate is provided with a sliding block, the mounting frame is provided with a guide block, the sliding block is provided with a guide groove cooperating with the guide block, the limiting assembly includes two locking blocks respectively arranged on the groove walls on both sides of the guide groove, and two locking grooves respectively arranged on both sides of the guide block, and the locking blocks cooperate with the corresponding locking grooves.

[0012] By adopting the above technical solution, when the second clamping plate slides, the guide block and the guide groove slide and cooperate, and the locking block and the corresponding locking groove slide and cooperate, and the two locking blocks are located on both sides of the guide block. The groove wall of the locking groove limits the rotation of the locking block, thereby limiting the rotation of the second clamping plate, that is, the second clamping plate slides on the screw rod, reducing the risk of the second clamping plate affecting the material clamping as the screw rod rotates, and improving the stability of the manipulator.

[0013] Optionally, the mounting frame is slidably connected to the main board, and the main board is provided with at least two pushing components arranged in a one-to-one correspondence with the mounting frames, and the pushing components are used to drive the corresponding mounting frames to slide.

[0014] By adopting the above technical solution, the mounting frame is slidably connected to the main board. When the manipulator clamps the material and reaches the material rack and needs to place the material into the material rack, the pushing component drives the mounting frame to slide, so that the mounting frame slides in the direction close to the material rack with the material, thereby placing the material into the material rack. When the material needs to be taken out, the mounting frame can also be driven to slide in the direction away from the material rack with the material. There is no need to drive the main board to move the mounting frame as a whole through the driving mechanism, which makes the motion trajectory of the storage work simpler, and even makes the storage operation simpler and more convenient, thereby improving the convenience of using the manipulator.

[0015] At the same time, the mounting frame is moved toward the material rack instead of the main board sliding, which reduces the risk of interference between the main board and the material rack and affecting material storage, making the manipulator applicable to more usage scenarios and improving the stability and practicality of the manipulator.

[0016] Optionally, the mounting frame is provided with a fixed block, and the pushing assembly includes a driving wheel rotatably connected to the main board, a driven wheel rotatably connected to the main board, and a pushing member arranged on the main board and used to drive the driving wheel to rotate, the driving wheel and the driven wheel are connected by a transmission belt, and the fixed block is fixedly connected to the transmission belt.

[0017] By adopting the above technical solution, when the mounting frame needs to slide on the main board, the pushing member drives the driving wheel to rotate, and the driving wheel and the corresponding driven wheel are connected by a transmission belt, so that the driving wheel and the driven wheel rotate together and move with the transmission belt, and the fixed block on the mounting frame is fixedly connected to the transmission belt, so that the fixed block moves with the conveyor belt, so that the mounting frame slides on the main board, and the conveyor belt plays a certain guiding role in the sliding of the mounting frame, thereby reducing the risk of the movement trajectory of the mounting frame being offset and affecting the storage of materials, and improving the stability of the use of the manipulator.

[0018] Optionally, the main board is provided with at least two limiting blocks corresponding one to one with the mounting frame, the mounting frame is provided with a moving block, the moving block is provided with a moving groove cooperating with the corresponding limiting blocks, limiting grooves are provided on both sides of the limiting block, and the groove wall of the moving groove is provided with two limiting blocks cooperating with the corresponding limiting grooves.

[0019] By adopting the above technical solution, when the mounting frame slides on the main board, the limiting block slides with the corresponding movable groove, and the limiting block slides with the corresponding limiting groove. The two limiting grooves are respectively located on both sides of the limiting block. The groove walls of the limiting grooves limit the sliding direction of the limiting block, thereby preventing the movement trajectory of the mounting frame from being offset, reducing the risk of the mounting frame falling off the main board and affecting material storage, and improving the stability of the manipulator.

[0020] Optionally, the mainboard is provided with at least two chains corresponding one to the mounting frames, one end of the chain is fixedly connected to the mainboard, and the other end of the chain is fixedly connected to the corresponding mounting frame.

[0021] By adopting the above technical solution, when the mounting frame slides, one end of the chain will slide with the mounting frame, and the other end of the chain will be fixedly connected to the main board. When the mounting frame moves to one end of the main board, the chain applies a pulling force to the mounting frame, thereby limiting the sliding of the mounting frame, reducing the risk of the mounting frame falling off the main board and affecting material storage, and improving the stability of the manipulator.

[0022] Optionally, the main board is provided with a visual control device for scanning a QR code and controlling the driving mechanism.

[0023] By adopting the above technical solution, when the manipulator stores materials, the manipulator moves the materials along the specified path according to the storage and transportation requirements, that is, the main board moves along the specified path through the driving mechanism, and the materials are placed when they reach the specified position. However, during long-term use, the connection of each component in the driving mechanism will be worn or deviated, which will cause errors in the movement path of the main board and affect the storage of materials.

[0024] There are multiple storage locations for storing materials on the material rack, and a QR code is posted at the corresponding position of each storage location. When the mainboard moves to the corresponding storage location along the specified path, the visual control device will face the QR code, and clamp or place the material after successfully scanning the QR code. When the movement path of the mainboard deviates, the QR code captured by the visual control device has a deviation, resulting in the failure to successfully scan the QR code. At this time, the visual control device will control the driving mechanism to move the mainboard according to the captured image, thereby adjusting the position of the mainboard until the visual control device successfully scans the QR code, and then the material can be placed.

[0025] The visual control device is used to adjust and correct the movement path of the mainboard, which reduces the risk of the mainboard movement path being offset and affecting material storage, and improves the stability of the robot's use.

[0026] Optionally, an elastic pad is fixedly connected to the first clamping plate and the corresponding second clamping plate on one side facing each other.

[0027] By adopting the above technical solution, when the manipulator clamps the material, the first clamping plate and the corresponding second clamping plate have their opposite sides in contact with the material. Since the first clamping plate and the corresponding second clamping plate have their opposite sides fixedly connected with elastic pads, the elastic pads are made of elastic material and elastically deform when subjected to force, that is, the elastic pads have a buffering effect on the material, reducing the risk of damage to the material due to excessive pressure applied by clamping. At the same time, the elastic pads increase the friction between the material and the first clamping plate and the second clamping plate, reducing the risk of the material falling off the manipulator during transportation and improving the stability of the manipulator.

[0028] In summary, the present application includes at least one of the following beneficial technical effects:

[0029] 1. Shorten the overall storage time and improve storage efficiency;

[0030] 2. Reduce the risk of material transportation trajectory deviation affecting material storage, and improve the stability of the robot;

[0031] 3. The visual control device is used to adjust and correct the motion path of the mainboard, which improves the stability of the robot;

[0032] 4. The storage operation is simple and convenient, which improves the convenience of using the manipulator;

[0033] 5. The manipulator can be applied to more usage scenarios, which improves the practicality of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0035] Figure 2 It is a schematic diagram of the mainboard structure of an embodiment of the present application;

[0036] Figure 3 is a schematic diagram of the transmission assembly structure of an embodiment of the present application;

[0037] Figure 4 is a schematic diagram of the structure of the limit assembly of an embodiment of the present application;

[0038] Figure 5 It is a schematic diagram of the push component structure of an embodiment of the present application;

[0039] Figure 6 It is a schematic diagram of the limiting block structure of an embodiment of the present application.

[0040] Description of the accompanying drawings: 1. base; 2. driving mechanism; 3. combining rod; 4. mounting block; 5. mounting frame; 6. pushing assembly; 7. transmission assembly; 8. limiting assembly; 11. main board; 41. chain; 42. limiting block; 51. first clamping plate; 52. second clamping plate; 53. elastic pad; 54. driving wheel; 55. guide block; 56. fixed block; 57. moving block; 61. driving wheel; 62. driven wheel; 63. pushing Part; 71, screw rod; 72, rotating part; 81, locking block; 82, locking groove; 111, connecting frame; 112, visual control device; 421, limiting groove; 521, sliding block; 541, conveyor belt; 571, moving groove; 611, transmission belt; 711, transmission wheel; 1121, LED light source; 1122, visual camera; 1123, integrated manipulator control panel; 5211, guide groove; 5711, limiting block. DETAILED DESCRIPTION

[0041] The following is combined with Figure 1 -Attached Figure 6 This application is described in further detail.

[0042] The embodiment of the present application discloses a double-spindle manipulator structure.

[0043] Reference Figure 1 A double-fork spindle manipulator structure includes a base 1 and a driving mechanism 2 installed on the base 1. The base 1 is slidably connected with a main board 11. The driving mechanism 2 is used to drive the main board 11 to move. The driving mechanism 2 refers to the Chinese invention patent with the authorization publication number CN111482979A. The main board 11 is installed on a combining rod 3, so that the driving mechanism 2 can drive the main board 11 to move and rotate in three directions.

[0044] Reference Figure 1 and Figure 2 The main board 11 is fixedly connected to two mounting blocks 4, and the two mounting blocks 4 are respectively slidably connected to mounting frames 5. The mounting blocks 4 are installed with a pushing assembly 6 for driving the mounting frames 5 to slide. The mounting blocks 4 are installed with a chain 41, and one end of the chain 41 is fixedly connected to the corresponding mounting block 4, and the other end is fixedly connected to the corresponding mounting frame 5.

[0045] Reference Figure 1 and Figure 2A connecting frame 111 is fixedly connected to the side of the main board 11 facing away from the mounting frame 5. The connecting frame 111 is located between the two mounting blocks 4. The connecting frame 111 is installed with a visual control device 112 for scanning the QR code and controlling the driving mechanism 2. The visual control device 112 includes a visual camera 1122 fixedly connected to the connecting frame 111, an LED light source fixedly connected to the connecting frame 111, and an integrated manipulator control board 1123 fixedly connected to the main board 11. The visual camera 1122 is used to shoot and scan the QR code.

[0046] Reference Figure 1 and Figure 2 The mounting frame 5 is fixedly connected with a first clamping plate 51, and the mounting frame 5 is slidably connected with a second clamping plate 52 arranged opposite to the first clamping plate 51. The first clamping plate 51 and the second clamping plate 52 are fixedly connected with an elastic pad 53 on the opposite sides thereof, and the elastic pad 53 is made of elastic material such as rubber.

[0047] Reference Figure 1 and Figure 2 The mounting frame 5 is provided with a transmission assembly 7 for driving the second clamping plate 52 to slide toward or away from the first clamping plate 51. The transmission assembly 7 includes a screw rod 71 rotatably connected to the mounting frame 5, and a rotating member 72 fixedly connected to the mounting frame 5 and used for driving the screw rod 71 to rotate.

[0048] Reference Figure 2 and Figure 3 The second clamping plate 52 is threadedly connected to the screw rod 71, one end of the screw rod 71 is axially fixedly connected to the transmission wheel 711, the mounting frame 5 is rotatably connected to the driving wheel 54, the driving wheel 54 and the transmission wheel 711 are connected by a conveyor belt 541, the rotating member 72 adopts a conventional driving motor, and the driving wheel 54 is axially fixedly connected to the output end of the rotating member 72.

[0049] Reference Figure 1 , Figure 2 and Figure 3 The integrated manipulator control panel 1123 is used to control the driving mechanism 2, the LED light source 1121, the visual camera 1122, the rotating part 72 and the pushing part 63.

[0050] Reference Figure 3 and Figure 4 Both sides of the second clamping plate 52 are fixedly connected with sliding blocks 521, and the mounting frame 5 is fixedly connected with two guide blocks 55 arranged opposite to each other. The sliding blocks 521 are provided with guide grooves 5211 that slide and cooperate with the corresponding guide blocks 55.

[0051] Reference Figure 3 and Figure 4The mounting frame 5 is provided with a limit assembly 8 for limiting the rotation of the second clamping plate 52. The limit assembly 8 comprises two locking blocks 81 respectively fixedly connected to the groove walls on both sides of the guide groove 5211, and two locking grooves 82 respectively provided on both sides of the guide block 55, and the locking blocks 81 are slidably matched with the corresponding locking grooves 82.

[0052] Reference Figure 5 The mounting frame 5 is fixedly connected with a fixing block 56, and the pushing assembly 6 includes a driving wheel 61 rotatably connected to the mounting block 4, a driven wheel 62 rotatably connected to the mounting block 4, and a pushing member 63 fixedly connected to the mounting block 4 and used to drive the driving wheel 61 to rotate. The driving wheel 61 and the driven wheel 62 are connected by a transmission belt 611, and the fixing block 56 is fixedly connected to the transmission belt 611. The pushing member 63 adopts a conventional driving motor, and the driving wheel 61 is axially fixedly connected to the output end of the pushing member 63.

[0053] Reference Figure 6 The mounting block 4 is fixedly connected to two limiting blocks 42, and the mounting frame 5 is fixedly connected to two moving blocks 57. The moving block 57 is provided with a moving groove 571 that slides with the corresponding limiting block 42. Both sides of the limiting block 42 are provided with limiting grooves 421. The groove wall of the moving groove 571 is fixedly connected to two limiting blocks 5711 that slide with the corresponding limiting groove 421.

[0054] The implementation principle of a double-fork spindle manipulator structure in the embodiment of the present application is:

[0055] When storing materials, the materials are clamped first, and the materials are located between the first clamping plate 51 and the corresponding second clamping plate 52 through the driving mechanism 2, and the rotating member 72 drives the driving wheel 54 to rotate. The driving wheel 54 and the transmission wheel 711 are connected by the conveyor belt 541, so that the transmission wheel 711 rotates, and the transmission wheel 711 is axially fixedly connected to the screw rod 71, so that the screw rod 71 rotates, and the second clamping plate 52 is threadedly connected to the screw rod 71, and the groove wall of the locking groove 82 limits the rotation of the locking block 81, that is, limits the rotation of the second clamping plate 52, so that the second clamping plate 52 slides on the screw rod 71, and the second clamping plate 52 slides in the direction close to the first clamping plate 51, until the first clamping plate 51 and the second clamping plate 52 The side facing each other is in contact with the material, that is, the material is clamped, thereby achieving material clamping, and the rotating member 72 no longer drives the screw rod 71 to rotate, and then drives the main board 11 to move to the corresponding storage position of the access rack through the driving mechanism 2.

[0056] When the driving mechanism 2 drives the main board 11 to the corresponding storage location, the visual control device 112 will scan the QR code on the access rack, that is, when it reaches the corresponding position, the integrated manipulator control panel 1123 turns on the LED light source 1121, and the LED light source 1121 emits light to facilitate the visual camera 1122 to illuminate, and then the integrated manipulator control panel 1123 controls the visual camera 1122, and the visual camera 1122 shoots and scans the QR code. If the QR code is successfully scanned, the material is placed. When the QR code photographed by the visual control device 112 has a deviation and cannot be successfully scanned, the visual control device 112 will control the driving mechanism 2 to move with the main board 11 according to the photographed picture, so as to adjust the position of the main board 11 until the visual camera 1122 successfully scans the QR code, and then the material can be placed.

[0057] When placing materials, the pusher 63 drives the driving wheel 61 to rotate, and the driving wheel 61 and the corresponding driven wheel 62 are connected by the transmission belt 611, so that the driving wheel 61 and the driven wheel 62 rotate together and move with the transmission belt 611, and the fixed block 56 on the mounting frame 5 is fixedly connected to the transmission belt 611, so that the fixed block 56 moves with the conveyor belt 541, so that the mounting frame 5 slides on the main board 11 and slides toward the material rack, so as to put the materials into the corresponding storage position. After that, the rotating member 72 drives the screw rod 71 to rotate so that the second clamping plate 52 slides in the direction away from the first clamping plate 51, that is, the clamping of the material is cancelled, that is, the material is placed in the specified position, so as to realize the material storage, and after the material is placed, the pushing member drives the driving wheel 61 to rotate again, even if the mounting frame 5 resets and slides, the main board 11 of the driving mechanism 2 slides, so that the manipulator performs subsequent material storage.

[0058] The visual control device 112 is used to adjust and correct the movement path of the main board 11, thereby reducing the risk of the movement path of the main board 11 being offset and affecting material storage, and ensuring the stability of the use of the manipulator.

[0059] Two mounting frames 5 are installed on the main board 11, and each mounting frame 5 is installed with a first clamping plate 51 and a second clamping plate 52, so that the robot can store two materials at the same time, thereby shortening the overall storage time and improving the storage efficiency.

[0060] 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 double-fork spindle manipulator structure, characterized in that: The invention comprises a base (1) and a driving mechanism (2) arranged on the base (1); the base (1) is slidably connected to a main board (11); the driving mechanism (2) is used to drive the main board (11) to move; the main board (11) is provided with at least two mounting frames (5); the mounting frames (5) are provided with a first clamping plate (51); the mounting frames (5) are slidably connected to a second clamping plate (52) arranged opposite to the first clamping plate (51); the mounting frames (5) are provided with a transmission assembly (7) used to drive the second clamping plate (52) to slide in a direction close to or away from the first clamping plate (51).

2. The double-fork spindle manipulator structure according to claim 1 is characterized in that: The transmission assembly (7) comprises a screw rod (71) rotatably connected to the mounting frame (5), a rotating member (72) arranged on the mounting frame (5) and used to drive the screw rod (71) to rotate, the second clamping plate (52) is threadedly connected to the screw rod (71), and the mounting frame (5) is provided with a limit assembly (8) for limiting the rotation of the second clamping plate (52).

3. The double-fork spindle manipulator structure according to claim 2 is characterized in that: The second clamping plate (52) is provided with a sliding block (521), the mounting frame (5) is provided with a guide block (55), the sliding block (521) is provided with a guide groove (5211) cooperating with the guide block (55), the limiting assembly (8) comprises two locking blocks (81) respectively arranged on the groove walls on both sides of the guide groove (5211), and two locking grooves (82) respectively arranged on both sides of the guide block (55), and the locking blocks (81) cooperate with the corresponding locking grooves (82).

4. The double-fork spindle manipulator structure according to claim 1 is characterized in that: The mounting frame (5) is slidably connected to the main board (11); the main board (11) is provided with at least two pushing components (6) arranged in a one-to-one correspondence with the mounting frames (5); the pushing components (6) are used to drive the corresponding mounting frames (5) to slide.

5. The double-fork spindle manipulator structure according to claim 4 is characterized in that: The mounting frame (5) is provided with a fixing block (56), and the pushing assembly (6) comprises a driving wheel (61) rotatably connected to the main board (11), a driven wheel (62) rotatably connected to the main board (11), and a pushing member (63) provided on the main board (11) and used for driving the driving wheel (61) to rotate, the driving wheel (61) and the driven wheel (62) being connected via a transmission belt (611), and the fixing block (56) being fixedly connected to the transmission belt (611).

6. The double-fork spindle manipulator structure according to claim 4 is characterized in that: The main board (11) is provided with at least two limiting blocks (42) corresponding one to one with the mounting frame (5); the mounting frame (5) is provided with a moving block (57); the moving block (57) is provided with a moving groove (571) cooperating with the corresponding limiting block (42); limiting grooves (421) are provided on both sides of the limiting block (42); and the groove wall of the moving groove (571) is provided with two limiting blocks (5711) cooperating with the corresponding limiting groove (421).

7. The double-fork spindle manipulator structure according to claim 4 is characterized in that: The main board (11) is provided with at least two chains (41) corresponding one to one with the mounting frames (5); one end of the chain (41) is fixedly connected to the main board (11), and the other end is fixedly connected to the corresponding mounting frame (5).

8. The double-fork spindle manipulator structure according to claim 1 is characterized in that: The main board (11) is provided with a visual control device (112) for scanning a two-dimensional code and controlling the driving mechanism (2).

9. The double-fork spindle manipulator structure according to claim 1 is characterized in that: An elastic pad (53) is fixedly connected to the first clamping plate (51) and the corresponding second clamping plate (52) on one side facing each other.

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