Hard-arm manipulator and transfer equipment

Abstract

The utility model relates to a hard-arm manipulator and transfer equipment. The hard-arm manipulator comprises a power-assisted mechanical arm and a clamping mechanism, the clamping mechanism comprises a base, a fixed clamping plate and a movable clamping plate, the base is connected to the output end of the power-assisted mechanical arm, a first driving source is arranged on the base, the output end of the first driving source is connected with a second driving source, a fixing base is installed at the output end of the second driving source, and the fixed clamping plate is connected to the fixing base. The movable clamping plate is opposite to the fixed clamping plate, is in sliding connection with the fixed seat and is connected with a third driving source for driving the movable clamping plate to be close to or away from the fixed clamping plate. The clamping mechanism is matched with the power-assisted mechanical arm, so that a worker can easily transfer the product, the product can be overturned and rotated in a preset direction and angle according to actual requirements in the transfer process, and the product can reach a designated position in a preset posture and angle within the shortest time; the production efficiency of a production line can be improved, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a hard-arm mechanical arm and a transfer device. Background Art

[0002] The power-assisted robot arm, also known as the power-assisted manipulator or the labor-saving manipulator, is a power-assisted device used for material handling. The power-assisted robot arm applies the principle of force balance, allowing the operator to use relatively small force to balance and move objects in space. It is widely used in production lines in various fields.

[0003] However, during the production process of the production line, it is sometimes necessary to flip and rotate the product while moving it so that the product can be transported to a predetermined position at a predetermined posture and angle. The existing power-assisted robotic arms can only assist operators in moving objects and cannot meet the above usage requirements. Utility Model Content

[0004] To this end, the technical problem to be solved by the utility model is to overcome the problem in the prior art that during the production process of the production line, it is sometimes necessary to flip and rotate the product at the same time during the process of moving the product so that the product can be transported to a predetermined position in a predetermined posture and angle. The existing power-assisted robotic arms can only assist the operator in moving objects and cannot meet the above-mentioned usage requirements.

[0005] In order to solve the above technical problems, the utility model provides a hard-arm manipulator, comprising

[0006] Power-assisted robotic arm;

[0007] The clamping mechanism includes a base, a fixed clamping plate and a movable clamping plate, the base is connected to the output end of the power-assisting mechanical arm, a first driving source is arranged on the base, the output end of the first driving source is connected to the second driving source, a fixed seat is installed on the output end of the second driving source, the fixed clamping plate is connected to the fixed seat, the movable clamping plate is arranged opposite to the fixed clamping plate and is slidably connected to the fixed seat, and the movable clamping plate is connected to a third driving source for driving it to approach or move away from the fixed clamping plate.

[0008] In an embodiment of the utility model, a slide rail located at one side of the fixed clamping plate is arranged on the fixed seat, and the movable clamping plate is slidably connected to the slide rail via a slider.

[0009] In one embodiment of the utility model, the fixed seat includes two parallel fixed plates, a plurality of connecting columns are vertically connected between the two fixed plates, the third driving source is installed between the two fixed plates parallel to the slide rail, and the output end of the third driving source is movably connected to the movable splint through a joint bearing.

[0010] In one embodiment of the present invention, an auxiliary support seat is further provided between the fixed clamping plate and the movable clamping plate.

[0011] In one embodiment of the utility model, a handle is connected to the base, and a control box is arranged on the handle.

[0012] In one embodiment of the present invention, the first driving source and the second driving source are reduction motors, and the third driving source is a cylinder.

[0013] In one embodiment of the utility model, the power-assisting mechanical arm includes a base column, a rotating column, a lifting arm, a rotating arm and a fourth driving source. The base column is vertically arranged, and the top end of the base column is rotatably connected to the rotating column coaxial therewith. The middle position of the lifting arm is rotatably connected to the end of the rotating column away from the base column. The fourth driving source is movably arranged on the rotating column, and the output end of the fourth driving source is connected to one end of the lifting arm, the other end of the lifting arm is rotatably connected to the rotating arm, and the end of the rotating arm away from the lifting arm is rotatably connected to the base.

[0014] In one embodiment of the utility model, it also includes a first locking assembly, a second locking assembly and a third locking assembly, the first locking assembly includes a first locking plate and a first locking drive source, the first locking plate is coaxially arranged on the base column, and the first locking drive source facing the first locking plate is arranged on the rotating column; the second locking assembly includes a second locking plate and a second locking drive source, the second locking plate is coaxially arranged on one end of the rotating arm close to the lifting arm, and the second locking drive source facing the second locking plate is arranged on the lifting arm; the third locking assembly includes a third locking plate and a third locking drive source, the third locking plate is coaxially arranged on one end of the rotating arm away from the lifting arm, and the third locking drive source facing the third locking plate is arranged on the base.

[0015] In one embodiment of the utility model, a counterweight is provided at one end of the lifting arm away from the rotating arm.

[0016] A transfer device comprises a rigid-arm manipulator as described in any one of the above.

[0017] The above technical solution of the utility model has the following advantages compared with the prior art:

[0018] The utility model discloses a rigid arm manipulator and a transfer device, comprising a power-assisted manipulator and a clamping mechanism; the clamping mechanism comprises a base, a fixed splint and a movable splint, the base is connected to the output end of the power-assisted manipulator, a first driving source is arranged on the base, the output end of the first driving source is connected to the second driving source, the output end of the second driving source is installed with a fixed seat, the fixed splint is connected to the fixed seat, the movable splint is arranged opposite to the fixed splint and is slidably connected to the fixed seat, and the movable splint is connected to a third driving source that drives it to approach or move away from the fixed splint. The clamping mechanism of the manipulator of the utility model cooperates with the power-assisted manipulator to enable the staff to transfer the product easily, and in the process of transfer, the product can also be flipped and rotated in a predetermined direction and angle according to actual needs, which is conducive to the product reaching the designated position in the shortest time with a predetermined posture and angle, which can improve the production efficiency of the production line and reduce the labor intensity of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to make the content of the utility model easier to understand, the utility model is further described in detail according to the specific embodiments of the utility model in combination with the accompanying drawings, wherein

[0020] Figure 1 It is a three-dimensional diagram of a rigid arm manipulator of a preferred embodiment of the utility model;

[0021] Figure 2 It is a schematic structural diagram of the power-assisting mechanical arm of the hard-arm mechanical arm of the preferred embodiment of the utility model;

[0022] Figure 3 yes Figure 2 An enlarged view of part A of the power-assisting manipulator of the rigid-arm manipulator shown;

[0023] Figure 4 It is a three-dimensional diagram of the clamping mechanism of the hard-arm manipulator of the preferred embodiment of the utility model;

[0024] Figure 5 It is a structural schematic diagram of the first part of the clamping mechanism of the hard-arm manipulator of the preferred embodiment of the utility model;

[0025] Figure 6 It is a structural schematic diagram of the second part of the clamping mechanism of the rigid-arm manipulator of the preferred embodiment of the utility model.

[0026] Explanation of the reference numerals in the drawings in the specification: 1. Power-assisting mechanical arm; 11. Base column; 12. Rotating column; 13. Lifting arm; 14. Rotating arm; 15. Fourth driving source; 16. First locking assembly; 17. Second locking assembly; 18. Third locking assembly; 19. Counterweight; 2. Clamping mechanism; 21. Base; 211. Handle; 212. Control box; 22. Fixed splint; 23. Movable splint; 24. First driving source; 25. Second driving source; 26. Fixed seat; 27. Third driving source; 28. Slide rail; 29. ​​Auxiliary support seat. DETAILED DESCRIPTION

[0027] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0028] Embodiment 1

[0029] Reference Figure 1-Figure 6 As shown, a rigid arm manipulator of the utility model comprises:

[0030] Power-assisted robotic arm 1;

[0031] The clamping mechanism 2 includes a base 21, a fixed splint 22 and a movable splint 23. The base 21 is connected to the output end of the power-assisting robotic arm 1. A first driving source 24 is arranged on the base 21. The output end of the first driving source 24 is connected to the second driving source 25. A fixed seat 26 is installed at the output end of the second driving source 25. The fixed splint 22 is connected to the fixed seat 26. The movable splint 23 is arranged opposite to the fixed splint 22 and is slidably connected to the fixed seat 26. The movable splint 23 is connected to a third driving source 27 for driving it to approach or move away from the fixed splint 22.

[0032] Specifically, the fixed clamp 22 and the movable clamp 23 driven by the third driving source 27 form a clamping structure, the second driving source 25 can drive the above-mentioned clamping structure to rotate, and the first driving source 24 can drive the second driving source 25 and the clamping structure as a whole to flip, so that the entire clamping mechanism 2 has a high degree of freedom; at the same time, in conjunction with the power-assisted robotic arm 1, the staff can easily transfer the products on the production line, and during the transportation process, the products can be flipped and rotated in a predetermined direction and angle according to actual needs, which is conducive to the product arriving at the designated position in a predetermined posture and angle in the shortest time, which can improve the production efficiency of the entire production line and reduce the labor intensity of the staff.

[0033] Reference Figure 4 , Figure 5 and Figure 6As shown, further, a slide rail 28 is provided on the fixed seat 26 and is located on one side of the fixed clamping plate 22 , and the movable clamping plate 23 is slidably connected to the slide rail 28 via a slider.

[0034] Furthermore, the fixed seat 26 includes two fixed plates arranged in parallel, and a plurality of connecting columns are vertically connected between the two fixed plates. The third driving source 27 is installed between the two fixed plates in parallel with the slide rail 28, and the output end of the third driving source 27 is movably connected to the movable clamping plate 23 through a joint bearing. Specifically, the third driving source 27 drives the movable clamping plate 23 to approach or move away from the fixed clamping plate 22 arranged opposite to it, so as to achieve clamping and releasing actions. More preferably, the clamping surfaces of the fixed clamping plate 22 and the movable clamping plate 23 can be provided with depressions of corresponding shapes according to the shape of the clamped product, which is conducive to clamping the product more stably; and a protective layer for buffering and increasing friction can also be provided on the clamping surfaces of the fixed clamping plate 22 and the movable clamping plate 23.

[0035] Furthermore, an auxiliary support seat 29 is provided between the fixed clamping plate 22 and the movable clamping plate 23. Specifically, the auxiliary support seat 29 can play the role of limiting and supporting, and can better clamp the product in cooperation with the fixed clamping plate 22 and the movable clamping plate 23.

[0036] Furthermore, a handle 211 is connected to the base 21, and a control box 212 is arranged on the handle 211. Specifically, the staff holds the handle 211 to move the product, and the control button of the control box 212 on the handle 211 can be used to control the entire manipulator during the movement.

[0037] Furthermore, the first driving source 24 and the second driving source 25 are reduction motors, and the third driving source 27 is a cylinder.

[0038] Reference Figure 1 , Figure 2 and Figure 3As shown, further, the power-assisting mechanical arm 1 includes a base column 11, a rotating column 12, a lifting arm 13, a rotating arm 14 and a fourth driving source 15. The base column 11 is vertically arranged, and the top of the base column 11 is rotatably connected to the rotating column 12 coaxial therewith, and the middle position of the lifting arm 13 is rotatably connected to the end of the rotating column 12 away from the base column 11, and the fourth driving source 15 is movably arranged on the rotating column 12, and the output end of the fourth driving source 15 is connected to one end of the lifting arm 13, and the other end of the lifting arm 13 is rotatably connected to the rotating arm 14, and the end of the rotating arm 14 away from the lifting arm 13 is rotatably connected to the base 21. Specifically, the rotating column 12 can rotate with the base column 11 as the axis, so that the clamping mechanism 2 at the front end of the power-assisting mechanical arm 1 can move in the horizontal direction, and the lifting arm 13 can swing in the vertical direction, thereby realizing the lifting and lowering movement of the clamping mechanism 2; the rotating arm 14 can rotate in the horizontal direction, so that the clamping mechanism 2 can move and rotate in a small range. In addition, the clamping mechanism 2 can perform flipping and rotational movements, so that the clamped and transported products can move with multiple degrees of freedom, which can better meet production needs.

[0039] Furthermore, it also includes a first locking assembly 16, a second locking assembly 17 and a third locking assembly 18. The first locking assembly 16 includes a first locking disk and a first locking drive source. The first locking disk is coaxially arranged on the base column 11, and the first locking drive source facing the first locking disk is arranged on the rotating column 12; the second locking assembly 17 includes a second locking disk and a second locking drive source. The second locking disk is coaxially arranged at one end of the rotating arm 14 close to the lifting arm 13, and the second locking drive source facing the second locking disk is arranged on the lifting arm 13; the third locking assembly 18 includes a third locking disk and a third locking drive source. The third locking disk is coaxially arranged at one end of the rotating arm 14 away from the lifting arm 13, and the third locking drive source facing the third locking disk is arranged on the base 21. Specifically, in the process of transporting products, when the manipulator needs to maintain a posture or action, by controlling the output end of each locking drive source to press the corresponding locking disk, it is possible to lock part or all of the power-assisting manipulator 1, which is convenient for the operator to operate.

[0040] Furthermore, a counterweight 19 is provided at one end of the lifting arm 13 away from the rotating arm 14 .

[0041] Embodiment 2

[0042] The utility model also discloses a transfer device, comprising the hard-arm manipulator as in the first embodiment.

[0043] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. A rigid arm manipulator, characterized in that: include: Power-assisted robotic arm; The clamping mechanism includes a base, a fixed clamping plate and a movable clamping plate, the base is connected to the output end of the power-assisting mechanical arm, a first driving source is arranged on the base, the output end of the first driving source is connected to the second driving source, a fixed seat is installed on the output end of the second driving source, the fixed clamping plate is connected to the fixed seat, the movable clamping plate is arranged opposite to the fixed clamping plate and is slidably connected to the fixed seat, and the movable clamping plate is connected to a third driving source for driving it to approach or move away from the fixed clamping plate.

2. The rigid arm manipulator according to claim 1, characterized in that: The fixing seat is provided with a slide rail located at one side of the fixing clamping plate, and the movable clamping plate is slidably connected to the slide rail through a sliding block.

3. The rigid arm manipulator according to claim 2, characterized in that: The fixing seat includes two parallel fixed plates, a plurality of connecting columns are vertically connected between the two fixed plates, the third driving source is installed between the two fixed plates parallel to the slide rail, and the output end of the third driving source is movably connected to the movable splint through a joint bearing.

4. The rigid arm manipulator according to claim 1, characterized in that: An auxiliary support seat is also arranged between the fixed clamping plate and the movable clamping plate.

5. The rigid arm manipulator according to claim 1, characterized in that: The base is connected with a handle, and the handle is provided with a control box.

6. The rigid arm manipulator according to claim 1, characterized in that: The first driving source and the second driving source are reduction motors, and the third driving source is a cylinder.

7. The rigid arm manipulator according to claim 1, characterized in that: The power-assisting mechanical arm includes a base column, a rotating column, a lifting arm, a rotating arm and a fourth driving source. The base column is vertically arranged, and the top end of the base column is rotatably connected to the rotating column coaxial therewith, the middle position of the lifting arm is rotatably connected to the end of the rotating column away from the base column, the fourth driving source is movably arranged on the rotating column, and the output end of the fourth driving source is connected to one end of the lifting arm, the other end of the lifting arm is rotatably connected to the rotating arm, and the end of the rotating arm away from the lifting arm is rotatably connected to the base.

8. The rigid arm manipulator according to claim 7, characterized in that: It also includes a first locking assembly, a second locking assembly and a third locking assembly, the first locking assembly including a first locking plate and a first locking drive source, the first locking plate is coaxially arranged on the base column, and the first locking drive source facing the first locking plate is arranged on the rotating column; the second locking assembly includes a second locking plate and a second locking drive source, the second locking plate is coaxially arranged on one end of the rotating arm close to the lifting arm, and the second locking drive source facing the second locking plate is arranged on the lifting arm; the third locking assembly includes a third locking plate and a third locking drive source, the third locking plate is coaxially arranged on one end of the rotating arm away from the lifting arm, and the third locking drive source facing the third locking plate is arranged on the base.

9. The rigid-arm manipulator according to claim 7, characterized in that: A counterweight is arranged at one end of the lifting arm away from the rotating arm.

10. A transfer device, characterized in that: Comprising a rigid-arm manipulator as described in any one of claims 1-9.

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