Multi-station clamping manipulator

Abstract

The utility model discloses a multi-station clamping manipulator, and relates to the technical field of clamping manipulators. The multiple rotating tables are transversely, uniformly and rotatably mounted at the top of the base; the first mechanical arm is fixed to the top of the rotating table; the swinging mechanical arm assembly is rotatably mounted at the top of the first mechanical arm; the guide assembly is rotatably mounted on the swinging mechanical arm assembly; the two ends of the angle adjusting device are hinged to the guide assembly and the swing mechanical arm assembly correspondingly; the lifting adjusting device slides up and down to drive the suction cup to ascend and descend to adjust the height, a gap between the suction cup and a chip is eliminated, meanwhile, the suction cup can be driven to rotate through rotation, the suction cup and the chip are adjusted to be in a parallel state, and it is avoided that gas enters the suction cup, and the firmness of chip adsorption is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping manipulators, in particular to a multi-station clamping manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of the human arm and is used to grab, move objects or operate tools according to a fixed procedure. In modern chip sorting and testing equipment, the manipulator is an important tool for moving the chip position. By manipulating the manipulator, it is beneficial to realize the mechanization and automation of chip detection and sorting.

[0003] Chinese patent publication number CN219946259A discloses a multi-station gripping robot, which can perform fixed transfer of the movement or the machine rod in different ways by providing a rotatable and adjustable gripping and suction device, thereby improving the flexibility and stability of the transfer positioning.

[0004] However, when the patented robot arm rotates, the difference in distance between the edge and the center and the center of the rotation circle causes a certain gap to exist between the suction cup and the chip, or a certain angle between the suction cup and the chip. Both of these situations will cause gas to enter, affecting the firmness of the chip being adsorbed, causing it to fall during transportation. Utility Model Content

[0005] The utility model provides a multi-station clamping robot to solve the problem in the prior art that when the robot arm rotates, there is a certain gap between the suction cup and the chip or a certain angle between the suction cup and the chip due to the different distances between the edge and the center of the rotation circle during rotation. Both of these situations will cause gas to enter, affecting the firmness of the chip being adsorbed, and the chip will fall during transportation.

[0006] The technical problem solved by the utility model is achieved by the following technical solutions:

[0007] A multi-station gripping manipulator, comprising:

[0008] Base;

[0009] A rotating table, wherein a plurality of rotating tables are provided and are evenly arranged laterally and rotatably mounted on the top of the base;

[0010] A first mechanical arm, wherein the first mechanical arm is fixed on the top of the rotating platform;

[0011] A swinging mechanical arm assembly, wherein the swinging mechanical arm assembly is rotatably mounted on the top of the first mechanical arm;

[0012] A guide assembly, wherein the guide assembly is rotatably mounted on the swing mechanical arm assembly;

[0013] An angle adjustment device, the two ends of which are respectively hinged to the guide assembly and the swing mechanical arm assembly, and the angle adjustment device is extended and retracted to change the relative angle between the angle adjustment device and the swing mechanical arm assembly;

[0014] A lifting and adjusting device, wherein the lifting and adjusting device is installed inside the guide assembly, and both ends of the lifting and adjusting device extend to the outside of the guide assembly;

[0015] A suction cup, the suction cup being fixed to the bottom of the lifting and adjusting device;

[0016] An air guide hose is fixed on the top of the lifting and adjusting device and is connected with the suction cup through the lifting and adjusting device.

[0017] Optionally, the swing mechanical arm assembly includes:

[0018] A rotating cylinder, the rotating cylinder being rotatably mounted on the inner top end of the first mechanical arm;

[0019] A second mechanical arm, the second mechanical arm is fixed to the outside of the rotating cylinder and rotates with the rotating cylinder;

[0020] A first articulated frame is fixed to the bottom of the second mechanical arm.

[0021] Optionally, the guide assembly includes:

[0022] A square housing, the square housing being rotatably mounted on an end of the second mechanical arm;

[0023] a second articulated frame, the second articulated frame being fixed to an upper rear portion of the square housing;

[0024] The blocking covers are provided with two and are detachably fixed at the openings of the square shell.

[0025] Optionally, a circular through hole is opened on the blocking cover at the top, and a polygonal through hole is opened on the blocking cover at the bottom, and the polygonal through hole corresponds to the circular through hole.

[0026] Optionally, the angle adjustment device includes:

[0027] Electric telescopic pole;

[0028] The hinged joints are provided with two hinged joints, which are respectively fixed at two ends of the electric telescopic rod and are respectively hinged to the first hinged frame and the second hinged frame.

[0029] Optionally, the lifting and adjusting device includes:

[0030] A polygonal guide post, which is slidably mounted inside the square housing and is fixedly connected to the suction cup through the polygonal through hole;

[0031] A threaded column, which is fixed to the top of the polygonal guide column and passes through the circular through hole to communicate with the air guide hose;

[0032] A driving device is installed inside the square housing and drives the threaded column to slide up and down.

[0033] Optionally, the driving device comprises:

[0034] A driving motor, wherein the driving motor is fixed inside the square housing;

[0035] A first gear, wherein the first gear is fixed to an output end of the driving motor;

[0036] A second gear is threadedly connected to the outer side of the threaded column and is driven by the first gear.

[0037] The beneficial effects of the utility model are:

[0038] The height of the suction cup can be adjusted by sliding the lifting adjustment device up and down to eliminate the gap between the suction cup and the chip. At the same time, the suction cup can be rotated to make the suction cup and the chip parallel to each other, so as to avoid gas entering and reducing the firmness of the chip being adsorbed, which may cause it to fall during transportation.

[0039] The air guide hose is connected to an external air pump to apply negative pressure to the suction cup, so that negative pressure is generated between the suction cup and the chip to adsorb and fix the chip. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the implementation scheme of the utility model or the technical scheme in the prior art, the drawings required for use in the implementation scheme or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation schemes of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0041] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0042] Figure 2 This is a schematic diagram of the structure of the swing mechanical arm assembly of the utility model;

[0043] Figure 3 This is a schematic diagram of the structure of the lifting and adjusting device of the utility model;

[0044] Figure 4 For this utility model Figure 3 A schematic diagram of the structure enlargement in the middle;

[0045] Figure 5 This is a schematic diagram of the structure of the guide assembly of the utility model;

[0046] Figure 6 This is a schematic diagram of the structure of the polygonal guide column of the utility model.

[0047] In the figure: 100, base;

[0048] 200, rotating table;

[0049] 300, first robotic arm;

[0050] 400, swinging mechanical arm assembly; 410, rotating cylinder; 420, second mechanical arm; 430, first articulated frame;

[0051] 500, guide assembly; 510, square housing; 520, second hinged frame; 530, blocking cover; 540, circular through hole; 550, polygonal through hole;

[0052] 600, angle adjustment device; 610, electric telescopic rod; 620, hinged joint;

[0053] 700, lifting adjustment device; 710, polygonal guide column; 720, threaded column; 730, driving device; 731, driving motor; 732, first gear; 733, second gear;

[0054] 800, suction cup;

[0055] 900. Gas hose. DETAILED DESCRIPTION

[0056] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below with reference to specific illustrations.

[0057] Reference Figure 1-6 As shown, a multi-station gripping manipulator comprises:

[0058] Base 100;

[0059] A rotating table 200, wherein a plurality of rotating tables 200 are provided and are evenly arranged laterally and rotatably mounted on the top of the base 100;

[0060] A first mechanical arm 300, the first mechanical arm 300 is fixed on the top of the rotating platform 200;

[0061] A swinging mechanical arm assembly 400, the swinging mechanical arm assembly 400 is rotatably mounted on the top of the first mechanical arm 300;

[0062] A guide assembly 500, the guide assembly 500 is rotatably mounted on the swing mechanical arm assembly 400;

[0063] An angle adjustment device 600, the two ends of which are respectively hinged to the guide assembly 500 and the swing mechanical arm assembly 400, and the angle adjustment device 600 is extended and retracted to change the relative angle between the angle adjustment device 600 and the swing mechanical arm assembly 400;

[0064] A lifting and adjusting device 700, which is installed inside the guide assembly 500, and both ends of the lifting and adjusting device 700 extend to the outside of the guide assembly 500;

[0065] Suction cup 800, the suction cup 800 is fixed to the bottom of the lifting and adjusting device 700;

[0066] The air guide hose 900 is fixed on the top of the lifting and adjusting device 700 and is connected to the suction cup 800 through the lifting and adjusting device 700.

[0067] The lifting and adjusting device 700 can slide up and down to drive the suction cup 800 to adjust the height, thereby eliminating the gap between the suction cup 800 and the chip. At the same time, the suction cup 800 can be rotated to adjust the suction cup 800 and the chip to a parallel state, thereby preventing gas from entering and causing the chip to be adsorbed less firmly, thereby preventing the chip from falling during transportation.

[0068] The air guide hose 900 is connected to an external air pump to apply negative pressure to the suction cup 800, so that negative pressure is generated between the suction cup 800 and the chip to fix the chip;

[0069] The first mechanical arm 300 is driven to rotate by the setting of the rotating table 200 to adjust the corresponding position of the suction cup 800. At the same time, the rotating table 200 is driven by a motor to make the rotating table 200 rotate normally (not shown in the figure).

[0070] In some embodiments of the present invention, referring to Figure 2 As shown, the swing mechanical arm assembly 400 includes:

[0071] A rotating cylinder 410, which is rotatably mounted on the inner top of the first mechanical arm 300;

[0072] A second mechanical arm 420, which is fixed to the outside of the rotating cylinder 410 and rotates along with the rotating cylinder 410;

[0073] The first articulated frame 430 is fixed at the bottom of the second mechanical arm 420 .

[0074] The second robotic arm 420 is connected to the first robotic arm 300 by the setting of the rotating cylinder 410, and the rotating cylinder 410 drives the second robotic arm 420 to rotate under the drive of the motor to adjust the end height and position.

[0075] In some embodiments of the present invention, referring to Figure 5 As shown, the guide assembly 500 includes:

[0076] A square housing 510, the square housing 510 is rotatably mounted on the end of the second mechanical arm 420;

[0077] A second articulated frame 520, the second articulated frame 520 is fixed to the upper rear portion of the square housing 510;

[0078] The blocking covers 530 are provided with two, and are detachably fixed at the openings of the square housing 510 .

[0079] The lifting and adjusting device 700 is protected and guided by the setting of the square shell 510 ; the openings at both ends of the square shell 510 are blocked by the setting of the blocking cover 530 , and the normal opening of the square shell 510 can be ensured at the same time.

[0080] In some embodiments of the present invention, referring to Figure 5 As shown, a circular through hole 540 is opened on the top blocking cover 530 , and a polygonal through hole 550 is opened on the bottom blocking cover 530 , and the polygonal through hole 550 corresponds to the circular through hole 540 .

[0081] The polygonal through hole 550 and the circular through hole 540 are provided to guide the sliding of the lifting and adjusting device 700, thereby preventing the lifting and adjusting device 700 from being offset during sliding.

[0082] In some embodiments of the present invention, referring to Figure 2 As shown, the angle adjustment device 600 includes:

[0083] Electric telescopic rod 610;

[0084] The hinged joints 620 are provided with two hinged joints 620, which are respectively fixed at two ends of the electric telescopic rod 610 and are respectively hinged to the first hinged frame 430 and the second hinged frame 520.

[0085] Among them, the hinged connection between the hinge head 620 and the first hinge frame 430 and the second hinge frame 520 can ensure the normal installation of the electric telescopic rod 610, so that the electric telescopic rod 610 can adjust the angle between the square shell 510 and the second mechanical arm 420 during the extension and retraction process, driving the suction cup 800 to be parallel to the chip.

[0086] In some embodiments of the present invention, referring to Figure 3 As shown, the lifting and adjusting device 700 includes:

[0087] A polygonal guide post 710, which is slidably mounted inside the square housing 510 and passes through the polygonal through hole 550 to be fixedly connected to the suction cup 800;

[0088] The threaded column 720 is fixed on the top of the polygonal guide column 710 and passes through the circular through hole 540 to communicate with the air guide hose 900;

[0089] The driving device 730 is installed inside the square housing 510 and drives the threaded column 720 to slide up and down.

[0090] Among them, the adaptation of the polygonal guide column 710 and the polygonal through hole 550 can prevent the threaded column 720 from rotating under the action of external force, so that the threaded column 720 can rise and fall and slide under the action of the thread. At the same time, an air guide channel is provided in the central part of the threaded column 720 and the polygonal guide column 710 to connect the suction cup 800 with the air guide hose 900.

[0091] In some embodiments of the present invention, referring to Figure 4 As shown, the driving device 730 includes:

[0092] A driving motor 731, wherein the driving motor 731 is fixed inside the square housing 510;

[0093] A first gear 732, the first gear 732 is fixed to the output end of the driving motor 731;

[0094] The second gear 733 is threadedly connected to the outer side of the threaded column 720 and is driven by the first gear 732 .

[0095] The first gear 732 is driven to rotate by starting the driving motor 731, and the first gear 732 drives the second gear 733 to rotate, and the threaded column 720 is driven to rise and fall under the action of the internal thread of the second gear 733;

[0096] A support plate is rotatably mounted on the bottom of the second gear 733 , and the support plate is fixed inside the square housing 510 .

[0097] Working method of the utility model:

[0098] When in use, start the motor so that the motor drives the rotating cylinder 410 and the second mechanical arm 420 to rotate, and drives the suction cup 800 to rotate to the top of the chip, then start the electric telescopic rod 610 to drive the square shell 510 to rotate, so that the square shell 510 drives the suction cup 800 to adjust to the level with the chip, and then start the driving motor 731 so that the driving motor 731 drives the first gear 732 to rotate, and the first gear 732 drives the threaded column 720 through the second gear 733. Due to the restrictions of the polygonal guide column 710 and the polygonal through hole 550, the threaded column 720 will drive the polygonal guide column 710 and the suction cup 800 to descend and contact the chip under the action of the thread, and then start the negative pressure pump so that the suction cup 800 can adsorb and fix the chip.

[0099] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A multi-station gripping robot, characterized in that: include: Base (100); A rotating table (200), wherein a plurality of rotating tables (200) are provided and are evenly arranged in a transverse direction and rotatably mounted on the top of the base (100); A first mechanical arm (300), wherein the first mechanical arm (300) is fixed on the top of the rotating platform (200); A swinging mechanical arm assembly (400), wherein the swinging mechanical arm assembly (400) is rotatably mounted on the top of the first mechanical arm (300); A guide assembly (500), wherein the guide assembly (500) is rotatably mounted on the swing mechanical arm assembly (400); An angle adjustment device (600), wherein two ends of the angle adjustment device (600) are respectively hinged to the guide assembly (500) and the swing mechanical arm assembly (400), and the angle adjustment device (600) is extended and retracted to change the relative angle between the angle adjustment device (600) and the swing mechanical arm assembly (400); A lifting and adjusting device (700), wherein the lifting and adjusting device (700) is installed inside the guide assembly (500), and both ends of the lifting and adjusting device (700) extend to the outside of the guide assembly (500); A suction cup (800), wherein the suction cup (800) is fixed to the bottom of the lifting and adjusting device (700); An air guide hose (900) is fixed on the top of the lifting and adjusting device (700) and is connected to the suction cup (800) through the lifting and adjusting device (700).

2. A multi-station gripping robot according to claim 1, characterized in that: The swinging mechanical arm assembly (400) comprises: A rotating cylinder (410), wherein the rotating cylinder (410) is rotatably mounted on the inner top end of the first mechanical arm (300); A second mechanical arm (420), the second mechanical arm (420) is fixed on the outside of the rotating cylinder (410) and rotates along with the rotating cylinder (410); A first articulated frame (430), wherein the first articulated frame (430) is fixed to the bottom of the second mechanical arm (420).

3. A multi-station gripping robot according to claim 1, characterized in that: The guide assembly (500) comprises: A square housing (510), wherein the square housing (510) is rotatably mounted on an end of the second mechanical arm (420); A second hinged frame (520), the second hinged frame (520) being fixed to the upper rear portion of the square housing (510); A blocking cover (530), wherein two blocking covers (530) are provided and are respectively detachably fixed at the openings of the square housing (510).

4. A multi-station gripping robot according to claim 3, characterized in that: A circular through hole (540) is provided on the top blocking cover (530), and a polygonal through hole (550) is provided on the bottom blocking cover (530), wherein the polygonal through hole (550) corresponds to the circular through hole (540).

5. The multi-station gripping robot according to claim 1, characterized in that: The angle adjustment device (600) comprises: Electric telescopic rod (610); The hinged joints (620) are provided in two numbers and are respectively fixed at two ends of the electric telescopic rod (610) and are respectively hinged to the first hinged frame (430) and the second hinged frame (520).

6. The multi-station gripping robot according to claim 1, characterized in that: The lifting and adjusting device (700) comprises: A polygonal guide post (710), which is slidably mounted inside the square housing (510) and passes through the polygonal through hole (550) to be fixedly connected to the suction cup (800); A threaded column (720), wherein the threaded column (720) is fixed to the top of the polygonal guide column (710) and passes through the circular through hole (540) to communicate with the air guide hose (900); A driving device (730) is installed inside the square housing (510) and drives the threaded column (720) to slide up and down.

7. A multi-station gripping robot according to claim 6, characterized in that: The driving device (730) comprises: A driving motor (731), wherein the driving motor (731) is fixed inside the square housing (510); A first gear (732), wherein the first gear (732) is fixed to an output end of the driving motor (731); The second gear (733) is threadedly connected to the outer side of the threaded column (720) and is driven by the first gear (732).

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