Translating, lifting and overturning manipulator

Abstract

The utility model discloses a translation lifting turnover manipulator which comprises a frame body, the upper end of the frame body is fixedly connected with a plurality of installation stand columns, a transverse stand column is jointly and fixedly connected between every two matched installation stand columns, two sliding rails are installed at the upper end of the frame body, and a horizontal power module is connected to the two sliding rails in a sliding mode. The upper ends of the two horizontal power modules are jointly and fixedly connected with a horizontal transferring plate, a lifting rod is arranged on the horizontal transferring plate in a penetrating mode, the upper end of the horizontal transferring plate is fixedly connected with a plurality of sliding plates, and the sliding plates are slidably connected with the lifting rod. According to the mechanical arm, after a product is clamped, the product can be horizontally transferred to a designated position according to needs, the working range is wider, the product transferring efficiency is improved, after the product is clamped, the product can be overturned according to needs, and therefore the practicability of the mechanical arm is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a translation, lifting and flipping manipulator. Background Art

[0002] Manipulators are the most widely used automated mechanical devices in the field of robotics technology, and can be found in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration, etc. Although they have different forms, they all have one common feature, which is the ability to receive instructions and accurately grasp workpieces for operation.

[0003] The existing manipulator structures are relatively simple, and most of them are used to clamp a part and then transport it to another specified location. However, since most of the existing manipulators rotate around the vertical axis, the range of part placement is limited. Therefore, it is necessary to design a translation, lifting and flipping manipulator to solve the above problem. Utility Model Content

[0004] The purpose of the utility model is to solve the shortcomings existing in the prior art, and to propose a translational, lifting and flipping manipulator, which can clamp the product and then move the product horizontally to a specified position as required, has a wider working range, and improves the transportation efficiency of the product. After clamping the product, the product can be flipped as required, thereby greatly improving the practicality of the manipulator.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] The cam is connected with the support of the lifting link, and the cam is connected with the support of the lifting link, and the cam is connected with the support of the lifting link, and the cam is connected with the support of the lifting link, and the cam is connected with the support of the lifting link.

[0007] Preferably, the lower end of the lifting rod is fixedly connected to a mounting seat, a horizontal rotating servo motor is installed on the mounting seat, the output shaft end of the horizontal rotating servo motor is fixedly connected to a U-shaped frame, a flip servo motor is installed on the front side of the U-shaped frame, the front and rear inner walls of the U-shaped frame are jointly rotatably connected to a flip shaft, the output shaft end of the flip servo motor is fixedly connected to the flip shaft, two connecting blocks are fixedly connected to the flip shaft, a clamping assembly is provided at the lower ends of the two connecting blocks, a flip position detection switch is installed on the rear side of the U-shaped frame, a connecting piece is fixedly connected to the rear side of the U-shaped frame, an arc-shaped opening is provided on the connecting piece, the flip position detection switch passes through the arc-shaped opening, and rotation sensing switches are installed on both the front and rear sides of the mounting seat.

[0008] Preferably, the clamping assembly includes a horizontal plate, the lower end of which is fixedly connected to two rectangular blocks, the adjacent sides of the two rectangular blocks are rotatably connected to forward and reverse screw rods, two moving blocks are threadedly connected to the two forward and reverse screw rods, the lower ends of the two moving blocks are fixedly connected to clamping claws, and the two clamping claws are slidably connected to the lower end of the horizontal plate.

[0009] Preferably, a hand wheel is fixedly connected to the rear side of the forward and reverse screw rods, and a screw rod anti-rotation fixing piece cooperating with the forward and reverse screw rods is provided on the front side of the rectangular block.

[0010] Preferably, two bearing seats are installed on the horizontal moving plate, and the adjacent sides of the two bearing seats are rotatably connected with a power shaft together. A lifting drive servo motor is installed on the upper end of the horizontal moving plate, and the output shaft of the lifting drive servo motor is fixedly connected with a coupling, and the output end of the coupling is fixedly connected to the power shaft, and a driving gear is fixedly connected to the power shaft, and a rack is fixedly connected to the right side of the lifting rod, and a lifting drag chain is provided on the left side of the horizontal moving plate, and two linear guide rails are fixedly connected to the right side of the lifting drag chain.

[0011] Preferably, a plurality of limiters are provided at the upper end of the lifting rod, and a plurality of mounting plates are fixedly connected to the upper end of each mounting column.

[0012] Compared with the existing technology, the advantages of this device are:

[0013] 1. Compared with the existing technology, through the setting of two slide rails, horizontal transfer plate and horizontal module drive motor, after clamping the product, the product can be moved horizontally to the specified position, so that the robot can transfer the product in a wider range, greatly improving the transfer efficiency of the product;

[0014] 2. Compared with the prior art, by setting a flipping servo motor, after the gripper grabs the product, the product can be flipped by the operation of the flipping servo motor, thereby improving the practicality of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural schematic diagram of the translation, lifting and flipping manipulator proposed in the utility model;

[0016] Figure 2 for Figure 1 Left side view;

[0017] Figure 3 for Figure 1 A schematic diagram of the enlarged structure at A in the middle;

[0018] Figure 4 for Figure 2 A schematic diagram of the enlarged structure at B in the middle;

[0019] Figure 5 for Figure 2 Schematic diagram of the enlarged structure at C in the middle;

[0020] Figure 6 for Figure 1 A schematic diagram of the structure from another perspective;

[0021] Figure 7 for Figure 6 Schematic diagram of the enlarged structure at D in the middle.

[0022] In the figure: 1 limiter, 2 lifting rod, 3 lifting drag chain, 4 linear guide, 5 mounting column, 6 horizontal drag chain, 7 horizontal transfer plate, 8 horizontal power module, 9 horizontal module drive motor, 10 flip axis, 11 flip position detection switch, 12 hand wheel, 13 forward and reverse screw rod, 14 clamping claw, 15 screw rod anti-rotation fixing part, 16 rotation sensing switch, 17 flip servo motor, 18 horizontal rotation servo motor, 19 slide rail, 20 coupling, 21 lifting drive servo motor, 22 driving gear, 23 power shaft, 24 bearing seat, 25 frame, 26 mounting plate. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0024] Reference Figure 1-Figure 7The translation, lifting and flipping manipulator includes a frame 25, the upper end of the frame 25 is fixedly connected to a plurality of mounting columns 5, and a transverse column is fixedly connected between every two matching mounting columns 5. Two slide rails 19 are installed on the upper end of the frame 25, and a horizontal power module 8 is slidably connected to the two slide rails 19. The upper ends of the two horizontal power modules 8 are commonly fixedly connected to a horizontal shifting plate 7, and a lifting rod 2 is penetrated through the upper part of the horizontal shifting plate 7. The upper end of the lifting rod 2 is provided with a plurality of limiters 1, and each upper end of the mounting column 5 is fixedly connected to a plurality of mounting plates 26, and the upper end of the horizontal shifting plate 7 is fixedly connected to a plurality of slide plates, and the plurality of slide plates are slidably connected to the lifting rod 2, and a plurality of slide plates and the horizontal shifting plate 7 are commonly fixedly connected with a reinforcing rib, and a horizontal module driving motor 9 is installed on the right side of the slide rail 19 on the rear side, and a transmission shaft is provided between the two horizontal power modules 8, and the output shaft end of the horizontal module driving motor 9 is fixedly connected to the transmission shaft, and a horizontal drag chain 6 is provided on the rear side of the horizontal shifting plate 7.

[0025] Among them, the lower end of the lifting rod 2 is fixedly connected to a mounting seat, and a horizontal rotating servo motor 18 is installed on the mounting seat. The end of the output shaft of the horizontal rotating servo motor 18 is fixedly connected to a U-shaped frame, and a flip servo motor 17 is installed on the front side of the U-shaped frame. The front and rear inner walls of the U-shaped frame are jointly rotatably connected to a flip shaft 10, and the end of the output shaft of the flip servo motor 17 is fixedly connected to the flip shaft 10. Two connecting blocks are fixedly connected to the flip shaft 10, and a clamping assembly is provided at the lower ends of the two connecting blocks. A flip position detection switch 11 is installed on the rear side of the U-shaped frame, and a connecting plate is fixedly connected to the rear side of the U-shaped frame. The connecting plate is provided with an arc-shaped opening, and the flip position detection switch 11 passes through the arc-shaped opening. Rotation sensing switches 16 are installed on both the front and rear sides of the mounting seat.

[0026] Among them, the clamping assembly includes a horizontal plate, the lower end of the horizontal plate is fixedly connected to two rectangular blocks, the adjacent sides of the two rectangular blocks are rotatably connected with forward and reverse screw rods 13, the forward and reverse screw rods 13 are reciprocating threaded rods, and two moving blocks are threadedly connected to the two forward and reverse screw rods 13, the lower ends of the two moving blocks are fixedly connected with clamping claws 14, the two clamping claws 14 are slidably connected to the lower end of the horizontal plate, the rear side of the forward and reverse screw rods 13 is fixedly connected with a handwheel 12, and the front side of the rectangular block is provided with a screw anti-rotation fixing part 15 that cooperates with the forward and reverse screw rods 13.

[0027] Among them, two bearing seats 24 are installed on the horizontal moving plate 7, and the adjacent sides of the two bearing seats 24 are connected to a power shaft 23 for rotation. A lifting drive servo motor 21 is installed on the upper end of the horizontal moving plate 7, and the output shaft of the lifting drive servo motor 21 is fixedly connected to a coupling 20, and the output end of the coupling 20 is fixedly connected to the power shaft 23. A driving gear 22 is fixedly connected to the power shaft 23, and a rack is fixedly connected to the right side of the lifting rod 2. A lifting drag chain 3 is provided on the left side of the horizontal moving plate 7, and two linear guide rails 4 are fixedly connected to the right side of the lifting drag chain 3.

[0028] The functional principle of the utility model can be explained through the following operation mode: firstly, different specifications of the clamping jaws 14 are selected according to the style of the product, and then the clamping jaws 14 are fixed under the two moving plates, and the manipulator is installed at a suitable position through multiple mounting plates 26;

[0029] When the product is clamped, the lifting drive servo motor 21 is started, driving the power shaft 23 to rotate through the coupling 20, driving the driving gear 22 to rotate, driving the rack to move up and down, thereby driving the lifting rod 2 to move up and down;

[0030] When the clamping jaws 14 reach the specified height, the lifting drive servo motor 21 stops moving, and the hand wheel 12 is manually rotated, so that the two moving blocks drive the two clamping jaws 14 to move relative to each other to clamp the product. Then, by manually starting the button, the lifting drive servo motor 21 runs, so that the power shaft 23 drives the driving gear 22 to rotate in the opposite direction, so that the lifting rod 2 moves upward, and the flipping servo motor 17 runs, so that the clamping jaws 14 drive the product to flip together at a certain angle;

[0031] The horizontal module driving motor 9 runs, and drives the two horizontal power modules 8 to move through the transmission shaft, and drives the clamping jaws 14 and the product to move horizontally to the specified position and then stops running;

[0032] The lifting drive servo motor 21 is running, and after the lifting rod 2 is lowered to a specified height, the lifting drive servo motor 21 stops running, and the hand wheel 12 is manually rotated in the opposite direction, so that the two clamping claws 14 move away from each other to release the product;

[0033] After releasing the product, the operation button is manually controlled, the lifting drive servo motor 21 starts, the lifting rod 2 moves upward to the specified height and then stops, the horizontal module drive motor 9 starts, and after the clamping jaws 14 move horizontally to the specified position, the horizontal module drive motor 9 stops running, thereby realizing the product handling function.

[0034] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A translation, lifting and flipping robot, comprising a frame (25), characterized in that: The upper end of the frame (25) is fixedly connected with a plurality of mounting columns (5), and a transverse column is fixedly connected between every two matching mounting columns (5). Two slide rails (19) are installed on the upper end of the frame (25), and a horizontal power module (8) is slidably connected to the two slide rails (19). The upper ends of the two horizontal power modules (8) are fixedly connected with a horizontal transfer plate (7). A lifting rod (2) is passed through the upper part of the horizontal transfer plate (7), and a plurality of slide plates are fixedly connected to the upper end of the horizontal transfer plate (7). The plurality of slide plates are slidably connected to the lifting rod (2), and a reinforcing rib is fixedly connected between the plurality of slide plates and the horizontal transfer plate (7). A horizontal module drive motor (9) is installed on the right side of the slide rail (19) located at the rear side, and a transmission shaft is provided between the two horizontal power modules (8). The output shaft end of the horizontal module drive motor (9) is fixedly connected to the transmission shaft, and a horizontal drag chain (6) is provided on the rear side of the horizontal transfer plate (7).

2. The translation, lifting and flipping robot according to claim 1 is characterized in that: The lower end of the lifting rod (2) is fixedly connected to a mounting seat, a horizontal rotating servo motor (18) is installed on the mounting seat, the output shaft end of the horizontal rotating servo motor (18) is fixedly connected to a U-shaped frame, a flip servo motor (17) is installed on the front side of the U-shaped frame, the front and rear inner walls of the U-shaped frame are jointly rotatably connected to a flip shaft (10), the output shaft end of the flip servo motor (17) is fixedly connected to the flip shaft (10), two connecting blocks are fixedly connected to the flip shaft (10), the lower ends of the two connecting blocks are provided with clamping components, a flip position detection switch (11) is installed on the rear side of the U-shaped frame, a connecting plate is fixedly connected to the rear side of the U-shaped frame, an arc-shaped opening is provided on the connecting plate, the flip position detection switch (11) passes through the arc-shaped opening, and rotation sensing switches (16) are installed on both the front and rear sides of the mounting seat.

3. The translation, lifting and flipping robot according to claim 2 is characterized in that: The clamping assembly comprises a horizontal plate, the lower end of which is fixedly connected to two rectangular blocks, the adjacent sides of the two rectangular blocks are rotatably connected to forward and reverse screw rods (13), the two forward and reverse screw rods (13) are threadedly connected to two moving blocks, the lower ends of the two moving blocks are fixedly connected to clamping claws (14), and the two clamping claws (14) are slidably connected to the lower end of the horizontal plate.

4. The translation, lifting and flipping robot according to claim 3 is characterized in that: The rear side of the forward and reverse screw rods (13) is fixedly connected with a hand wheel (12), and the front side of the rectangular block is provided with a screw rod anti-rotation fixing piece (15) matching with the forward and reverse screw rods (13).

5. The translation, lifting and flipping robot according to claim 1 is characterized in that: Two bearing seats (24) are installed on the horizontal transfer plate (7), and the adjacent sides of the two bearing seats (24) are rotatably connected with a power shaft (23). A lifting drive servo motor (21) is installed on the upper end of the horizontal transfer plate (7), and the output shaft of the lifting drive servo motor (21) is fixedly connected with a coupling (20), and the output end of the coupling (20) is fixedly connected with the power shaft (23). A driving gear (22) is fixedly connected to the power shaft (23), and a rack is fixedly connected to the right side of the lifting rod (2). A lifting drag chain (3) is provided on the left side of the horizontal transfer plate (7), and two linear guide rails (4) are fixedly connected to the right side of the lifting drag chain (3).

6. The translation, lifting and flipping robot according to claim 1 is characterized in that: The upper end of the lifting rod (2) is provided with a plurality of limiters (1), and the upper end of each of the mounting columns (5) is fixedly connected with a plurality of mounting plates (26).

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