Lateral entering type mechanical arm

Abstract

The utility model discloses a side entering type mechanical arm which comprises a guide rail support which is a supporting frame of a rectangular structure. The movable sliding plate is arranged at the top of the guide rail support in a sliding mode, and a first driving part used for driving the movable sliding plate to move is arranged on one side of the guide rail support; the mechanical arm has the advantages that the mechanical arm is allowed to enter along one side of equipment through the combination of the guide rail support, the movable sliding plate and the lifting assembly, so that the mechanical arm is suitable for being used in a working environment with limited space, the mechanical arm can be operated on a compact production line or around other equipment, and excessive space cannot be occupied; the multi-stage lifting assembly allows the manipulator to perform complex vertical and horizontal movement, which not only enhances the flexibility of operation, but also ensures that the manipulator can accurately reach different operation heights.

Description

Technical Field

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

[0002] The manipulator is mainly composed of three parts: the actuator, the drive mechanism and the control system. The actuator includes the hand, the arm and the trunk. The hand is installed at the front end of the arm to grasp the workpiece or tool. There are many structural forms according to the shape, size, weight, material and operation requirements of the grasped object, such as clamping type, holding type and adsorption type. The function of the arm is to guide the fingers to accurately grasp the workpiece and transport it to the required position.

[0003] The existing robot arm part rotates and enters from the top, which requires a certain range of rotation space. It is not suitable for use in a working environment with limited space, and cannot be operated on a compact production line or around other equipment, and takes up too much space. Moreover, its structure is mostly single adjustment, and multi-level lifting cannot be achieved. The robot arm cannot perform complex vertical and horizontal movements, which reduces the flexibility of operation. Utility Model Content

[0004] The purpose of the utility model is to provide a side-entry manipulator to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above purpose, the utility model provides the following technical solution: a side-entry manipulator, comprising:

[0006] Guide rail bracket, the guide rail bracket is a support frame with a rectangular structure;

[0007] A movable slide plate, which is slidably arranged on the top of the guide rail bracket, and a first driving part for driving the movable slide plate to move is arranged on one side of the guide rail bracket;

[0008] A multi-stage lifting assembly, the multi-stage lifting assembly is placed in the middle of the moving slide, the multi-stage lifting assembly includes a first lifting guide rail vertically sliding in the middle of the moving slide and a second lifting guide rail slidingly arranged in the middle of the first lifting guide rail, a second driving part for driving the first lifting guide rail to rise and fall is fixedly connected to one side of the moving slide, and a third driving part for driving the second lifting guide rail to rise and fall is arranged on one side of the first lifting guide rail;

[0009] The flipping and picking part is placed at the end of the second lifting guide rail, and the flipping and picking part includes a flipping plate that can be flipped and a vacuum suction cup fixed to one side of the flipping plate.

[0010] Preferably, the first driving part comprises a supporting plate fixedly connected to one end of the moving slide, a servo motor No. 1 is fixedly connected to the top of the supporting plate, and a driving wheel is fixedly connected to the output end of the servo motor No. 1.

[0011] Preferably, the bottom of the support plate is rotatably connected to two auxiliary wheels, the two auxiliary wheels and the driving wheel form a triangular structure, and one side of the guide rail bracket is fixedly connected to a transmission belt, the transmission belt passes between the driving wheel and the auxiliary wheels, and the driving wheel and the auxiliary wheels are frictionally connected.

[0012] Preferably, the second driving part includes a No. 3 servo motor fixedly connected to the bottom of the moving slide, the output end of the No. 3 servo motor is fixedly connected to a driving gear, the outer side of the driving gear is meshedly connected to a fixed rack, and the fixed rack is fixedly connected to the No. 1 lifting guide rail.

[0013] Preferably, the third driving unit includes a synchronous belt assembly rotatably connected to one side of the No. 1 lifting guide rail, and a No. 2 servo motor for driving the synchronous belt assembly is fixedly connected to one side of the No. 1 lifting guide rail, and the belt of the synchronous belt assembly is fixedly connected to the No. 2 lifting guide rail through a connecting piece.

[0014] Preferably, the flipping and picking part further comprises a cylinder fixedly connected to the end of the second lifting guide rail, the end of the cylinder is rotatably connected to a rotating bracket via a rotating shaft, and the rotating bracket is fixedly connected to the flip plate.

[0015] Preferably, the outer side of the rotating shaft is fixedly connected to a flip gear, the output end of the cylinder is fixedly connected to a push rack, and the push rack is meshingly connected to the flip gear.

[0016] Compared with the prior art, the beneficial effects of the utility model are as follows: the combination of the guide rail bracket, the movable slide and the lifting assembly allows the manipulator to enter along one side of the equipment, making it suitable for use in a working environment with limited space, so that the manipulator can operate on a compact production line or around other equipment without taking up too much space; the multi-stage lifting assembly allows the manipulator to perform complex vertical and horizontal movements, which not only enhances the flexibility of operation, but also ensures that different operating heights can be reached accurately; the flip picking part design includes a flip plate and a vacuum suction cup, and such a combination allows the manipulator to perform a flip operation after grabbing the workpiece, ensuring that the workpiece can be correctly placed or assembled; the setting of the first, second and third drive parts provides the possibility of fully automated control, so that the manipulator can automatically perform complex movements and operations through preset programs, reducing human intervention and improving the repeatability and reliability of operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the structure of the fixed rack of the utility model;

[0019] Figure 3 It is a structural schematic diagram of the synchronous belt assembly of the utility model;

[0020] Figure 4 It is a structural schematic diagram of the flipping and picking part of the utility model;

[0021] Figure 5 It is a structural schematic diagram of the driving wheel of the utility model.

[0022] In the figure: 1. Guide rail bracket; 2. Driving gear; 3. Moving skateboard; 4. Servo motor No. 1; 5. Transmission belt; 6. Driving wheel; 7. Auxiliary wheel; 8. Support plate; 9. Lifting guide rail No. 1; 10. Synchronous belt assembly; 11. Servo motor No. 2; 12. Lifting guide rail No. 2; 13. Cylinder; 14. Flip plate; 15. Rotating bracket; 16. Flip gear; 17. Push rack; 18. Vacuum suction cup; 19. Fixed rack; 20. Servo motor No. 3. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] See also Figure 1 , 2 As shown in Figures 3, 4 and 5, the utility model provides a technical solution: a side-entry manipulator, comprising: a guide rail bracket 1, the guide rail bracket 1 is a support frame with a rectangular structure, and a linear guide rail is symmetrically fixed to the top of the support frame; a moving slide 3 is fixed to the linear guide rail at the top of the guide rail bracket 1, and a first driving part for driving the moving slide 3 to move is arranged on one side of the guide rail bracket 1; a multi-stage lifting assembly is slidably arranged in the middle of the moving slide 3, the multi-stage lifting assembly includes a No. 1 lifting guide rail 9 that vertically slides in the middle of the moving slide 3 through the linear guide rail and a No. 2 lifting guide rail 12 that is slidably arranged in the middle of the No. 1 lifting guide rail 9, a second driving part for lifting the No. 1 lifting guide rail 9 is fixed to one side of the moving slide 3, a third driving part for driving the No. 2 lifting guide rail 12 to lift is arranged on one side of the No. 1 lifting guide rail 9, a flipping and picking part is arranged at the end of the No. 2 lifting guide rail 12, and the flipping and picking part includes a flipping plate 14 that can be flipped and a vacuum suction cup 18 fixed to one side of the flipping plate 14.

[0025] It should be noted that the guide rail bracket 1 of the utility model is rectangular in shape, and a linear guide rail is symmetrically fixed on the top of the guide rail bracket 1. The linear guide rail is used to move the sliding plate 3 along the track of horizontal movement of the guide rail bracket 1. The first driving unit drives the moving sliding plate 3 to move horizontally along the guide rail. The multi-stage lifting assembly is designed to move vertically to meet the operation requirements of different heights. The No. 1 lifting rail 9 is directly installed in the middle of the moving sliding plate 3. The lifting of the No. 1 lifting rail 9 is driven by the second driving unit. The third driving unit drives the No. 2 lifting rail 12 on the No. 1 lifting rail 9. The middle part slides to further increase the flexibility and range of lifting. The flip picking part is installed at the end of the No. 2 lifting guide rail 12. The flip picking part includes a flip plate 14 that can be flipped and a vacuum suction cup 18 fixed on one side of the flip plate 14. The cylinder 13 cooperates with the corresponding flip gear 16 and the pushing rack 17 to realize the vertical and horizontal rotation of the flip plate 14. The vacuum suction cup 18 is used to grab and stabilize the objects, and the flip plate 14 allows the objects to be flipped to the required direction and position after picking up, so that the workpiece can enter from one side of the equipment along the guide rail bracket 1.

[0026] See also Figure 5 As shown, the first driving part includes a supporting plate 8 fixedly connected to one end of the moving skateboard 3, a No. 1 servo motor 4 is fixedly connected to the top of the supporting plate 8, a driving wheel 6 is fixedly connected to the output end of the No. 1 servo motor 4, and two auxiliary wheels 7 are rotatably connected to the bottom of the supporting plate 8. The two auxiliary wheels 7 and the driving wheel 6 form a triangular structure, and a transmission belt 5 is fixedly connected to one side of the guide rail bracket 1. The transmission belt 5 passes between the driving wheel 6 and the auxiliary wheel 7, and the driving wheel 6 and the auxiliary wheel 7 are frictionally connected.

[0027] It should be noted that the first servo motor 4 of the utility model drives the driving wheel 6 to rotate through the rotation of its output end. The two auxiliary wheels 7 and the driving wheel 6 form a triangular structure layout, which provides support and stability for the transmission system and ensures that the transmission belt 5 correctly transmits power between the wheels; the transmission belt 5 passes between the driving wheel 6 and the auxiliary wheel 7, and through the friction between the driving wheel 6 and the transmission belt 5, because the transmission belt 5 is fixedly connected to the guide rail bracket 1, under the reaction of the force, the support plate 8 drives the entire moving slide plate 3 to move horizontally along the linear guide rail of the guide rail bracket 1.

[0028] See also Figure 2 As shown, the second driving part includes a No. 3 servo motor 20 fixedly connected to the bottom of the moving slide 3, and the output end of the No. 3 servo motor 20 is fixedly connected to the driving gear 2, and the outer side of the driving gear 2 is meshedly connected to the fixed rack 19, and the fixed rack 19 is fixedly connected to the No. 1 lifting guide rail 9.

[0029] It should be noted that the third servo motor 20 of the utility model drives the fixed rack 19 to move up and down in the middle of the movable slide 3 through the driving gear 2, and the first lifting guide rail 9 drives the second lifting guide rail 12 to move up and down in the middle of the movable slide 3.

[0030] See also Figure 1 , 3 As shown, the third driving unit includes a synchronous belt assembly 10 rotatably connected to one side of the No. 1 lifting guide rail 9, and a No. 2 servo motor 11 for driving the synchronous belt assembly 10 is fixedly connected to one side of the No. 1 lifting guide rail 9, and the belt of the synchronous belt assembly 10 is fixedly connected to the No. 2 lifting guide rail 12 through a connecting piece.

[0031] It should be noted that the synchronous belt assembly of the utility model includes two synchronous pulleys and a synchronous belt mounted on the outside of the two synchronous pulleys. The output end of the No. 2 servo motor 11 is fixedly connected to one of the synchronous pulleys. The No. 2 servo motor 11 drives the synchronous belt to rotate. The synchronous belt drives the No. 2 lifting guide rail 12 to slide inside the No. 1 lifting guide rail 9 through the connecting plate, thereby realizing multi-level lifting.

[0032] See also Figure 1 , 3 As shown in FIG. 4 , the flipping and picking part also includes a cylinder 13 fixedly connected to the end of the No. 2 lifting guide rail 12. The end of the cylinder 13 is rotatably connected to a rotating bracket 15 through a rotating shaft. The rotating bracket 15 is fixedly connected to the flip plate 14. The outer side of the rotating shaft is fixedly connected to a flipping gear 16. The output end of the cylinder 13 is fixedly connected to a pushing rack 17, and the pushing rack 17 is meshingly connected to the flipping gear 16.

[0033] It should be noted that the push rack 17 brought by the cylinder 13 of the utility model moves, and the push rack 17 drives the flip gear 16 to rotate. The flip gear 16 drives the flip plate 14 to flip through the rotating shaft, and the flip plate flips the object to the required direction and position after picking it up through the vacuum suction cup 18.

[0034] In the description of the present invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0035] In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include at least one of such features.

[0036] In the present utility model, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the utility model according to the specific circumstances.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A side-entry manipulator, characterized in that: include: The guide rail bracket (1) is a support frame with a rectangular structure; A movable slide plate (3), the movable slide plate (3) being slidably arranged on the top of the guide rail bracket (1), and a first driving part for driving the movable slide plate (3) to move is arranged on one side of the guide rail bracket (1); A multi-stage lifting component, the multi-stage lifting component is placed in the middle of the moving slide (3), the multi-stage lifting component comprises a first lifting guide rail (9) vertically sliding in the middle of the moving slide (3) and a second lifting guide rail (12) slidingly arranged in the middle of the first lifting guide rail (9), a second driving part for driving the first lifting guide rail (9) to rise and fall is fixedly connected to one side of the moving slide (3), and a third driving part for driving the second lifting guide rail (12) to rise and fall is arranged on one side of the first lifting guide rail (9); The flipping and picking part is placed at the end of the second lifting guide rail (12), and the flipping and picking part includes a flipping plate (14) and a vacuum suction cup (18) fixedly connected to one side of the flipping plate (14).

2. A side-entry manipulator according to claim 1, characterized in that: The first driving part comprises a support plate (8) fixedly connected to one end of the moving slide plate (3), a first servo motor (4) being fixedly connected to the top of the support plate (8), and a driving wheel (6) being fixedly connected to the output end of the first servo motor (4).

3. A side-entry manipulator according to claim 2, characterized in that: The bottom of the support plate (8) is rotatably connected to two auxiliary wheels (7), and the two auxiliary wheels (7) and the driving wheel (6) form a triangular structure. One side of the guide rail bracket (1) is fixedly connected to a transmission belt (5), and the transmission belt (5) passes between the driving wheel (6) and the auxiliary wheel (7), and the driving wheel (6) and the auxiliary wheel (7) are frictionally connected.

4. A side-entry manipulator according to claim 1, characterized in that: The second driving part comprises a No. 3 servo motor (20) fixedly connected to the bottom of the moving slide plate (3); the output end of the No. 3 servo motor (20) is fixedly connected to a driving gear (2); the outer side of the driving gear (2) is meshedly connected to a fixed rack (19); and the fixed rack (19) is fixedly connected to the No. 1 lifting guide rail (9).

5. The side-entry manipulator according to claim 1, characterized in that: The third driving unit comprises a synchronous belt assembly (10) rotatably connected to one side of a No. 1 lifting guide rail (9); a No. 2 servo motor (11) for driving the synchronous belt assembly (10) to work is fixedly connected to one side of the No. 1 lifting guide rail (9); and a belt of the synchronous belt assembly (10) is fixedly connected to the No. 2 lifting guide rail (12) via a connecting piece.

6. A side-entry manipulator according to claim 1, characterized in that: The flipping and picking part also includes a cylinder (13) fixedly connected to the end of the second lifting guide rail (12), and the end of the cylinder (13) is rotatably connected to a rotating bracket (15) via a rotating shaft, and the rotating bracket (15) is fixedly connected to the flip plate (14).

7. A side-entry manipulator according to claim 6, characterized in that: The outer side of the rotating shaft is fixedly connected to a flip gear (16), and the output end of the cylinder (13) is fixedly connected to a push rack (17), and the push rack (17) is meshingly connected to the flip gear (16).

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