Oblique arm manipulator

Abstract

The utility model relates to the technical field of oblique arm manipulators, and discloses an oblique arm manipulator which comprises a support and an oblique arm manipulator body arranged at the upper end of the support, the support comprises a base, a cavity with an upward opening is formed in the base, a boss is arranged in the cavity, the oblique arm manipulator body is mounted at the extending end of a mounting column, and the oblique arm manipulator body is mounted on the mounting column. A positioning ring is arranged at the bottom end of the mounting column, a fixing groove communicated with the cavity is formed in the side wall of the base, a positioning assembly is arranged in the fixing groove, and a lifting assembly is arranged in the cavity located below the boss. Through the structure, the mounting column rotates in the cavity, the oblique arm manipulator body on the mounting column can be adjusted according to the position of a material needing to be clamped, and after the position of the oblique arm manipulator body is adjusted, the adjusted position of the oblique arm manipulator body is positioned through the positioning assembly; and therefore, the oblique arm manipulator main body can clamp materials at different positions, and actual use is facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of oblique arm manipulators, in particular to an oblique arm manipulator. Background Art

[0002] In the mechanized production process, oblique arm robots are used. Currently, oblique arm robots are mainly used for rotating clamping actions.

[0003] For example, the patent with publication number CN210501255U discloses an in-mold picking oblique-arm robot. Although the in-mold picking oblique-arm robot directly extends into the injection mold through the clamping claw assembly and takes away the material, and retreats to leave the injection mold through the swing arm, and then transfers the material to the unloading area with the help of the turning movement of the turning table and the extending movement of the swing arm, the clamping claw assembly loosens the material to achieve the purpose of unloading; however, when the in-mold picking oblique-arm robot is actually used, the support on it cannot be rotated to change the direction of the turning table, resulting in the clamping claw assembly on the turning table being able to only clamp or loosen the material below the turning table. When the material is not below the turning table, the clamping claw assembly on the turning table cannot clamp the material, resulting in poor practicality of the oblique-arm robot. Utility Model Content

[0004] The purpose of the utility model is to provide an oblique arm manipulator to solve the problems raised in the above background technology.

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

[0006] An oblique-arm manipulator comprises a support and an oblique-arm manipulator body arranged at the upper end of the support, the support comprises a base, a cavity opening upward is arranged in the base, a boss is arranged in the cavity, a mounting column with an upper end extending out of the cavity is arranged in the cavity and above the boss, the oblique-arm manipulator body is mounted on the extending end of the mounting column, a positioning ring is arranged on the bottom end of the mounting column, a fixing groove connecting to the cavity is opened on the side wall of the base along its height direction, a positioning assembly is arranged in the fixing groove, the positioning assembly is used to position the rotation of the positioning ring, so as to realize the positioning of the rotation of the mounting column, a lifting assembly is arranged in the cavity under the boss, the lifting assembly is used to lift and lower the mounting column, so as to realize the lifting and lowering adjustment of the oblique-arm manipulator body.

[0007] Preferably, a plurality of positioning grooves opening upward are provided on the outer side wall of the positioning ring along its circumference, and a limiting groove is provided on the side wall opposite to the fixing groove along its height direction;

[0008] The positioning assembly includes a movable plate arranged in a fixed groove and with both ends extending into corresponding limit grooves. The movable plate can be movably arranged and a positioning block is provided on the movable plate. The movable plate drives the positioning block to move downward and the positioning block is snapped into the corresponding positioning groove to realize the positioning of the rotation of the positioning ring. A locking piece for locking the movement of the movable plate is also provided in the fixed groove.

[0009] Preferably, a movable groove penetrating the movable plate is provided on the movable plate along its length direction;

[0010] The locking member includes a locking plate that is arranged in a fixed groove and can slide. The locking plate is provided with a rotating rod with one end passing through the locking plate and the movable groove respectively. The rotating rod and the locking plate are threadedly matched. A circular ring is provided at one end of the rotating rod. The rotating rod rotates to drive the circular ring to move, and the side wall of the movable plate is pressed against the side wall of the locking plate to lock the movement of the movable plate.

[0011] Preferably, a downwardly opening mounting cavity is provided in the mounting column, and opposite mounting grooves are provided on the side walls of the mounting cavity along the height direction thereof, and a mounting plate is provided at the opening of the cavity, which penetrates the two mounting grooves and limits the mounting column;

[0012] The lifting component includes a motor arranged in the cavity. The output shaft of the motor is provided with a screw rod with a thread penetrating through a positioning ring. The screw rod rotates to drive the mounting column to perform lifting and lowering adjustment.

[0013] Preferably, a handle for driving the rotating rod to rotate is provided on the rotating rod located on the locking plate.

[0014] Preferably, a shifting block for shifting the movable plate is provided on the side wall of the movable plate.

[0015] Preferably, a rotating ring is sleeved on the protruding end of the mounting column, and a plurality of rotating grooves for driving the rotating ring to rotate are formed on the upper end surface of the rotating ring.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] 1. The utility model can rotate the mounting column in the cavity so that the main body of the oblique arm manipulator on the mounting column can be rotated, so that the main body of the oblique arm manipulator can adjust the position of the material to be clamped as needed. After the position adjustment of the main body of the oblique arm manipulator is completed, the rotation of the positioning ring is positioned by the positioning assembly, so that the rotation of the mounting column can also be positioned, thereby realizing the positioning of the adjusted position of the main body of the oblique arm manipulator. Compared with the existing ones, when this kind of oblique arm manipulator is actually used, by rotating the mounting column, the main body of the oblique arm manipulator can clamp materials at different positions, which is convenient for actual use.

[0018] 2. The utility model uses a lifting component to lift and adjust the mounting column, that is, the inclined arm manipulator body on the mounting column can be lifted and adjusted, so that the inclined arm manipulator body can be adjusted according to the height of the material, so that the inclined arm manipulator body can clamp materials of different heights, making the oblique arm manipulator more applicable. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The utility model is a schematic structural diagram of an oblique arm manipulator.

[0020] Figure 2 It is a schematic cross-sectional structure diagram of the oblique arm manipulator in the utility model.

[0021] Figure 3 for Figure 2 Schematic diagram of the enlarged structure at point A in the middle.

[0022] Figure 4 It is a structural schematic diagram of the base in the utility model.

[0023] Figure 5 It is a schematic diagram of the explosion structure of the movable plate and the locking plate in the utility model.

[0024] The meaning of the symbols in the figure is:

[0025] 1. Oblique arm manipulator body; 100. Base; 101. Fixed slot; 102. Limiting slot; 110. Mounting column; 121. Mounting slot; 130. Rotating ring; 131. Rotating slot;

[0026] 201, cavity; 202, mounting cavity; 210, boss; 220, positioning ring; 221, positioning groove; 230, mounting plate; 240, motor; 250, screw rod;

[0027] 300, movable plate; 301, positioning block; 302, shifting block; 310, locking plate; 320, rotating rod; 321, ring; 322, handle;

[0028] 501. Activity slot. DETAILED DESCRIPTION

[0029] In order to further understand the content of the utility model, the utility model is described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the embodiments are only used to explain the utility model but not to limit it.

[0030] The following is combined with Figure 1-Figure 5 This embodiment is described in further detail.

[0031] like Figure 1As shown, an oblique arm manipulator in this embodiment includes a support and an oblique arm manipulator body 1 arranged at the upper end of the support, the support includes a base 100, a cavity 201 with an opening upward is provided in the base 100, a boss 210 is provided in the cavity 201, a mounting column 110 with an upper end extending out of the cavity 201 is provided in the cavity 201 and above the boss 210, the oblique arm manipulator body 1 is installed on the protruding end of the mounting column 110, a positioning ring 220 is provided on the bottom end of the mounting column 110, a fixing groove 101 connecting to the cavity 201 is opened on the side wall of the base 100 along its height direction, a positioning component is provided in the fixing groove 101, the positioning component is used to position the rotation of the positioning ring 220, so as to realize the positioning of the rotation of the mounting column 110, a lifting component is provided in the cavity 201 under the boss 210, the lifting component is used to lift the mounting column 110, so as to realize the lifting and lowering adjustment of the oblique arm manipulator body 1.

[0032] In this embodiment, the positioning ring 220 is fixedly mounted on the bottom end of the mounting column 110. In actual use, the lower end of the cavity 201 is provided with a mounting opening, and a blocking plate is provided at the mounting opening. The mounting column 110 extends into the cavity 201 from the mounting opening and extends out from the upper opening of the cavity 201. The boss 210 is annular. At this time, the boss 210 is fixedly mounted on the cavity 201 and is located below the positioning ring 220. Thus, the mounting column 110 is preferably installed in the base 100.

[0033] Among them, when the base 100 is fixedly installed on the installation surface, the oblique arm manipulator body 1 is fixedly installed at the upper end of the installation column 110, and the installation column 110 is rotated in the cavity 201, so that the oblique arm manipulator body 1 on the installation column 110 can be rotated, so that the oblique arm manipulator body 1 can adjust the position of the material to be clamped as needed. After the position adjustment of the oblique arm manipulator body 1 is completed, the rotation of the positioning ring 220 is positioned by the positioning assembly, so that the rotation of the installation column 110 can also be positioned, thereby realizing the positioning of the adjusted position of the oblique arm manipulator body 1. Compared with the existing ones, this kind of oblique arm manipulator can be used in actual use. By rotating the installation column 110, the oblique arm manipulator body 1 can clamp materials at different positions, which is convenient for actual use;

[0034] Among them, the oblique arm manipulator body 1 adopts the structure disclosed in the patent with publication number CN210501255U in the background technology;

[0035] Among them, the outer wall of the positioning ring 220 is slidably fitted with the side wall of the cavity 201. When the mounting column 110 drives the positioning ring 220 to rotate in the cavity 201, the positioning ring 220 limits the rotation of the mounting column 110, so that the mounting column 110 is more stable when rotating in the cavity 201, thereby better adjusting the position of the oblique arm manipulator body 1;

[0036] Among them, through the setting of the lifting component, it is possible to lift and adjust the mounting column 110, that is, the oblique arm manipulator body 1 on the mounting column 110 can be lifted and adjusted, so that the oblique arm manipulator body 1 can be adjusted according to the height of the material, so that the oblique arm manipulator body 1 can clamp materials of different heights, making the oblique arm manipulator more applicable.

[0037] like Figure 1-5 As shown, in this embodiment, a plurality of positioning grooves 221 opening upward are formed on the outer wall of the positioning ring 220 along its circumference, and a limiting groove 102 is formed on the side wall opposite to the fixing groove 101 along its height direction;

[0038] The positioning assembly includes a movable plate 300 which is arranged in the fixed groove 101 and has two ends extending into the corresponding limit grooves 102. The movable plate 300 can be movably arranged. A positioning block 301 is provided on the movable plate 300. The movable plate 300 drives the positioning block 301 to move downward, and the positioning block 301 is inserted into the corresponding positioning groove 221 to realize the positioning of the rotation of the positioning ring 220. A locking member for locking the movement of the movable plate 300 is also provided in the fixed groove 101.

[0039] In this embodiment, by setting the positioning groove 221, the limiting groove 102, the movable plate 300, the positioning block 301 and the locking member, by inserting the two ends of the movable plate 300 into the corresponding limiting grooves 102, the positioning block 301 is fixedly installed on the movable plate 300, and when the positioning block 301 on the movable plate 300 is inserted into the corresponding limiting groove 102, the rotation of the positioning ring 220 is positioned;

[0040] Among them, after the mounting post 110 drives the positioning ring 220 to rotate, the positioning block 301 on the movable plate 300 may not correspond to the limiting groove 102, resulting in the positioning block 301 on the movable plate 300 being unable to be stuck in the positioning groove 221, thereby failing to position the rotation of the positioning ring 220. At this time, by moving the movable plate 300 left and right, the positioning block 301 on the movable plate 300 is made to be opposite to the corresponding positioning groove 221, which is convenient for its insertion. At this time, when the positioning block 301 on the movable plate 300 is inserted into the limiting groove 102, the mounting post 110 can also rotate left and right by a certain angle, and drive the movable plate 300 to move left and right by a certain angle. At this time, the position of the movable plate 300 is positioned by the locking member, so that the mounting post 110 cannot rotate left and right by a certain angle, thereby improving the positioning effect of the movable plate 300 on the mounting post 110;

[0041] Among them, a rotating ring 130 is fixedly mounted on the protruding end of the mounting column 110, and a plurality of rotating grooves 131 for driving the rotating ring 130 to rotate are provided on the upper end surface of the rotating ring 130. When the positioning of the positioning ring 220 is released, the mounting column 110 can be driven to rotate through the rotating grooves 131 on the rotating ring 130, that is, the oblique arm manipulator body 1 can be rotated and adjusted, thereby improving practicality;

[0042] In actual use, a shifting block 302 for shifting the movable plate 300 is fixedly installed on the side wall of the movable plate 300 . The shifting block 302 can conveniently drive the movable plate 300 to move left and right, so that the positioning block 301 on the movable plate 300 can be better inserted into the corresponding positioning slot 221 .

[0043] like Figure 1-5 As shown, in this embodiment, a movable groove 501 penetrating the movable plate 300 is provided on the movable plate 300 along its length direction;

[0044] The locking member includes a locking plate 310 which is slidably disposed in the fixed groove 101, and a rotating rod 320 is provided on the locking plate 310, one end of which passes through the locking plate 310 and the movable groove 501 respectively. The rotating rod 320 and the locking plate 310 are threadedly matched, and a circular ring 321 is provided at one end of the rotating rod 320. The rotating rod 320 rotates to drive the circular ring 321 to move, and the side wall of the movable plate 300 is pressed against the side wall of the locking plate 310, so as to lock the movement of the movable plate 300.

[0045] In this embodiment, by setting the movable groove 501, the locking plate 310, the rotating rod 320 and the ring 321, the ring 321 is fixedly installed on one end of the rotating rod 320 that passes through the movable groove 501, and the movable groove 501 intercepts the ring 321, so that the locking plate 310 is installed in the fixed groove 101. When the rotating rod 320 is threadedly rotated on the locking plate 310, the rotating rod 320 drives the ring 321 to move toward the movable plate 300, and pushes the movable plate 300 to press against the side wall of the locking plate 310, so as to realize the positioning of the left and right movement of the movable plate 300.

[0046] The side wall of the locking plate is slidably fitted with the side wall of the fixing groove 101, so that the locking plate 310 can only slide up and down along the fixing groove 101, and the locking plate 310 cannot move left and right. When the movable plate 300 is pressed against the locking plate 310, the left and right movement of the movable plate 300 is positioned;

[0047] Among them, by setting the movable groove 501, when the movable plate 300 and the locking plate 310 are not in tight contact, the movable plate 300 can move left and right, and the positioning block 301 is inserted into the corresponding positioning groove 221. At the same time, one end of the rotating rod 320 can also be located in the movable groove 501, so that the locking plate 310 can always be installed in the fixed groove 101.

[0048] A handle 322 for driving the rotating rod 320 to rotate is fixedly mounted on the rotating rod 320 located on the locking plate 310. The rotating rod 320 can be driven to rotate better through the handle 322, which is more convenient to use.

[0049] When the movable plate 300 is positioned in actual use, the locking plate 310 needs to be pushed into the fixing groove 101 so that the side wall of the locking plate 310 fits with the fixing groove 101, and the fixing groove 101 limits the side wall of the locking plate 310, so that when the rotating rod 320 is driven to rotate by the handle 322, the rotating rod 320 can drive the ring 321 to push the movable plate 300 and the locking plate 310 to be pressed against each other, thereby preventing the locking plate 310 from sliding out of the fixing groove 101 and affecting the positioning of the movable plate 300 by the locking plate 310.

[0050] like Figure 1-4 As shown, in this embodiment, a downwardly opening mounting cavity 202 is provided in the mounting column 110, and opposite mounting grooves 121 are provided on the side wall of the mounting cavity 202 along its height direction, and a mounting plate 230 is provided at the opening of the cavity 201, which penetrates the two mounting grooves 121 and limits the mounting column 110;

[0051] The lifting assembly includes a motor 240 disposed in the cavity 201 . A screw rod 250 is provided on the output shaft of the motor 240 and is threadedly penetrated through the positioning ring 220 . The screw rod 250 rotates to drive the mounting column 110 to be lifted or lowered.

[0052] In this embodiment, by setting the mounting cavity 202, the mounting groove 121, the mounting plate 230 and the motor 240, the motor 240 is fixedly mounted on the bottom wall of the cavity 201, that is, the motor 240 is fixedly mounted on the blocking plate; the mounting plate 230 is fixedly mounted at the opening of the cavity 201 and penetrates the mounting groove 121, so that the mounting plate 230 can limit the mounting column 110, and when the output shaft of the motor 240 drives the screw rod 250 to rotate, the positioning ring 220 can drive the mounting column 110 to be raised and lowered, so that the inclined arm manipulator body 1 on the mounting column 110 is raised and lowered, and the inclined arm manipulator body 1 can clamp materials at different heights, thereby improving the practicality of the inclined arm manipulator body 1;

[0053] The upper end of the screw rod 250 is mounted on the mounting plate 230 through a bearing, so that when the screw rod 250 and the positioning ring 220 are threadedly rotated, the rotation of the screw rod 250 is more stable, thereby better driving the mounting column 110 to move up and down;

[0054] When the movable plate 300 is in a state of being pressed against the locking plate 310, the movable plate 300 is prevented from being pressed against the locking plate 310. As a result, when the positioning ring 220 drives the mounting column 110 to be lifted or lowered, the positioning ring 220 will push the positioning block 301 to be lifted or lowered, that is, the movable plate 300 is also lifted or lowered. At this time, the movable plate 300 moves in the limiting groove 102, and the limiting groove 102 causes greater wear on the movable plate 300, which can easily damage the movable plate 300.

[0055] Working principle: First, the motor 240 drives the screw rod 250 to rotate, so that the positioning ring 220 can drive the mounting column 110 to be raised and lowered, that is, the inclined arm manipulator body 1 on the mounting column 110 can be adjusted according to the height of the material to be clamped. After the height adjustment of the inclined arm manipulator body 1 is completed, the rotating groove 131 on the rotating ring 130 drives the mounting column 110 to rotate, so that the inclined arm manipulator body 1 can be adjusted to the position of the material. After the position adjustment of the inclined arm manipulator body 1 is completed, the rotating groove 131 on the rotating ring 130 drives the mounting column 110 to rotate, so that the inclined arm manipulator body 1 can be adjusted to the position of the material. Block 302 drives the movable plate 300 to move left and right, so that the positioning block 301 on the movable plate 300 can be stuck in the positioning groove 221 and position the rotation of the positioning ring 220, that is, the adjusted position of the inclined arm manipulator body 1 on the mounting column 110 is positioned. At this time, the rotating rod 320 is driven to rotate by the handle 322, so that the ring 321 pushes the movable plate 300 to press against the locking plate 310, thereby positioning the movable plate 300, so that the movable plate 300 can better position the rotation of the positioning ring 220.

Claims

1. An oblique arm manipulator, comprising a support and an oblique arm manipulator body (1) arranged at the upper end of the support, characterized in that: The support comprises a base (100), a cavity (201) with an opening upward is provided in the base (100), a boss (210) is provided in the cavity (201), a mounting column (110) whose upper end extends out of the cavity (201) is provided in the cavity (201) and above the boss (210), the inclined arm manipulator body (1) is mounted on the extended end of the mounting column (110), a positioning ring (220) is provided on the bottom end of the mounting column (110), and the base (100) A fixing groove (101) communicating with the cavity (201) is provided on the side wall along its height direction, a positioning component is provided in the fixing groove (101), the positioning component is used to position the rotation of the positioning ring (220), thereby realizing the rotation positioning of the mounting column (110), and a lifting component is provided in the cavity (201) located under the boss (210), the lifting component is used to lift the mounting column (110), thereby realizing the lifting and lowering adjustment of the oblique arm manipulator body (1).

2. The oblique arm manipulator according to claim 1, characterized in that: A plurality of positioning grooves (221) opening upward are provided on the outer side wall of the positioning ring (220) along its circumferential direction, and a limiting groove (102) is provided on the side wall opposite to the fixing groove (101) along its height direction; The positioning assembly comprises a movable plate (300) which is arranged in the fixed groove (101) and has two ends extending into the corresponding limit grooves (102). The movable plate (300) can be movably arranged. A positioning block (301) is provided on the movable plate (300). The movable plate (300) drives the positioning block (301) to move downward, and the positioning block (301) is inserted into the corresponding positioning groove (221) to realize the positioning of the rotation of the positioning ring (220). A locking member for locking the movement of the movable plate (300) is also provided in the fixed groove (101).

3. The oblique arm manipulator according to claim 2, characterized in that: A movable groove (501) penetrating the movable plate (300) is provided on the movable plate (300) along its length direction; The locking member comprises a locking plate (310) which is slidably disposed in the fixing groove (101); a rotating rod (320) is disposed on the locking plate (310) and one end of which passes through the locking plate (310) and the movable groove (501) respectively; the rotating rod (320) and the locking plate (310) are threadedly engaged with each other; a circular ring (321) is disposed at one end of the rotating rod (320); the rotating rod (320) rotates to drive the circular ring (321) to move, thereby pressing the side wall of the movable plate (300) against the side wall of the locking plate (310), thereby locking the movement of the movable plate (300).

4. The oblique arm manipulator according to claim 2, characterized in that: A downwardly opening mounting cavity (202) is provided in the mounting column (110); opposing mounting grooves (121) are provided on the side walls of the mounting cavity (202) along its height direction; and a mounting plate (230) is provided at the opening of the cavity (201) and passes through the two mounting grooves (121) and limits the mounting column (110); The lifting assembly comprises a motor (240) disposed in the cavity (201); a screw rod (250) having a thread that penetrates through the positioning ring (220) is disposed on the output shaft of the motor (240); the screw rod (250) rotates to drive the mounting column (110) to be lifted and lowered.

5. The oblique arm manipulator according to claim 3, characterized in that: A handle (322) for driving the rotating rod (320) to rotate is provided on the rotating rod (320) located on the locking plate (310).

6. The oblique arm manipulator according to claim 3, characterized in that: A shifting block (302) for shifting the movable plate (300) is provided on the side wall of the movable plate (300).

7. The oblique arm manipulator according to claim 4, characterized in that: A rotating ring (130) is sleeved on the protruding end of the mounting column (110), and a plurality of rotating grooves (131) for driving the rotating ring (130) to rotate are provided on the upper end surface of the rotating ring (130).

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