Mechanical arm

Abstract

The utility model discloses a manipulator, which relates to the technical field of manipulators, and comprises a mounting seat, a rotating assembly, a base and a clamping assembly, the rotating assembly is rotationally arranged on the mounting base and used for adjusting the angle of the base and the angle of the clamping assembly. The base is rotationally arranged on the rotating assembly; the clamping assembly is installed on the side, away from the rotating assembly, of the base and used for clamping goods of different specifications. The clamping assembly comprises a driving piece, a clamping piece and a sliding piece. The sliding part is fixed to the base, the driving parts are located at the two ends of the base, the driving part at one end is fixed to the base, the driving part at the other end is fixed to the sliding part, and the symmetrically-arranged clamping parts are fixed to the driving parts. The goods stacking device has the effects that goods of different lengths or widths are clamped, and the placing stability and the placing position accuracy can be guaranteed when the goods are stacked.

Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and in particular to a manipulator. Background Art

[0002] A manipulator is an automated device that can imitate certain movements and functions of human hands and arms, and can grasp, carry objects or operate tools according to a fixed procedure. It is mainly composed of an actuator, a drive mechanism, a control system, and a detection device. An intelligent manipulator may also have a sensory system and an intelligent system. Manipulators are widely used in industry, especially in mechanical processing automation, for automatic loading and unloading of materials and automatic tool changing. It combines the advantages of humans and machines in structure and performance, and can complete various expected operations. It is one of the earliest types of industrial robots.

[0003] The authorization publication number is CN221342950U. A gantry type palletizer manipulator relates to the field of manipulator technology, including a clamping mechanism and a connecting frame. An arc-shaped clamping plate is provided on one side of the bottom of the connecting frame, and a square clamping plate is provided on the other side of the bottom of the connecting frame. A rotating plate is provided at the bottom of the connecting frame. A fixing component is installed between the arc-shaped clamping plate, the square clamping plate and the connecting frame. The fixing component includes a plug-in plate. Plug-in sleeves for plugging the plug-in plate are fixed on both sides of the outer wall of the rotating plate, and fixed blocks are fixed on the top and bottom of the rotating plate.

[0004] Combined with the existing technology, the manipulator is mainly used on palletizers to grab new energy battery packs or other heavy goods, and is used in industrial production and logistics fields to neatly stack products or items in a certain arrangement in pallets or containers. However, the clamping part of the existing equipment is not suitable for goods with uncertain length or width specifications when clamping goods, and it is difficult to ensure the stability and accuracy of the position of the goods when stacking. Utility Model Content

[0005] In order to improve the inconvenience of clamping goods of uncertain length or width and the problem of difficulty in ensuring the stability and accuracy of goods placement when stacking, the present application provides a robot.

[0006] The present application provides a manipulator that adopts the following technical solution:

[0007] A manipulator comprises a mounting seat, a rotating assembly, a base and a clamping assembly; the rotating assembly is rotatably arranged on the mounting seat and is used to adjust the angle of the base and the clamping assembly; the base is rotatably arranged on the rotating assembly; the clamping assembly is mounted on the side of the base away from the rotating assembly and is used to clamp goods of different specifications; wherein the clamping assembly comprises a driving member, a clamping member and a sliding member; the sliding member is fixed on the base, and the driving member is located at both ends of the base, the driving member and the base are fixed at one end, and the driving member and the sliding member are fixed at the other end, and the symmetrically arranged clamping members are fixed on the driving member.

[0008] By adopting the above technical solution, the mounting base is fixed on the equipment, and its rotating component drives the base and the clamping component to rotate in the corresponding direction. The distance between the clamping members located at both ends of the base is controlled by the sliding member to achieve clamping of goods of different lengths. The driving member controls the distance between the clamping members on one side to achieve clamping of goods of different widths. The clamping member at the fixed end and the clamping member at the movable end cooperate with each other to achieve clamping of goods of different specifications.

[0009] Optionally, the sliding member includes a guide rail, a slider and a screw-nut mechanism, the guide rail is arranged in parallel along the length direction of the base, the slider is slidably arranged on the slide rail and the slider is fixed on the driving member, and the screw-nut mechanism is used to drive the slider and the driving member to move along the length direction of the slide rail.

[0010] By adopting the above technical solution, the slider is driven to slide on the guide rail through the screw-nut mechanism, so that the slider and the clamping member can move along the length direction of the base. The screw-nut mechanism is adopted to reduce the friction coefficient, improve the transmission efficiency, and reduce the required transmission torque. It has high sensitivity, smooth transmission, and high movement accuracy and positioning accuracy.

[0011] Optionally, the driving member includes a cylinder, a support, a guide rod and a guide seat, the support is fixed on the slider, the guide rod is fixedly arranged on the support, the guide seat is slidably arranged on the guide rod, and the output end of the cylinder is fixed to the guide seat.

[0012] By adopting the above technical solution, the cylinder is a double-headed cylinder, and the protruding ends at both ends extend or retract synchronously. The protruding ends of the cylinder drive the guide seat sliding on the guide rod to move along the axis of the guide rod, so that the guide seat and the clamping part connected to the guide seat are moved closer or farther away from each other.

[0013] Optionally, the rotating assembly includes a control motor and a rotating arm, the rotating arm is rotatably arranged on a mounting seat, and the control motor is installed on the rotating arm to drive the rotating arm to rotate.

[0014] By adopting the above technical solution, the output shaft of the control motor drives the rotating arm to rotate, and the rotating arm rotates around the axis of the output shaft of the control motor, which makes it easier to control the clamping of goods in a larger range.

[0015] Optionally, the screw-nut mechanism includes a servo motor, a screw shaft and a nut block, the screw shaft passes through the nut block and the output end of the servo motor and is fixed, the nut block and the screw shaft are threadedly matched, and the nut block and the support are fixed.

[0016] By adopting the above technical solution, the output end of the servo motor drives the screw shaft to transmit, and the nut block penetrating the screw shaft moves along the axis of the screw shaft. At the same time, the movement of the nut block drives the components on the support to move together.

[0017] Optionally, the clamping member includes a clamping block and a support frame, the support frame is fixed on the guide seat, and the clamping block is fixed on the support frame.

[0018] By adopting the above technical solution, the support frame is L-shaped, and two clamping blocks and two support frames are arranged at each end of the base. The two clamping blocks are arranged facing each other to facilitate clamping of goods.

[0019] Optionally, at least two groups of rotating components are provided.

[0020] By adopting the above technical solution, multiple groups of rotating components expand the rotation angle range and increase the clamping space range.

[0021] Optionally, a notch groove is provided on the clamping block, and the angle formed by the notch groove is an obtuse angle.

[0022] By adopting the above technical solution, the position of the notch groove is convenient for clamping the goods, and the obtuse angle setting improves the clamping and tightening effect on the top and bottom edges of the goods.

[0023] In summary, the present application includes at least one of the following beneficial technical effects:

[0024] 1. Compared with the prior art, the sliding member in the present application adjusts the distance between the clamping members at both ends of the base, which is convenient for clamping goods of different lengths. The driving member adjusts the distance between the clamping members at the same end to achieve the clamping of goods of different widths. The manipulator clamps goods of different specifications, thereby improving the versatility of clamping different goods.

[0025] 2. Use sliding parts, driving parts and clamping parts to automatically clamp the goods, and cooperate with rotating components to realize automatic stacking of goods, which greatly improves the stacking efficiency and ensures the stability and position accuracy of the goods during stacking;

[0026] 3. Compared with the manual method of stacking goods, the automated method reduces manual labor output and ensures the safety of the goods stacking environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 This is a schematic diagram showing the overall structure of this application.

[0029] Figure 2 This is a schematic diagram of the structure of this application showing another viewing angle.

[0030] Figure 3 This application displays Figure 2 A-axis enlarged view.

[0031] Figure 4 It is a schematic diagram showing the structure of the sliding member in this application.

[0032] Figure 5 It is a structural schematic diagram showing the screw-nut mechanism of this application.

[0033] : Illustration numerals: 1. mounting base; 2. rotating assembly; 3. base; 4. clamping assembly; 41. driving member; 42. clamping member; 43. sliding member; 431. guide rail; 432. slider; 433. screw-nut mechanism; 411. cylinder; 412. support; 413. guide rod; 414. guide seat; 21. control motor; 22. rotating arm; 4331. servo motor; 4332. screw shaft; 4333. nut block; 421. clamping block; 422. support bracket; 5. notch groove. DETAILED DESCRIPTION

[0034] The following is combined with Figure 1 To Attachment Figure 5 This application is described in further detail.

[0035] An embodiment of the present application discloses a robot.

[0036] Reference Figure 1 , including a mounting base 1, a rotating assembly 2, a base 3 and a clamping assembly 4; the mounting base 1 is fixed on the equipment, the rotating assembly 2 is rotatably arranged on the mounting base 1, and is used to adjust the angles of the base 3 and the clamping assembly 4; the base 3 is rotatably arranged on the rotating assembly 2; the clamping assembly 4 is installed on the side of the base 3 away from the rotating assembly 2, and is used to clamp goods of different specifications, and the clamping assembly 4 clamps goods of different lengths and widths;

[0037] See also Figure 2As shown in the figure, the clamping assembly 4 includes a driving member 41, a clamping member 42, and a sliding member 43. The sliding member 43 is fixed on the base 3. The driving member 41 is located at both ends of the base 3. One end of the driving member 41 is fixed to the base 3, and the other end of the driving member 41 is fixed to the sliding member 43. The symmetrically arranged clamping members 42 are fixed on the driving member 41. There are two groups of clamping members 42, which are located around the bottom of the base 3. The clamping member 42 at one end of the base 3 is the fixed end, and the clamping member 42 at the other end of the base 3 is the movable end. The sliding member 43 drives a group of clamping members 42 on the movable end to displace along the length direction of the base 3, and cooperates with a group of clamping members 42 at the fixed end to clamp goods of different lengths. The driving member 41 drives a group of clamping members 42 at the same end to displace along the width direction of the base 3, facilitating the clamping of goods of different widths, so as to clamp goods of different specifications, improving the versatility of clamping different goods.

[0038] See Figure 4 As shown in the figure, the sliding member 43 includes a guide rail 431, a slider 432, and a lead screw nut mechanism 433. The guide rail 431 is arranged parallel to the length direction of the base 3. The slider 432 is slidably arranged on the slide rail and the slider 432 is fixed on the driving member 41. The lead screw nut mechanism 433 is used to drive the slider 432 and the driving member 41 to move along the length direction of the slide rail.

[0039] See Figure 5 As shown in the figure, the lead screw nut mechanism 433 includes a servo motor 4331, a lead screw shaft 4332, and a nut block 4333. The lead screw shaft 4332 passes through the nut block 4333 and is fixed to the output end of the servo motor 4331. The nut block 4333 is in threaded cooperation with the lead screw shaft 4332. The nut block 4333 is fixed to the support 412. In the embodiment, the lead screw nut mechanism 433 is a relatively common displacement structure in the prior art. The lead screw nut mechanism 433 has the characteristics of small transmission friction coefficient, improved transmission efficiency, small required transmission torque, high sensitivity, smooth transmission, high movement accuracy and positioning accuracy.

[0040] See Figure 3 As shown in the figure, the driving member 41 includes a cylinder 411, a support 412, a guide rod 413, and a guide seat 414. The support 412 is fixed on the slider 432. The guide rod 413 is fixedly arranged on the support 412. The guide seat 414 is slidably arranged on the guide rod 413. The output end of the cylinder 411 is fixed to the guide seat 414. In the application, the cylinder 411 is a double-headed cylinder 411, which can realize the synchronous pushing of the telescopic rod of the double-headed cylinder 411. The support 412 is in a U shape and is provided with five guide rods 413. The guide seat 414 located inside the bottom of the support 412 passes through the guide rod 413. The two output ends of the cylinder 411 synchronously lift or retract the guide seat 414, so as to realize the mutual separation or approach of the guide seats 414.

[0041] See Figure 2 As shown, at least two groups of rotating components 2 are arranged, and the rotating components 2 include a control motor 21 and a rotating arm 22. The rotating arm 22 is rotatably arranged on the mounting base 1. The control motor 21 is installed on the rotating arm 22 to drive the rotating arm 22 to rotate. After the control motor 21 is driven, the output shaft of the control motor 21 drives the rotating arm 22 to rotate around the axis of the control motor 21. The two groups of rotating components 2 are set up, which expand the range of movement of the rotating arm 22 and the base 3 and the clamping component 4 connected to the rotating arm 22, and improve the range of clamping.

[0042] See also Figure 3 As shown, the clamping member 42 includes a clamping block 421 and a bracket 422, the bracket 422 is fixed on the guide seat 414, the clamping block 421 is fixed on the bracket 422, and the telescopic rods at both ends of the cylinder 411 drive the guide seat 414 and the bracket 422 and the clamping block 421 on the guide seat 414 to move away from or close to each other, thereby achieving the release or clamping of the goods. A notch groove 5 is provided on the clamping block 421, and the angle formed by the notch groove 5 is an obtuse angle. The side wall of the notch groove 5 has an improved clamping effect on different shapes, and is suitable for clamping a variety of goods of different specifications and shapes.

[0043] The implementation principle of a manipulator in an embodiment of the present application is as follows: the control motor 21 drives the rotating arm 22 to rotate, and the rotating arm 22 drives the base 3 and the clamping assembly 4 connected to the base 3 to rotate to the position where the goods are to be clamped. According to the length of the goods, the sliding member 43 drives a group of clamping members 42 at the movable end to move to a position convenient for clamping, and the driving member 41 drives the clamping members 42 at the fixed end and the movable end to move synchronously, so as to realize the clamping of goods of different widths, thereby improving the versatility of clamping goods of different specifications. By rotating the rotating assembly 2 to the stacking area, the transfer and stacking of the goods is realized by repeated operations, which reduces the labor output of manual labor and greatly improves the stacking efficiency. The automated stacking of goods ensures the safety and stability of the stacking of goods, and ensures the accuracy of the stacking position.

[0044] Unless otherwise defined, the technical terms or scientific terms used in this application should be understood by people with ordinary skills in the field to which this application belongs. The words "first", "second", "third" and similar words used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. "One" or "one" and similar words do not indicate a quantitative limit, but indicate that there is at least one. "Include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0045] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A robot, characterized in that: It comprises a mounting seat (1), a rotating assembly (2), a base (3) and a clamping assembly (4); The rotating assembly (2) is rotatably arranged on the mounting seat (1) and is used to adjust the angles of the base (3) and the clamping assembly (4); The base (3) is rotatably arranged on the rotating assembly (2); The clamping assembly (4) is installed on a side of the base (3) away from the rotating assembly (2) and is used to clamp goods of different specifications; The clamping assembly (4) comprises a driving member (41), a clamping member (42) and a sliding member (43); the sliding member (43) is fixed on the base (3); the driving member (41) is located at two ends of the base (3); the driving member (41) and the base (3) are fixed at one end, and the driving member (41) and the sliding member (43) are fixed at the other end; the clamping members (42) are symmetrically arranged and fixed on the driving member (41).

2. A robot according to claim 1, characterized in that: The sliding member (43) comprises a guide rail (431), a slider (432) and a screw nut mechanism (433); the guide rail (431) is arranged in parallel along the length direction of the base (3); the slider (432) is slidably arranged on the slide rail and the slider (432) is fixed on the driving member (41); the screw nut mechanism (433) is used to drive the slider (432) and the driving member (41) to move along the length direction of the slide rail.

3. A robot according to claim 2, characterized in that: The driving member (41) comprises a cylinder (411), a support (412), a guide rod (413) and a guide seat (414); the support (412) is fixed on a slider (432); the guide rod (413) is fixedly arranged on the support (412); the guide seat (414) is slidably arranged on the guide rod (413); and the output end of the cylinder (411) and the guide seat (414) are fixed.

4. A robot according to claim 1, characterized in that: The rotating assembly (2) comprises a control motor (21) and a rotating arm (22); the rotating arm (22) is rotatably arranged on the mounting seat (1); and the control motor (21) is mounted on the rotating arm (22) to drive the rotating arm (22) to rotate.

5. A robot according to claim 3, characterized in that: The screw nut mechanism (433) comprises a servo motor (4331), a screw shaft (4332) and a nut block (4333); the screw shaft (4332) passes through the nut block (4333) and the output end of the servo motor (4331) and is fixed; the nut block (4333) and the screw shaft (4332) are threadedly matched; and the nut block (4333) and the support (412) are fixed.

6. A robot according to claim 1, characterized in that: The clamping member (42) comprises a clamping block (421) and a support frame (422), wherein the support frame (422) is fixed on the guide seat (414), and the clamping block (421) is fixed on the support frame (422).

7. A robot according to claim 4, characterized in that: The rotating components (2) are provided in at least two groups.

8. A robot according to claim 6, characterized in that: The clamping block (421) is provided with a notch groove (5), and the angle formed by the notch groove (5) is an obtuse angle.

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