Liftable positioning structure for grabbing of manipulator

Abstract

The utility model discloses a lifting positioning structure for grabbing of a manipulator, which belongs to the technical field of manipulators and comprises a bottom plate and a mounting plate, and a lifting mechanism for driving the mounting plate to face or be far away from the bottom plate is arranged at the top of the bottom plate. A jacking mechanism used for jacking materials is mounted on the mounting plate, supporting plates are connected to the two ends of the top of the mounting plate, a conveying mechanism used for conveying the materials is arranged between the two supporting plates, and a positioning mechanism used for positioning operation of the conveying mechanism is arranged on the mounting plate; the mounting plate is driven to ascend and descend through the lifting mechanism, the working height of the manipulator is freely adjusted, accurate positioning of the multiple positioning plates and positioning of transportation of the manipulator are achieved by arranging the positioning mechanism, and the effects that the manipulator is suitable for operation at different heights, and the operation efficiency and the finished product quality of the manipulator are improved are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a lifting and lowering positioning structure for grasping manipulators. Background Art

[0002] At present, in the field of automated production lines and robotics, manipulators are widely used in various links such as material handling, assembly, and testing as important actuators. At present, there are a variety of manipulator grasping systems on the market, many of which use fixed heights or simple mechanical structures to achieve grasping tasks. However, these existing technical solutions generally have the following shortcomings: many manipulator grasping systems can only operate at a preset fixed height and cannot automatically adjust according to the height changes of the grasped object, which limits the breadth of their application scenarios. Although some manipulators have lifting functions, they lack precise positioning mechanisms, which leads to position deviations during the grasping process, affecting work efficiency and finished product quality. Utility Model Content

[0003] The purpose of the utility model is to provide a lifting and positioning structure for a robot gripping to solve the problems raised in the above background technology. To achieve the above purpose, the utility model provides the following technical solutions: a lifting and positioning structure for a robot gripping, comprising a bottom plate and a mounting plate, a lifting mechanism for driving the mounting plate toward or away from the bottom plate is provided on the top of the bottom plate, a lifting mechanism for lifting materials is installed on the mounting plate, support plates are connected to both ends of the top of the mounting plate, a conveying mechanism for conveying materials is provided between the two support plates, and a positioning mechanism for positioning the operation of the conveying mechanism is provided on the mounting plate.

[0004] Preferably, the lifting mechanism includes a scissors rod, a servo motor, a transmission belt, a lifting screw, a lifting cylinder and a lifting mounting plate, the top of the scissors rod is connected to the bottom of the mounting plate, one end of the bottom of the scissors rod is rotatably mounted on the base plate, the other end of the scissors rod is connected to a push rod shaft, and the push rod shaft is rotatably connected to the outer wall of the lifting screw, the fixed end of the servo motor is connected to the bottom of the base plate, the output end of the servo motor and one end of the lifting screw are connected to a transmission wheel, and the transmission belt is sleeved on the outer walls of the two transmission wheels.

[0005] Preferably, the fixed end of the lifting cylinder is connected to the bottom of the mounting plate, the top of the lifting mounting plate is connected to a lifting block, and the output end of the lifting cylinder is connected to the bottom of the lifting mounting plate.

[0006] Preferably, the conveying mechanism comprises a motorized roller, a poly-V belt and a passive roller, wherein the motorized roller and the passive roller are rotatably mounted between two support plates, and the poly-V belt is sleeved on the outer wall of the same end of the motorized roller and the passive roller.

[0007] Preferably, the positioning mechanism includes a positioning plate, a positioning servo and a positioning screw. The bottom of the positioning plate is connected to a connecting piece, and the connecting piece is sleeved on the outer wall of the positioning screw. The fixed end of the positioning servo is connected to the bottom of the mounting plate, and the output end of the positioning servo is transmission-connected to one end of the positioning screw, and the positioning screw is installed on the mounting plate.

[0008] Preferably, a plurality of buffer columns are installed on the top of the bottom plate, and buffer springs are installed on the buffer columns.

[0009] The technical effects and advantages of the utility model are as follows: the entire structure is installed on the base plate, the servo motor drives the transmission belt to drive the lifting screw to rotate, the screw drives the push rod shaft to move, the push rod shaft is connected to the scissor rod, the scissor rod is connected to the mounting plate, all the structures on the upper end are installed on the mounting plate, and the lifting and lowering of the entire platform is achieved by changing the angle between the scissor rod and the scissor rod. The buffer column is installed on the base plate, which reduces the starting inertia and buffers during lifting. The lifting cylinder is installed at the bottom of the mounting plate, and the lifting mounting plate is connected to the lifting block. Multiple lifting blocks are lifted up and down under the action of the lifting cylinder. The support plate is fixed on both sides of the mounting plate, and the electric roller and multiple passive rollers are installed on the left and right support plates. The electric roller drives the passive roller to rotate together through the multi-wedge belt to realize the product conveying function. The positioning servo is installed at the bottom of the mounting plate, and the positioning servo drives the positioning screw to rotate and pushes the connecting piece. The connecting piece is connected and fixed to the positioning plate, thereby realizing the precise positioning of multiple positioning plates. Compared with the existing technology, it is suitable for operations at different heights and improves the operating efficiency and finished product quality of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a structural schematic diagram of the utility model;

[0011] Figure 2 for Figure 1 The main view of

[0012] Figure 3 for Figure 1 Left view of;

[0013] Figure 4 Bottom view of the mounting plate.

[0014] In the figure: 1. Base plate; 2. Scissor lever; 3. Servo motor; 4. Transmission belt; 5. Lifting screw; 6. Push rod shaft; 7. Mounting plate; 8. Buffer column; 9. Lifting cylinder; 10. Lifting mounting plate; 11. Lifting block; 12. Support plate; 13. Electric roller; 14. Multi-V belt; 15. Passive roller; 16. Positioning plate; 17. Positioning servo; 18. Positioning screw; 19. Connector; 20. Buffer spring; 21. Transmission wheel. DETAILED DESCRIPTION

[0015] In order to make the technical means for realizing the utility model, creative features, objectives and effects easy to understand, the utility model is further explained below in conjunction with specific diagrams. In the description of the utility model, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integral connection or a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two components.

[0016] Example 1

[0017] like Figure 1-3 The lifting and positioning structure for gripping by the robot shown comprises a base plate 1 and a mounting plate 7, and a lifting mechanism for driving the mounting plate 7 toward or away from the base plate 1 is provided on the top of the base plate 1;

[0018] In this embodiment, the lifting mechanism includes a scissor rod 2, a servo motor 3, a transmission belt 4, a lifting screw 5, a lifting cylinder 9 and a lifting mounting plate 10. The top of the scissor rod 2 is connected to the bottom of the mounting plate 7. The scissor rod 2 is provided with multiple scissor rods, one end of the bottom of each scissor rod 2 is rotatably mounted on the base plate 1, and the other end of each scissor rod 2 is connected to a push rod shaft 6, which is rotatably connected to the outer wall of the lifting screw 5. The fixed end of the servo motor 3 is connected to the bottom of the base plate 1, and the output end of the servo motor 3 is connected to the transmission wheel 21. The output end of the servo motor 3 is connected to the transmission wheel 21, and one end of the lifting screw 5 is also connected to the transmission wheel 21. The transmission belt 4 is sleeved on the outer walls of the two transmission wheels 21. Starting the servo motor 3 can drive the transmission belt 4 to rotate, so that the lifting screw 5 rotates, so that the push rod shaft 6 moves left and right on the outer wall of the lifting screw 5, and drives one end of the scissor rod 2 to move, so that the angle between the scissor rods 2 changes, and the mounting plate 7 can be lifted, so that the height of the mounting plate 7 can be freely adjusted.

[0019] Furthermore, a lifting mechanism for lifting materials is installed on the mounting plate 7, and the lifting mechanism includes a lifting cylinder 9, a fixed end of the lifting cylinder 9 is connected to the bottom of the mounting plate 7, a lifting block 11 is connected to the top of the lifting mounting plate 10, and an output end of the lifting cylinder 9 is connected to the bottom of the lifting mounting plate 10. By starting the lifting cylinder 9 to push the lifting mounting plate 10, the lifting block 11 can be driven to rise. According to the transportation requirements of different products, the lifting block 11 can be adjusted to different heights to lift the materials up and down.

[0020] Furthermore, a plurality of buffer columns 8 are installed on the top of the base plate 1 , and buffer springs 20 are installed on the buffer columns 8 to reduce the starting inertia and buffer the vehicle during lifting.

[0021] Example 2

[0022] A further improvement on the basis of Example 1 is that Figure 2-4 The robot gripping liftable positioning structure shown has support plates 12 connected to both ends of the top of the mounting plate 7, a conveying mechanism for conveying materials is provided between the two support plates 12, and a positioning mechanism for positioning the operation of the conveying mechanism is provided on the mounting plate 7.

[0023] In this embodiment, the conveying mechanism includes a motorized roller 13, a multi-V belt 14, and a passive roller 15. The motorized roller 13 and the passive roller 15 are rotatably installed between two support plates 12. The multi-V belt 14 is sleeved on the outer wall of the same end of the motorized roller 13 and the passive roller 15. Starting the motorized roller 13 can drive the multi-V belt 14 to rotate, causing the passive roller 15 to rotate as well. The product can be placed on the motorized roller 13 and the passive roller 15 to convey the product.

[0024] Furthermore, the positioning mechanism includes a positioning plate 16, a positioning servo 17 and a positioning lead screw 18. A plurality of positioning plates 16 are provided, all of which are perpendicular to the passive roller 15, and the active roller 13 and the passive roller 15 are both provided through the lower end of the positioning plate 16. The positioning plate 16 will not affect the rotation of the active roller 13 and the passive roller 15 when moving. The connecting member 19 is sleeved on the outer wall of the positioning lead screw 18. The fixed end of the positioning servo 17 is connected to the bottom of the mounting plate 7. The bottom of the mounting plate 7 is provided with a plurality of mounting grooves. The fixed end of each positioning servo 17 is respectively installed in each mounting groove, and two adjacent positioning servos 17 are arranged in a The positioning servo 17 is set in reverse, and the output end of each positioning servo 17 is transmission-connected to one end of the positioning screw 18. The bottom of each positioning plate 16 is slidingly connected to the mounting groove. The bottom of each positioning plate 16 is respectively connected to each connecting piece 19. Each screw rod 18 is installed in each mounting groove. Starting the positioning servo 17 can drive the positioning screw 18 to rotate, so that the connecting piece 19 moves along the positioning screw 18, driving the positioning plate 16 to move. Multiple positioning plates 16 can be moved to different positions under the drive of different positioning servos 17, thereby realizing precise positioning of multiple positioning plates 16 and precise positioning of material transportation.

[0025] The process flow and working principle of the utility model are as follows: the whole structure is installed on the base plate 1, the servo motor 3 drives the transmission belt 4 to drive the lifting screw 5 to rotate, the screw 5 pushes the push rod shaft 6 to move, the push rod shaft 6 is connected to the scissor rod 2, the scissor rod 2 is connected to the mounting plate 7, all the structures at the upper end are installed on the mounting plate 7, starting the servo motor 3 can drive the transmission belt 4 to rotate, so that the lifting screw 5 rotates and the push rod shaft 6 moves left and right on the outer wall of the lifting screw 5, driving one end of the scissor rod 2 to move, so as to change the angle between the scissor rod 2 and the scissor rod 2. By changing the angle between the scissor rod 2 and the scissor rod 2, the lifting of the entire platform is realized. The buffer column 8 is installed on the base plate to reduce the starting inertia and buffer the lifting. A lifting cylinder 9 is installed at the bottom of the mounting plate 7, and the lifting mounting plate 10 is connected to the lifting block 11. Multiple lifting blocks 11 are lifted up and down under the action of the lifting cylinder 9. The left and right support plates 12 are fixed on both sides of the mounting plate 7. The electric roller 13 and multiple passive rollers 15 are installed on the left and right support plates 12. The electric roller 13 drives the passive roller 15 to rotate together through the multi-V belt 14 to realize the product conveying function. The positioning servo 17 is installed on the mounting plate 7. The positioning servo 17 drives the positioning screw 18 to rotate and pushes the connecting piece 19. The connecting piece 19 is connected and fixed to the positioning plate 16, thereby realizing the precise positioning of multiple positioning plates 16, which is suitable for operations at different heights and improves the operating efficiency and finished product quality of the robot.

[0026] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A lifting and positioning structure for a robot gripping, comprising a base plate (1) and a mounting plate (7), characterized in that: A lifting mechanism for driving the mounting plate (7) toward or away from the bottom plate (1) is provided on the top of the bottom plate (1); a lifting mechanism for lifting materials is installed on the mounting plate (7); both ends of the top of the mounting plate (7) are connected to support plates (12); a conveying mechanism for conveying materials is provided between the two support plates (12); and a positioning mechanism for positioning the operation of the conveying mechanism is provided on the mounting plate (7).

2. The lifting and positioning structure for robot gripping according to claim 1 is characterized in that: The lifting mechanism comprises a scissor rod (2), a servo motor (3), a transmission belt (4), a lifting screw (5), a lifting cylinder (9) and a lifting mounting plate (10); the top of the scissor rod (2) is connected to the bottom of the mounting plate (7); one end of the bottom of the scissor rod (2) is rotatably mounted on the base plate (1); the other end of the scissor rod (2) is connected to a push rod shaft (6); the push rod shaft (6) is rotatably connected to the outer wall of the lifting screw (5); the fixed end of the servo motor (3) is connected to the bottom of the base plate (1); the output end of the servo motor (3) and one end of the lifting screw (5) are connected to a transmission wheel (21); and the transmission belt (4) is sleeved on the outer walls of two transmission wheels (21).

3. The lifting and positioning structure for robot gripping according to claim 1 is characterized in that: The lifting mechanism comprises a lifting cylinder (9) and a lifting mounting plate (10), wherein the fixed end of the lifting cylinder (9) is connected to the bottom of the mounting plate (7), the top of the lifting mounting plate (10) is connected to a lifting block (11), and the output end of the lifting cylinder (9) is connected to the bottom of the lifting mounting plate (10).

4. The lifting and positioning structure for robot gripping according to claim 1 is characterized in that: The conveying mechanism comprises a motorized roller (13), a multi-V belt (14), and a passive roller (15); the motorized roller (13) and the passive roller (15) are rotatably mounted between two support plates (12); and the multi-V belt (14) is sleeved on the outer wall of the same end of the motorized roller (13) and the passive roller (15).

5. The lifting and positioning structure for robot gripping according to claim 1 is characterized in that: The positioning mechanism comprises a positioning plate (16), a positioning servo (17) and a positioning screw (18); the bottom of the positioning plate (16) is connected with a connecting piece (19), the connecting piece (19) is sleeved on the outer wall of the positioning screw (18), the fixed end of the positioning servo (17) is connected to the bottom of the mounting plate (7), the output end of the positioning servo (17) is transmission-connected to one end of the positioning screw (18), and the positioning screw (18) is mounted on the mounting plate (7).

6. The lifting and positioning structure for robot gripping according to claim 1 is characterized in that: A plurality of buffer columns (8) are installed on the top of the bottom plate (1), and buffer springs (20) are installed on the buffer columns (8).

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