Manipulator, robot and cooperative carrying device

Abstract

The mechanical arm comprises a right-angle supporting plate and a trapezoid plate support with the bottom end fixed, a hanging bracket is installed at the bottom end of the trapezoid plate support in a turnover mode through a hinged supporting structure, supporting plates are fixed to the left outer wall and the right outer wall of the hanging bracket, a right-angle arm is fixed to one side of the surface of the hanging bracket, and the right-angle arm is fixed to the other side of the surface of the hanging bracket. A telescopic driving unit is installed on one side of the surface of the trapezoidal plate support in a hinged mode, the movable end of the telescopic driving unit is hinged to the top end of the right-angle arm, and a lead screw pulling module is installed on the outer wall of one side of one supporting plate. The angle and orientation of a workpiece can be changed after the workpiece is clamped, on an assembly line, a manipulator can directly complete angle adjustment on the production line, waiting time and manual operation on the production line are reduced, and the manipulator can easily meet diversified assembly requirements.

Description

Technical Field

[0001] The utility model relates to the technical field of robot clamping, in particular to a manipulator, a robot and a cooperative transport device. Background Art

[0002] As a key component of industrial robots, the mechanical gripper undertakes the important tasks of accurately grasping, placing and manipulating workpieces. Its main functions include clamping workpieces, picking up and placing workpieces, and precise operation, through which production automation and efficiency improvement are achieved. The structure of the mechanical gripper is mainly composed of a gripper, a sensor and feedback system, an actuator, a control system, and a structural frame. The gripper is the core component, which can firmly grasp and release the workpiece through controllable claw fingers or fixtures; the sensor provides real-time data feedback to ensure the accuracy and safety of the operation; and the actuator drives the claw fingers to achieve precise grasping and placement. The control system is the hub, responsible for integrating and processing sensor data, generating corresponding control signals, and driving the mechanical claws to complete various complex operations; for example, a robot hand automatic installation gripper device disclosed in the authorization announcement number CN214818650U includes a clamping rod, a rotating drive member and a mounting seat, the mounting seat is provided with a guide plate, a plurality of guide holes are opened on the guide plate, and the plurality of guide holes are evenly distributed on the guide plate, the clamping rod is slidably inserted into the guide hole, the clamping rod is provided with a sliding block that slidably cooperates with the guide hole, and a driving gear is provided at one end of the clamping rod close to the guide plate. When the multiple clamping rods clamp the parts, the telescopic drive member drives the locking plate to rotate on the clamping rod, so that the multiple locking plates have a certain blocking effect on the parts on the clamping rod to reduce the phenomenon of spare parts falling off. However, during the use of the above technical solution, once the manipulator clamps the workpiece, the workpiece can usually only move in the clamped direction, and cannot rotate freely or change direction. For example, if the claws of the manipulator are designed for lateral clamping, the workpiece can only move along the side of the clamping, and cannot be freely flipped after clamping to adapt to different assembly directions or process requirements, thereby limiting the freedom of movement of the workpiece. Utility Model Content

[0003] The purpose of the utility model is to provide a manipulator, a robot and a collaborative handling device, in which a telescopic drive unit drives a hanger and a right-angle arm to flip up and down, thereby changing the angle of the workpiece clamped by a screw rod pulling module, a splint and a hanger, so as to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a manipulator, comprising a right-angle support plate and a trapezoidal plate support fixed at the bottom end, the bottom end of the trapezoidal plate support being flipably installed with a hanger through a hinged support structure, support plates are fixed on the left and right outer walls of the hanger, a right-angle arm is fixed on one side of the hanger surface, a telescopic drive unit is hingedly installed on one side of the trapezoidal plate support surface, the movable end of the telescopic drive unit is hinged to the top of the right-angle arm, a screw rod pulling module is installed on the outer wall of one side of one of the support plates, a double-layer clamping arm is installed on the movable end of the screw rod pulling module, another double-layer clamping arm is slidably installed on the outer wall of one side of the other support plate, a clamping plate is installed on the same end of the two double-layer clamping arms, and the clamping plate approaches the right-angle support plate and clamps the workpiece with the hanger.

[0005] Preferably, the telescopic drive unit adopts an electric push rod, and the top end of the piston rod of the electric push rod is hinged to the top end of the right-angle arm.

[0006] Preferably, the hinged support structure is a bearing seat fixed to the bottom end of the trapezoidal plate support, and a main shaft rotatably installed inside the bearing seat, and one end of the main shaft is fixedly connected to an outer wall of one side of the hanger.

[0007] Preferably, the double-layer clamp arm is a C-frame slidably mounted on an outer wall of one side of the support plate, and two symmetrical Z-shaped connecting rods are mounted on an outer wall of one side of the C-frame, and one end of the Z-shaped connecting rod is fixedly connected to an outer wall of one side of the clamp plate.

[0008] Preferably, a slide rail is installed on an outer wall of one side of the support plate, and a sliding sleeve for fixedly connecting with an inner wall of one side of the C-mouth frame is slidably installed on the surface of the slide rail.

[0009] Preferably, the screw pulling module includes a servo motor installed on the outer wall of one side of the support plate, and a one-way screw installed on the output end of the servo motor. A nut pair is installed at one end of the surface of the one-way screw, and one side outer wall of the nut pair is fixedly connected to one side inner wall of the C-mouth frame.

[0010] The utility model also provides a robot, which comprises the above-mentioned manipulator.

[0011] The utility model also provides a cooperative transport device, which comprises the above-mentioned manipulator.

[0012] Compared with the prior art, the beneficial effects of the utility model are: the manipulator, the robot and the collaborative handling device realize the up and down flipping of components such as the hanger, the screw pulling module, the right-angle arm and the workpiece through the telescopic drive unit. The manipulator can change its angle and orientation after clamping the workpiece. Therefore, on the assembly line, the manipulator can complete the angle adjustment directly on the production line, reducing the waiting time and manual operation on the production line, so that it can easily cope with diverse assembly needs and improve the adaptability of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 The three-dimensional structure of the utility model is shown in FIG. Figure 1 ;

[0014] Figure 2 The three-dimensional structure of the utility model is shown in FIG. Figure 2 ;

[0015] Figure 3 The three-dimensional structure of the utility model is shown in FIG. Figure 3 ;

[0016] Figure 4 The three-dimensional structure of the utility model is shown in FIG. Figure 4 ;

[0017] In the figure: 1. right-angle support plate; 2. trapezoidal plate support; 201. bearing seat; 202. main shaft; 3. telescopic drive unit; 4. hanger; 5. right-angle arm; 6. support plate; 7. screw rod pulling module; 8. C-mouth frame; 9. Z-shaped connecting rod; 10. splint. DETAILED DESCRIPTION

[0018] 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. 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.

[0019] See also Figure 1-4The utility model provides an embodiment of a manipulator, a robot and a collaborative handling device, comprising a right-angle support plate 1 and a trapezoidal plate support 2 fixed at the bottom end, the bottom end of the trapezoidal plate support 2 is flip-mounted with a hanger 4 through a hinged support structure, and support plates 6 are fixed on the left and right outer walls of the hanger 4, a right-angle arm 5 is fixed on one side of the surface of the hanger 4, a telescopic drive unit 3 is hingedly installed on one side of the surface of the trapezoidal plate support 2, and the movable end of the telescopic drive unit 3 is hinged to the top of the right-angle arm 5. A screw rod pulling module 7 is installed on the outer wall of one side of one of the support plates 6, and a double-layer clamping arm is installed on the movable end of the screw rod pulling module 7, and another double-layer clamping arm is slidably installed on the outer wall of one side of the other support plate 6. A clamping plate 10 is installed on the same end of the two double-layer clamping arms, and the clamping plate 10 approaches the right-angle support plate 1 and clamps the workpiece with the hanger 4;

[0020] The telescopic drive unit 3 adopts an electric push rod, the top end of the piston rod of the electric push rod is hinged to the top end of the right-angle arm 5. The telescopic drive unit 3 adopts an electric push rod, which can accurately control the clamping angle through its internal motor. The manipulator can ensure that each workpiece maintains the correct position and orientation during the assembly process, thereby improving the assembly quality of the product;

[0021] The hinged support structure is a bearing seat 201 fixed at the bottom end of the trapezoidal plate support 2, and a main shaft 202 rotatably installed inside the bearing seat 201, one end of the main shaft 202 is fixedly connected to the outer wall of one side of the hanger 4, and when the hanger 4 is driven to flip by the telescopic drive unit 3, the hanger 4 will drive the main shaft 202 to rotate and deflect with the central axis of the main shaft 202. In this process, the bearing seat 201 and the main shaft 202 improve the rotational stability of the hanger 4;

[0022] The double-layer clamp arm is a C-shaped frame 8 slidably mounted on the outer wall of one side of the support plate 6, and two symmetrical Z-shaped connecting rods 9 mounted on the outer wall of one side of the C-shaped frame 8, one end of the Z-shaped connecting rod 9 is fixedly connected to the outer wall of one side of the clamp plate 10;

[0023] A slide rail is installed on one side outer wall of the support plate 6, and a sliding sleeve is slidably installed on the surface of the slide rail for fixed connection with one side inner wall of the C-mouth frame 8;

[0024] The movable end of the screw pull-and-move module 7 pulls the C-shaped frame 8 and the clamping plate 10 toward the hanger 4 through the Z-shaped connecting rod 9 until the clamping plate 10 and the hanger 4 actively clamp the workpiece to ensure the clamping stability of the workpiece, so that the workpiece can maintain the correct position during the assembly and transfer process;

[0025] The screw pulling module 7 includes a servo motor installed on the outer wall of one side of the support plate 6, and a one-way screw installed on the output end of the servo motor. A nut pair is installed on one end of the surface of the one-way screw, and the outer wall of one side of the nut pair is fixedly connected to the inner wall of one side of the C-mouth frame 8. The servo motor in the screw pulling module 7 drives the one-way screw to rotate, and the one-way screw drives the nut pair and the C-mouth frame 8 to slide, and then pulls the splint 10 to slide through the Z-shaped connecting rod 9.

[0026] Secondly, the utility model also provides a robot, which includes the above-mentioned manipulator.

[0027] The utility model also provides a cooperative transport device, which comprises the above-mentioned manipulator.

[0028] When the embodiment of the present application is in use, the staff first fixes the right-angle support plate 1 in the device to the active end of the robot arm or the cooperative handling device, and the robot arm or the cooperative handling device can drive the robot to move until the robot moves to the location of the workpiece, and the workpiece needs to be located between the clamping plate 10 and the hanger 4, and then the screw rod pulling module 7 is turned on, and the screw rod pulling module 7 pulls the double-layer clamping arm and the clamping plate 10 to move toward the hanger 4 until the workpiece is clamped and fixed by the clamping plate 10 and the hanger 4. After the robot completely fixes the workpiece through the screw rod pulling module 7, the hanger 4 and the clamping plate 10, the staff starts the telescopic drive unit 3 again to work, so as to retract the drive unit 3. Taking the retraction of the piston rod as an example, the piston rod end of the telescopic drive unit 3 pulls the right-angle arm 5 and the hanger 4 to flip. In this process, the articulated support structure is the flipping axis of the hanger 4, that is, the hanger 4, the clamping plate 10, the screw rod pulling module 7 and the clamped workpiece are driven to flip, thereby changing the orientation of the workpiece. The manipulator realizes the up and down flipping of the hanger 4, the screw rod pulling module 7, the right-angle arm 5 and the workpiece through the telescopic drive unit 3. The manipulator can change its angle and orientation after clamping the workpiece. Therefore, on the assembly line, the manipulator can complete the angle adjustment directly on the production line, reducing the waiting time and manual operation on the production line, so that it can easily cope with diverse assembly needs and improve the adaptability of the production line.

[0029] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. A robot, characterized in that: It comprises a right-angle support plate (1) and a trapezoidal plate support (2) fixed at the bottom end, the bottom end of the trapezoidal plate support (2) is flipably mounted with a hanger (4) through a hinged support structure, support plates (6) are fixed on the left and right outer walls of the hanger (4), a right-angle arm (5) is fixed on one side of the surface of the hanger (4), a telescopic drive unit (3) is hingedly mounted on one side of the surface of the trapezoidal plate support (2), the movable end of the telescopic drive unit (3) and the top end of the right-angle arm (5) are hingedly connected to each other, a screw rod pulling module (7) is mounted on the outer wall of one side of one of the support plates (6), a double-layer clamping arm is mounted on the movable end of the screw rod pulling module (7), another double-layer clamping arm is slidably mounted on the outer wall of one side of the other support plate (6), a clamping plate (10) is mounted on the same end of the two double-layer clamping arms, the clamping plate (10) approaches the right-angle support plate (1) and clamps the workpiece with the hanger (4).

2. A robot according to claim 1, characterized in that: The telescopic drive unit (3) adopts an electric push rod, and the top end of the piston rod of the electric push rod is hinged to the top end of the right-angle arm (5).

3. A robot according to claim 1, characterized in that: The hinged support structure comprises a bearing seat (201) fixed at the bottom end of the trapezoidal plate support (2), and a main shaft (202) rotatably mounted inside the bearing seat (201), one end of the main shaft (202) being fixedly connected to an outer wall of one side of the hanger (4).

4. A robot according to claim 1, characterized in that: The double-layer clamping arm comprises a C-shaped frame (8) slidably mounted on the outer wall of one side of the support plate (6), and two symmetrical Z-shaped connecting rods (9) mounted on the outer wall of one side of the C-shaped frame (8), one end of the Z-shaped connecting rod (9) being fixedly connected to the outer wall of one side of the clamping plate (10).

5. A robot according to claim 4, characterized in that: A slide rail is installed on one side outer wall of the support plate (6), and a slide sleeve is slidably installed on the surface of the slide rail for fixed connection with one side inner wall of the C-mouth frame (8).

6. A robot according to claim 4, characterized in that: The screw rod pulling module (7) comprises a servo motor mounted on an outer wall of one side of the support plate (6), and a one-way screw rod mounted on the output end of the servo motor, a nut pair being mounted on one end of the surface of the one-way screw rod, and an outer wall of one side of the nut pair being fixedly connected to an inner wall of one side of the C-mouth frame (8).

7. A robot, characterized in that: The robot comprises the manipulator according to any one of claims 1-6.

8. A collaborative transport device, characterized in that: The collaborative handling device includes the robot described in any one of claims 1-6.

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