Full-automatic servo material taking and placing manipulator

Abstract

The utility model discloses a full-automatic servo material taking and placing manipulator, relates to the technical field of manipulators, and aims to solve the technical problems that a current manipulator is driven by air pressure, and drags with a gas pipeline in the moving process, so that material taking and placing are influenced. A first servo motor for driving the first mechanical arm to rotate is installed at the joint of the base and the first mechanical arm, a connecting arm is rotatably installed at the end, away from the base, of the first mechanical arm, and a second mechanical arm is rotatably installed on the connecting arm; a second servo motor for driving the connecting arm to rotate around the end part of the first mechanical arm is mounted on the connecting arm; a reinforcing plate for connecting the connecting arm and the second servo motor is mounted on the side surface of the connecting arm; the clamping device replaces a traditional pneumatic mode for driving, the phenomenon that the air pipe shields the movement route of the mechanical arm is avoided, the clamping plates can be conveniently and rapidly replaced after being abraded, the whole clamp does not need to be replaced, and cost is saved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and more specifically to a fully automatic servo material taking and placing manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. Its characteristics are that it can complete various expected operations through programming, and its structure and performance combine the advantages of both human and mechanical machines; the manipulator is the earliest industrial robot and the earliest modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy. The manipulator is an important component in automated production equipment. The manipulator can imitate certain movements and functions of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program.

[0003] The existing manipulator driving method usually uses air pressure to provide power, but the rocker arm of the manipulator will produce unnecessary pulling with the gas pipeline during movement, which is not conducive to the operation of the rocker arm and leads to reduced material picking and placing efficiency.

[0004] In view of this, we propose a fully automatic servo pick-and-place robot. Utility Model Content

[0005] The purpose of the utility model is to overcome the deficiencies of the prior art, meet actual needs, and provide a fully automatic servo material picking and placing robot to solve the technical problem that the current robot is driven by air pressure and will be pulled by the gas pipeline during movement, thus affecting the material picking and placing.

[0006] In order to solve the above technical problems, the utility model provides the following technical solutions: a fully automatic servo material picking and placing robot, comprising a base, a first mechanical arm is installed on the base, a first servo motor for driving the first mechanical arm to rotate is installed at the connection between the base and the first mechanical arm, a connecting arm is rotatably installed at one end of the first mechanical arm away from the base, a second mechanical arm is rotatably installed on the connecting arm, a second servo motor for driving the connecting arm to rotate around the end of the first mechanical arm is installed on the connecting arm, a reinforcing plate connecting the connecting arm and the second servo motor is installed on the side of the connecting arm; a third servo motor for driving the second mechanical arm to rotate is installed at the connection between the second mechanical arm and the connecting arm.

[0007] Preferably, a clamping mechanism is installed at one end of the second robotic arm away from the connecting arm, a telescopic motor for driving the clamping mechanism is installed on the second robotic arm, and two clamps for picking up and placing materials are installed on the first robotic arm.

[0008] Preferably, the clamp comprises a rotating plate, a clamping plate is slidably mounted on the rotating plate, and a plurality of limit plates with fixed clamping plates are rotatably mounted on the rotating plate.

[0009] Preferably, both ends of the clamp are constructed with anti-slip plates, a plurality of anti-slip blocks are installed on the side of the clamp facing the rotating plate, and the plurality of limit plates are all in contact with the upper end surfaces of the anti-slip blocks.

[0010] Preferably, the rotating plate is provided with a plurality of engaging grooves for engaging the anti-dropping blocks, and the engaging grooves are provided with arc grooves for facilitating the engaging and installing of the anti-dropping blocks.

[0011] Preferably, a rotating shaft is rotatably mounted on one end of the clamp and is fixedly connected to the rotating plate. An L-shaped plate is rotatably mounted on the rotating shaft. One end of the L-shaped plate is rotatably connected to the top end of the rotating shaft, and the other end of the L-shaped plate is embedded in the limiting plate. The limiting plate is provided with a groove for the L-shaped plate to be embedded.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] 1. The utility model designs a base, a first mechanical arm, a first servo motor, a connecting arm, a second servo motor, a second mechanical arm, a third servo motor, a clamping mechanism and a clamp. The first servo motor drives one end of the first mechanical arm to rotate around the base, the second servo motor and the telescopic motor drive the connecting arm and the first mechanical arm and the second mechanical arm at both ends to rotate around it, and the telescopic motor drives the clamping mechanism to drive the two clamps to clamp, thereby completing fully automatic material taking and placing, replacing the traditional pneumatic driving method, and there will be no phenomenon that the air pipe blocks the movement route of the mechanical arm.

[0014] 2. The utility model also designs a rotating plate, an interlocking groove, an arc groove, a clamping plate, an anti-slip block, a limiting plate, a rotating shaft, (820) and an L-shaped plate. The anti-slip block on the clamping plate is embedded in the interlocking groove, and the arc-shaped arc groove facilitates quick positioning and installation. The limiting plate is rotated around the axis of the rotating shaft, and the L-shaped plate is embedded in the groove to complete the fixation. The clamping plate can be quickly fixed and disassembled, and can be quickly replaced after the clamping plate is worn, without replacing the entire fixture, thereby saving costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the utility model;

[0016] Figure 2 For this utility model Figure 1 Schematic diagram of the disassembly of the middle fixture;

[0017] Figure 3 For this utility model Figure 2 A magnified schematic diagram of the structure at center A;

[0018] Figure 4 This is a schematic diagram of a use state of the locking device of the utility model;

[0019] Figure 5 This is a schematic diagram of a usage state of the utility model.

[0020] Description of the numbers in the figure:

[0021] 1. Base; 2. First mechanical arm; 201. First servo motor; 3. Connecting arm; 301. Second servo motor; 302. Reinforcement plate; 4. Second mechanical arm; 401. Third servo motor; 402. Telescopic motor; 5. Clamping mechanism; 6. Clamp; 601. Rotating plate; 602. Fitting groove; 603. Arc groove; 7. Clamping plate; 701. Anti-slip plate; 702. Anti-slip block; 8. Limiting plate; 801. Rotating shaft; 802. Groove; 803. L-shaped plate. DETAILED DESCRIPTION

[0022] like Figures 1 to 5 As shown, the utility model relates to a fully automatic servo material picking and placing robot, comprising a base 1;

[0023] In an embodiment of the utility model, a clamping mechanism 5 is installed at one end of the second mechanical arm 4 away from the connecting arm 3, and a telescopic motor 402 for driving the clamping mechanism 5 is installed on the second mechanical arm 4. Two clamps 6 for taking and placing materials are installed on the first mechanical arm 2, and the clamp 6 includes a rotating plate 601, and a clamp 7 is slidably mounted on the rotating plate 601. A plurality of limit plates 8 with fixed clamps 7 are rotatably mounted on the rotating plate 601. The first mechanical arm 2 is installed on the base 1, and a first servo motor 201 for driving the first mechanical arm 2 to rotate is installed at the connection between the base 1 and the first mechanical arm 2. The connecting arm 3 is rotatably installed at one end of the first mechanical arm 2 away from the base 1, and the second mechanical arm 4 is rotatably mounted on the connecting arm 3. A motor for driving the connecting arm 3 is installed on the connecting arm 3. A second servo motor 301 rotates around the end of the first robotic arm 2, and a reinforcing plate 302 connecting the connecting arm 3 and the second servo motor 301 is installed on the side of the connecting arm 3; a third servo motor 401 for driving the second robotic arm 4 to rotate is installed at the connection between the second robotic arm 4 and the connecting arm 3, and the first servo motor 201 drives one end of the first robotic arm 2 to rotate around the base 1, and the second servo motor 301 and the telescopic motor 402 drive the connecting arm 3 and the first robotic arm 2 and the second robotic arm 4 at both ends to rotate around it, and the telescopic motor 402 drives the clamping mechanism 5 to drive the two clamps 6 to clamp, thereby completing fully automatic material taking and placing, replacing the traditional pneumatic drive, and there will be no phenomenon that the air pipe blocks the movement path of the robotic arm.

[0024] In the embodiment of the utility model, both ends of the clamp 7 are constructed with anti-slip plates 701, a plurality of anti-slip blocks 702 are installed on the side of the clamp 7 facing the rotating plate 601, a plurality of limit plates 8 are all in contact with the upper end surface of the anti-slip blocks 702, a plurality of fitting grooves 602 for the anti-slip blocks 702 to fit in the rotating plate 601 are provided on the rotating plate 601, arc grooves 603 for convenient fitting and installing the anti-slip blocks 702 are provided in the fitting grooves 602, a rotating shaft 801 fixedly connected to the rotating plate 601 is rotatably installed at one end of the clamp 6, an L-shaped plate 803 is rotatably installed on the rotating shaft 801, and the L-shaped plate 803 One end is rotatably connected to the top of the rotating shaft 801, and the other end of the L-shaped plate 803 is embedded in the limiting plate 8. The limiting plate 8 is provided with a groove 802 for the L-shaped plate 803 to be embedded in. The anti-slip block 702 on the clamping plate 7 is embedded in the embedding groove 602. The arc-shaped arc groove 603 facilitates quick positioning and installation. The limiting plate 8 is rotated around the axis of the rotating shaft 801, and the L-shaped plate 803 is embedded in the groove 802 to complete the fixation. The clamping plate 7 can be quickly fixed and disassembled, which is convenient for quick replacement after the clamping plate 7 is worn, without replacing the entire clamp 6, saving costs.

[0025] Working principle: This embodiment provides a fully automatic servo material picking and unloading robot. When in use, a third servo motor 401 for driving the second robot arm 4 to rotate is installed at the connection between the second robot arm 4 and the connecting arm 3. The first servo motor 201 drives one end of the first robot arm 2 to rotate around the base 1. The second servo motor 301 and the telescopic motor 402 drive the connecting arm 3 and the first robot arm 2 and the second robot arm 4 at both ends to rotate around it. The telescopic motor 402 drives the clamping mechanism 5 to drive the two clamps 6 to clamp. The anti-slip block 702 on the clamp plate 7 is embedded in the engaging groove 602. The arc-shaped arc groove 603 facilitates quick positioning and installation. The limit plate 8 is rotated around the axis of the rotating shaft 801, and the L-shaped plate 803 is embedded in the groove 802 to complete the fixation. The clamp plate 7 can be quickly fixed and disassembled.

[0026] The embodiments of the present invention disclose preferred embodiments, but are not limited thereto. A person skilled in the art can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. However, as long as they do not deviate from the spirit of the present invention, they are all within the protection scope of the present invention.

Claims

1. A fully automatic servo material picking and placing robot, characterized in that: The invention comprises a base (1), a first mechanical arm (2) being mounted on the base (1), a first servo motor (201) being mounted at the connection between the base (1) and the first mechanical arm (2) for driving the first mechanical arm (2) to rotate, a connecting arm (3) being rotatably mounted at one end of the first mechanical arm (2) away from the base (1), a second mechanical arm (4) being rotatably mounted on the connecting arm (3), a second servo motor (301) being mounted on the connecting arm (3) for driving the connecting arm (3) to rotate around the end of the first mechanical arm (2), a reinforcing plate (302) being mounted on the side of the connecting arm (3) for connecting the connecting arm (3) and the second servo motor (301); and a third servo motor (401) being mounted at the connection between the second mechanical arm (4) and the connecting arm (3) for driving the second mechanical arm (4) to rotate.

2. A fully automatic servo material picking and placing robot according to claim 1, characterized in that: A clamping mechanism (5) is installed at one end of the second mechanical arm (4) away from the connecting arm (3); a telescopic motor (402) for driving the clamping mechanism (5) is installed on the second mechanical arm (4); and two clamps (6) for taking and placing materials are installed on the first mechanical arm (2).

3. A fully automatic servo material picking and placing robot according to claim 2, characterized in that: The clamp (6) comprises a rotating plate (601), a clamping plate (7) is slidably mounted on the rotating plate (601), and a plurality of limiting plates (8) with fixed clamping plates (7) are rotatably mounted on the rotating plate (601).

4. A fully automatic servo material picking and placing robot according to claim 3, characterized in that: Anti-slip plates (701) are constructed at both ends of the clamping plate (7), and a plurality of anti-slip blocks (702) are installed on the side of the clamping plate (7) facing the rotating plate (601), and the plurality of limit plates (8) are all in contact with the upper end surfaces of the anti-slip blocks (702).

5. A fully automatic servo material picking and placing robot according to claim 4, characterized in that: The rotating plate (601) is provided with a plurality of engaging grooves (602) for engaging the anti-dropping blocks (702), and the engaging grooves (602) are provided with arc grooves (603) for facilitating the engaging and installing of the anti-dropping blocks (702).

6. The fully automatic servo material picking and placing robot according to claim 3 is characterized in that: A rotating shaft (801) fixedly connected to the rotating plate (601) is rotatably mounted on one end of the clamp (6); an L-shaped plate (803) is rotatably mounted on the rotating shaft (801); one end of the L-shaped plate (803) is rotatably connected to the top of the rotating shaft (801); the other end of the L-shaped plate (803) is embedded in the limiting plate (8); and a groove (802) for the L-shaped plate (803) to be embedded is provided on the limiting plate (8).

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