Manipulator capable of accurately positioning

Abstract

The utility model discloses a manipulator capable of accurately positioning, which comprises a base assembly, a big arm assembly, a manipulator assembly and a positioning material taking assembly, the big arm assembly is provided with a rotating arm and a tray assembly, the manipulator assembly is provided with a connecting plate and a clamping jaw mounting plate, and the bottom of the clamping jaw mounting plate is provided with a first cylinder; a sensor support is arranged on the outer side wall of the first air cylinder, a first photoelectric switch is arranged on the sensor support, iron ring clamping jaws are symmetrically arranged at the bottom of the first air cylinder, the iron ring clamping jaws are arranged at intervals, clamping jaws are arranged on the outer side walls of the iron ring clamping jaws respectively, cambered surface fastening parts are arranged at the lower ends of the inner side walls of the clamping jaws respectively, and the cambered surface fastening parts are oppositely arranged. According to the technical scheme, whether materials exist or not can be accurately detected, the materials are secondarily positioned, the appearance of the materials can be prevented from being scratched or deformed, it is ensured that the materials clamped by the clamping jaws are placed or arranged in place through accurate positioning, the production efficiency and the product yield are improved, and the materials are effectively protected.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator capable of accurate positioning. Background Art

[0002] A manipulator is a device that can imitate certain movements of human hands and arms. It can be programmed to complete various expected operations according to the fixed device. It has the advantages of both human and mechanical machines in terms of structure and performance. It can replace the heavy labor of people to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. It is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] However, during use, the current robots on the market cannot accurately or accurately position materials, which may lead to improper placement or installation of the clamped materials, thus affecting production efficiency and product yield. Utility Model Content

[0004] The main purpose of the utility model is to provide a manipulator capable of accurate positioning, aiming to solve the technical problem that the existing manipulators are not accurate enough or have deviations in material positioning, which easily leads to the placement or misalignment of the clamped materials.

[0005] The lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of A first cylinder is installed at the bottom of the mounting plate, a sensor support is installed on the outer side wall of the first cylinder, a first photoelectric switch is installed on the sensor support, iron ring clamps are symmetrically arranged at the bottom of the first cylinder, the iron ring clamps are arranged at intervals, the outer side walls of the iron ring clamps are respectively equipped with clamps, and the lower ends of the inner side walls of the clamps are respectively equipped with an arc surface fastening part, the arc surface fastening parts are relatively arranged, the first photoelectric switch is arranged along the radial direction of the arc surface fastening part, the positioning and picking assembly is arranged at intervals from the base assembly, the positioning and picking assembly is provided with a mounting block, the mounting block is equipped with a second cylinder, a plurality of positioning fixture assemblies are installed on the upper end of the second cylinder, the positioning fixture assemblies are arranged at equal angles along the circumferential direction, a photoelectric mounting plate is installed on one side of the mounting block, a second photoelectric switch is installed on the upper end of the photoelectric mounting plate, and the second photoelectric switch is relatively arranged with the positioning fixture assembly.

[0006] Optionally, the tray assembly is further provided with a bellows, the upper end of the base assembly is provided with a first fixing column hole, the diameter of the bellows is adapted to the first fixing column hole, and one end of the bellows is inserted and embedded in the first fixing column hole.

[0007] Optionally, a slot switch is installed on the outer side wall of the connecting plate, and the slot switch is arranged opposite to the base assembly.

[0008] Optionally, an induction sheet is installed on the outer side wall of the clamp mounting plate, and the upper end of the induction sheet is spaced apart and connected to the lower end of the slot switch.

[0009] Optionally, the sensor support is provided with an inclined surface, and the first photoelectric switch is installed on the bottom surface of the inclined surface along the axial symmetry direction of the clamping jaw.

[0010] Optionally, the distance between the arc surface fastening parts is not less than the length of the positioning fixture assembly.

[0011] The technical scheme of the utility model has the following beneficial effects: in the technical scheme of the utility model, by arranging the clamping claw, the first photoelectric switch, the second photoelectric switch and the positioning and picking component, it is possible to accurately detect the presence of materials and perform secondary positioning of the materials. The accurate positioning ensures that the materials clamped by the clamping claw are placed or installed in place, thereby improving production efficiency and product yield; by arranging the arc surface fastening part, the materials can be effectively fastened and the clamping efficiency can be improved; by arranging the rotating arm and the bellows, the rotation range of the manipulator is increased and the rotation stability is improved; by arranging the equal height screws, the effective connection between the guide shaft support and the manipulator component can be achieved, thereby improving the load bearing capacity; by arranging the first cylinder, the spring and the screw rod component, etc., the effective downward pressure of the clamping claw can be achieved, which is convenient for fastening the materials; by arranging the positioning and picking component, the secondary positioning of the materials can be achieved while avoiding scratches or deformation on the appearance of the materials, thereby effectively protecting the materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0013] Figure 1 The overall structure of a manipulator capable of precise positioning according to an embodiment of the utility model is shown in FIG. Figure 1 ;

[0014] Figure 2 The overall structure of a manipulator capable of precise positioning according to an embodiment of the utility model is shown in FIG. Figure 2 ;

[0015] Figure 3 This is a schematic diagram of the exploded structure of a manipulator capable of precise positioning according to an embodiment of the utility model;

[0016] Figure 4 This is another schematic diagram of the exploded structure of a manipulator capable of precise positioning according to an embodiment of the utility model.

[0017] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. 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. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of 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] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0020] In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0021] The utility model provides a mechanical arm which can be accurately positioned.

[0022] like Figures 1 to 4As shown, in one embodiment of the utility model, the manipulator capable of precise positioning comprises a base assembly 100, a large arm assembly 200, a manipulator assembly 300 and a positioning and picking assembly 400. The large arm assembly 200 is provided with a rotating arm 210 and a tray assembly 220. The lower end of one side of the rotating arm 210 is rotatably mounted on the upper end of the base assembly 100, and the upper end of the other side of the rotating arm 210 is rotatably mounted on the lower end of the tray assembly 220. The front end of the tray assembly 220 is provided with a screw assembly 221 that can move up and down, and the lower end of the screw assembly 221 is provided with a guide shaft support 2211. The manipulator assembly 300 is provided with a connecting plate 310 and a clamping claw mounting plate 320. The connecting plate 310 is installed on the bottom of the guide shaft support 2211 by bolts. The connecting plate 310 is symmetrically equipped with multiple linear bearings 311. The linear bearings 311 are equipped with equal height screws 312, which can realize the effective connection between the guide shaft support and the manipulator assembly and improve the load bearing. The equal height screws 312 are sleeved with springs 313. The upper ends of the springs 313 are movably abutted against the bottoms of the linear bearings 311 respectively. The lower ends of the equal height screws 312 are embedded in the clamping jaw mounting plate 320. The bottom of the clamping jaw mounting plate 320 is equipped with a first cylinder 321. The outer wall of the first cylinder 321 is equipped with a sensor support 322. The sensor support 322 is equipped with a first photoelectric switch 323, which can In order to realize the effective downward pressure of the clamping jaws and facilitate the fastening of the material, the bottom of the first cylinder 321 is symmetrically provided with iron ring clamping jaws 330, the iron ring clamping jaws 330 are arranged at intervals, the outer walls of the iron ring clamping jaws 330 are respectively equipped with clamping jaws 340, and the lower ends of the inner walls of the clamping jaws 340 are respectively equipped with an arc surface fastening portion 350, and the arc surface fastening portions 350 are relatively arranged, which can effectively fasten the material and improve the clamping efficiency. The first photoelectric switch 323 is arranged along the radial direction of the arc surface fastening portion 350, the positioning and taking material assembly 400 is arranged at intervals from the base assembly 100, and the positioning and taking material assembly 400 is provided with a mounting block 410, and the mounting block 410 is equipped with a second cylinder 420, and the upper end of the second cylinder 420 A plurality of positioning jig assemblies 430 are installed, and the positioning jig assemblies 430 are distributed at equal angles along the circumferential direction. After the clamp grasps the material, the material is covered on the upper end of the positioning jig assembly, which can realize secondary positioning of the material while avoiding scratches or deformation of the appearance of the material, and can effectively protect the material. A photoelectric mounting plate 440 is installed on one side of the mounting block 410, and a second photoelectric switch 450 is installed on the upper end of the photoelectric mounting plate 440. The second photoelectric switch 450 is arranged opposite to the positioning jig assembly 430, and can accurately detect the presence or absence of the material, perform secondary positioning of the material, and accurately position the material to ensure that the material clamped by the clamp is placed or installed in place, thereby improving production efficiency and product yield.

[0023] Specifically, the tray assembly 220 is also provided with a bellows 222, and the upper end of the base assembly 100 is provided with a first fixed column hole 110. The diameter of the bellows 222 is adapted to the first fixed column hole 110, and one end of the bellows 222 is inserted and embedded in the first fixed column hole 110, which can effectively increase the rotation range of the manipulator and improve the rotation stability.

[0024] Specifically, a slot switch 314 is installed on the outer side wall of the connecting plate 310 , and the slot switch 314 is disposed opposite to the base assembly 100 .

[0025] Specifically, an induction sheet 324 is installed on the outer side wall of the clamp mounting plate 320 , and the upper end of the induction sheet 324 is spaced apart and connected to the lower end of the slot switch 314 .

[0026] Specifically, the sensor support 322 has an inclined surface 3221 , and the first photoelectric switch 323 is installed on the bottom surface of the inclined surface 3221 along the axisymmetric direction of the clamping jaw 340 .

[0027] Specifically, the distance between the arc-surface fastening portions 350 is not less than the length of the positioning fixture assembly 430 .

[0028] Specifically, the working principle and process of the utility model are as follows: the claws of the manipulator clamp the material, the first photoelectric switch detects whether there is any clamped material, after detecting that the material is clamped successfully, the rotating arm and the bellows drive the tray assembly to rotate, thereby driving the screw assembly, the screw assembly drives the manipulator assembly, and the material cover is placed on the positioning fixture assembly, the second photoelectric switch performs detection, and after detecting that the material is positioned successfully, the manipulator assembly re-clamps the material and transfers the material to the corresponding position for loading.

[0029] The utility model has the following advantages:

[0030] By setting the clamping claw, the first photoelectric switch, the second photoelectric switch and the positioning and picking component, it is possible to accurately detect the presence of materials, perform secondary positioning on the materials, and accurately position the materials to ensure that the materials clamped by the clamping claw are placed or installed in place, thereby improving production efficiency and product yield;

[0031] By setting the arc surface fastening part, the material can be effectively fastened and the clamping efficiency can be improved;

[0032] By setting a rotating arm and a bellows, the rotation range of the manipulator is increased and the rotation stability is improved;

[0033] By setting equal height screws, the guide shaft support and the manipulator assembly can be effectively connected to improve the load bearing capacity;

[0034] By providing the first cylinder, the spring and the screw rod assembly, etc., the jaws can be effectively pressed down, which is convenient for fastening the material;

[0035] By setting up the positioning and material taking component, the secondary positioning of the material can be achieved while avoiding scratches or deformation on the appearance of the material, which can effectively protect the material.

[0036] The above description is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the utility model concept, or directly / indirectly used in other related technical fields are included in the patent protection scope of the utility model.

Claims

1. A manipulator capable of precise positioning, characterized in that: The cam assembly comprises a base assembly, a large arm assembly, a manipulator assembly and a positioning and picking assembly, the large arm assembly is provided with a rotating arm and a tray assembly, the lower end of one side of the rotating arm is rotatably mounted on the upper end of the base assembly, and the upper end of the other side of the rotating arm is rotatably mounted on the lower end of the tray assembly, the front end of the tray assembly is provided with a screw rod assembly that can move up and down, the lower end of the screw rod assembly is provided with a guide shaft support, the manipulator assembly is provided with a connecting plate and a clamping claw mounting plate, the connecting plate is mounted on the bottom of the guide shaft support by bolts, the connecting plate is symmetrically provided with a plurality of linear bearings, the linear bearings are provided with equal height screws, the equal height screw sleeves are provided with springs, the upper ends of the springs are respectively movably abutted against the bottom of the linear bearings, the lower ends of the equal height screws are embedded in the clamping claw mounting plate, and the bottom of the clamping claw mounting plate is provided with a first air Cylinder, the outer wall of the first cylinder is equipped with a sensor support, the sensor support is equipped with a first photoelectric switch, the bottom of the first cylinder is symmetrically provided with iron ring clamps, the iron ring clamps are arranged at intervals, the outer walls of the iron ring clamps are respectively equipped with clamps, the lower ends of the inner walls of the clamps are respectively equipped with an arc surface fastening part, the arc surface fastening parts are relatively arranged, the first photoelectric switch is arranged along the radial direction of the arc surface fastening part, the positioning and picking component is arranged at intervals from the base component, the positioning and picking component is provided with a mounting block, the mounting block is equipped with a second cylinder, the upper end of the second cylinder is equipped with a plurality of positioning fixture components, the positioning fixture components are arranged at equal angles along the circumferential direction, a photoelectric mounting plate is installed on one side of the mounting block, the upper end of the photoelectric mounting plate is equipped with a second photoelectric switch, the second photoelectric switch is relatively arranged with the positioning fixture component.

2. The precisely positioned manipulator according to claim 1, characterized in that: The tray assembly is also provided with a bellows, and the upper end of the base assembly is provided with a first fixing column hole. The diameter of the bellows is adapted to the first fixing column hole, and one end of the bellows is inserted and embedded in the first fixing column hole.

3. The precisely positioned manipulator according to claim 1, characterized in that: A slot switch is installed on the outer side wall of the connecting plate, and the slot switch is arranged opposite to the base assembly.

4. The precisely positioned manipulator according to claim 3, characterized in that: An induction sheet is installed on the outer side wall of the clamping jaw mounting plate, and the upper end of the induction sheet is spacedly connected to the lower end of the slot switch.

5. The precisely positioned manipulator according to claim 1, characterized in that: The sensor support is provided with an inclined surface, and the first photoelectric switch is installed on the bottom surface of the inclined surface along the axial symmetry direction of the clamping jaw.

6. The precisely positioned manipulator according to claim 1, characterized in that: The distance between the arc surface fastening parts is not less than the length of the positioning fixture assembly.

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