Embedded multi-degree-of-freedom manipulator capable of performing linear reciprocating motion

Abstract

The utility model discloses a linear reciprocating embedded multi-degree-of-freedom manipulator which comprises a base, a supporting column arranged on the base, a first mechanical arm rotationally arranged on the supporting column and a second mechanical arm rotationally arranged on the first mechanical arm, and a clamping jaw mechanism is arranged on the second mechanical arm. The clamping jaw mechanism comprises a transverse frame, the transverse frame is arranged on the second mechanical arm, the transverse frame is connected with the second mechanical arm through an angle adjusting structure, a first clamping jaw and a second clamping jaw are arranged on the transverse frame, and the first clamping jaw and the second clamping jaw are connected with the transverse frame through an opposite driving structure; according to the accessory clamping device, the transverse distance between the first clamping jaw and the second clamping jaw can be adjusted, the accessories of different specifications can be clamped and fixed, the use range is greatly widened, the accessories can be adsorbed and fixed, and the practicability is high. And the stability when the accessory is clamped is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of accessory processing, and in particular relates to an embedded multi-freedom robot with linear reciprocating motion. Background Art

[0002] Auto parts are the various units that make up the whole car and a kind of product that serves the car. There are many kinds of auto parts. With the improvement of people's living standards, people's consumption of cars is increasing, and the market of auto parts is getting bigger and bigger. In recent years, auto parts manufacturers have also developed rapidly. In the production process, auto parts will be clamped by multi-degree-of-freedom mechanical clamping and moved to subsequent processing stations.

[0003] For example, a multi-degree-of-freedom manipulator disclosed in the utility model with authorization announcement number CN213674195U includes a fixed base, a lifting mechanism, a fixed frame, a moving component and a clamping mechanism. The utility model has multiple degrees of freedom and can clamp objects to perform various actions. The fixed base includes gear I, a base plate, a servo motor I and a support base. The lower end of servo motor I is fixedly connected to the base plate, the output shaft of servo motor I is fixedly connected to gear I, and the support base is fixedly connected to the base plate. The lifting mechanism includes a fixed plate, a rotating base, gear II, a hydraulic cylinder and a fixed rod. The left end of the rotating base is fixedly connected to the fixed plate, the right end of the rotating base is fixedly connected to the hydraulic cylinder, the lower end of the rotating base is fixedly connected to the fixed rod, the lower end of the fixed rod is rotatably connected to the support base, the upper end of gear II is fixedly connected to the rotating base, the lower end of gear II is fitted with the support base, and gear II is meshed with gear I. The manipulator has multiple degrees of freedom and can clamp objects to perform various actions. However, during use, the above-mentioned manipulator cannot quickly clamp accessories of different specifications, and the clamping range is limited. At the same time, it cannot have multiple levels of clamping force, and the clamping stability of accessories is poor. For this reason, we propose an embedded multi-degree-of-freedom manipulator with linear reciprocating motion. Utility Model Content

[0004] The purpose of the utility model is to provide an embedded multi-degree-of-freedom manipulator with linear reciprocating motion to solve the problems that the manipulator proposed in the above background technology cannot quickly clamp accessories of different specifications during use, has a limited clamping range, cannot have multi-level clamping force, and has poor accessory clamping stability.

[0005] To achieve the above-mentioned object, the utility model provides the following technical solution: an embedded multi-degree-of-freedom manipulator with linear reciprocating motion, comprising a base, a support column arranged on the base, a first mechanical arm rotatably arranged on the support column, and a second mechanical arm rotatably arranged on the first mechanical arm, wherein a claw mechanism is arranged on the second mechanical arm;

[0006] The clamping mechanism comprises a cross frame, which is arranged on the second mechanical arm and connected to the second mechanical arm through an angle adjustment structure, and a first clamping jaw and a second clamping jaw are arranged on the cross frame, and the first clamping jaw and the second clamping jaw are connected to the cross frame through an opposing driving structure;

[0007] Wherein, both the first clamping jaw and the second clamping jaw are provided with an adsorption fixing structure for secondary clamping of the accessory, and a linear driving mechanism is provided on the base.

[0008] Preferably, the opposing drive structure includes a bidirectional screw rod, which is rotatably arranged in an installation groove, and the installation groove is arranged on a horizontal frame. A first nut and a second nut are symmetrically arranged on the bidirectional screw rod, and the first nut is connected to the first clamping jaw, and the second nut is connected to the second clamping jaw. The bidirectional screw rod is connected to a driving shaft of a first motor located on the horizontal frame. Through the transmission of the bidirectional screw rod, the first clamping jaw and the second clamping jaw can be driven to face each other, and accessories of different specifications can be clamped and fixed.

[0009] Preferably, guide sliders are provided on the first nut and the second nut, and the guide sliders are slidably arranged in the guide slots, and the guide slots are arranged on one side surface of the installation slot, thereby improving the guiding property of the movement of the first nut and the second nut.

[0010] Preferably, the adsorption and fixing structure includes a suction cup, which is arranged in a storage groove, and the storage groove is arranged on the first clamp and the second clamp. One end of the suction cup is arranged on the guide rod, and the guide rod is movably arranged in the guide sleeve, and the guide sleeve is embedded in the storage groove. A first spring is arranged in the guide sleeve, and one end of the first spring is connected to the guide rod. An air supply hose is arranged on the suction cup, and the air supply hose is connected to the guide pipe, and the guide pipe is connected to the negative pressure component, so as to perform secondary adsorption and fixation on the accessories and improve the stability of the accessory clamping.

[0011] Preferably, the negative pressure component is arranged in an installation cavity, and the installation cavity is arranged in a first clamp and a second clamp. The negative pressure component includes an air cylinder, and the air cylinder is arranged in the installation cavity. A piston rod is movably arranged in the air cylinder, a piston pad is arranged on the piston rod, and a secondary wedge is also arranged on the piston rod. The secondary wedge is fitted with a main wedge, and the main wedge is arranged on a positioning rod. The positioning rod is movably arranged on the first clamp and the second clamp to provide negative pressure suction to the suction cup.

[0012] Preferably, a limiting slider is provided on the main wedge block, and the limiting slider is slidably arranged in a limiting slide groove, and the limiting slide groove is arranged on one side of the installation cavity, so as to limit the movement of the main wedge block.

[0013] Preferably, the angle adjustment structure includes a main bevel gear, which is arranged on the driving shaft of the second motor, the main bevel gear is meshed with the auxiliary bevel gear, and the auxiliary bevel gear is arranged on a rotating shaft, the rotating shaft is rotatably arranged in a cavity, and the cavity is arranged on the second robotic arm. One end of the rotating shaft is connected to a cross frame, so that the angle of the cross frame can be adjusted.

[0014] Preferably, the linear drive mechanism includes a third motor, the third motor is arranged on the supporting frame, the base is slidably arranged on the supporting frame, and the third motor is connected to the base through a screw transmission structure to facilitate lateral movement of the base.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] (1) The utility model can adjust the lateral spacing between the first clamping jaw and the second clamping jaw, and can clamp and fix accessories of different specifications, thereby greatly increasing the scope of use.

[0017] (2) The utility model can fix the accessory by adsorption while clamping the accessory, thereby improving the stability of the accessory when clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the utility model;

[0019] Figure 2 It is a right side cross-sectional structural schematic diagram of the clamping claw mechanism in the utility model;

[0020] Figure 3 It is a right side cross-sectional structural schematic diagram of the first clamping jaw in the utility model;

[0021] Figure 4 for Figure 3 A schematic diagram of the enlarged structure at A in the middle;

[0022] Figure 5 It is a right side cross-sectional structural schematic diagram of the angle adjustment structure in the utility model;

[0023] In the figure: 1, claw mechanism; 2, third motor; 3, carrier frame; 4, base; 5, support column; 6, fourth motor; 7, first mechanical arm; 8, fifth motor; 9, second mechanical arm; 11, first clamping claw; 12, mounting groove; 13, bidirectional screw rod; 14, first nut; 15, guide slide groove; 16, second nut; 17, first motor; 18, cross frame; 19, second clamping claw; 101, guide rod; 102, suction cup; 103 , storage groove; 104, first spring; 105, guide sleeve; 106, guide tube; 107, air cylinder; 108, piston pad; 109, second spring; 110, piston rod; 111, installation cavity; 112, positioning rod; 113, main wedge block; 114, limiting slide groove; 115, limiting slider; 116, secondary wedge block; 181, rotating shaft; 182, second motor; 183, main bevel gear; 184, cavity; 185, secondary bevel gear. DETAILED DESCRIPTION

[0024] 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 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.

[0025] See also Figure 1-Figure 2 The utility model provides a technical solution: an embedded multi-degree-of-freedom manipulator with linear reciprocating motion, comprising a base 4, a support column 5 arranged on the base 4, a first mechanical arm 7 rotatably arranged on the support column 5, and a second mechanical arm 9 rotatably arranged on the first mechanical arm 7, a claw mechanism 1 is arranged on the second mechanical arm 9, specifically, a fourth motor 6 for adjusting the angle of the first mechanical arm 7 is arranged on the support column 5, and a fifth motor 8 for adjusting the angle of the second mechanical arm 9 is arranged on the first mechanical wall;

[0026] The clamping mechanism 1 includes a cross frame 18, which is arranged on the second mechanical arm 9 and connected to the second mechanical arm 9 through an angle adjustment structure. A first clamping jaw 11 and a second clamping jaw 19 are arranged on the cross frame 18, and the first clamping jaw 11 and the second clamping jaw 19 are connected to the cross frame 18 through an opposing driving structure.

[0027] The opposing drive structure includes a bidirectional screw rod 13, which is rotatably arranged in an installation groove 12, and the installation groove 12 is arranged on a cross frame 18. A first nut 14 and a second nut 16 are symmetrically arranged on the bidirectional screw rod 13. The first nut 14 is connected to the first clamping jaw 11, and the second nut 16 is connected to the second clamping jaw 19. The bidirectional screw rod 13 is connected to a driving shaft of a first motor 17 located on the cross frame 18. Through the transmission of the bidirectional screw rod 13, the first clamping jaw 11 and the second clamping jaw 19 can be driven to face each other, and accessories of different specifications can be clamped and fixed.

[0028] First, the spacing between the first jaw 11 and the second jaw 19 is adjusted according to the specifications of the accessory. The bidirectional screw rod 13 is driven to rotate by the first motor 17, and the first nut 14 and the second nut 16 move towards each other. The first nut 14 drives the first jaw 11 to move, and the second nut 16 drives the second jaw 19 to move, and then the spacing between the first jaw 11 and the second jaw 19 is adjusted, and then the accessory is clamped and fixed by the first jaw 11 and the second jaw 19.

[0029] Furthermore, guide sliders are provided on the first nut 14 and the second nut 16, and the guide sliders are slidably set in the guide groove 15. The guide groove 15 is set on one side surface of the installation groove 12. The movement of the first nut 14 and the second nut 16 drives the guide slider to move in the guide groove 15, thereby improving the guiding performance of the movement of the first nut 14 and the second nut 16.

[0030] As a specific embodiment of this application, please refer to Figure 3 and Figure 4 The first clamping jaw 11 and the second clamping jaw 19 are both provided with an adsorption and fixing structure for secondary clamping of the accessories, and the adsorption and fixing structure includes a suction cup 102, and the suction cup 102 is arranged in a storage groove 103, and the storage groove 103 is arranged on the first clamping jaw 11 and the second clamping jaw 19, one end of the suction cup 102 is arranged on the guide rod 101, and the guide rod 101 is movably arranged in a guide sleeve 105, and the guide sleeve 105 is embedded in the storage groove 103. A first spring 104 is arranged in the guide sleeve 105, and one end of the first spring 104 is connected to the guide rod 101, and an air supply hose is arranged on the suction cup 102, and the air supply hose is connected to the guide pipe 106, and the guide pipe 106 is connected to the negative pressure component, which can perform secondary adsorption and fixation on the accessories and improve the stability of the accessory clamping.

[0031] The negative pressure component is arranged in the installation cavity 111, and the installation cavity 111 is arranged in the first clamp 11 and the second clamp 19. The negative pressure component includes an air cylinder 107, and the air cylinder 107 is arranged in the installation cavity 111. A piston rod 110 is movably arranged in the air cylinder 107, and a piston pad 108 is arranged on the piston rod 110. Specifically, a second spring 109 is also arranged in the air cylinder 107, and the second spring 109 is connected to the piston pad 108. A secondary wedge 116 is also arranged on the piston rod 110, and the secondary wedge 116 is in contact with the main wedge 113. The main wedge 113 is arranged on the positioning rod 112, and the positioning rod 112 is movably arranged on the first clamp 11 and the second clamp 19, so as to provide negative pressure suction to the suction cup 102.

[0032] When the first jaw 11 and the second jaw 19 move, the suction cup 102 and the positioning rod 112 are driven to move at the same time. When the suction cup 102 and the positioning rod 112 come into contact with the accessory, as the first jaw 11 and the second jaw 19 move, the suction cup 102 drives the guide rod 101 to move in the guide sleeve 105, and the guide rod 101 compresses the first spring 104. At the same time, the positioning rod 112 moves and drives the main wedge block 113 to move. When the main wedge block 113 and the secondary wedge block 116 are fitted, the main wedge block 113 drives the secondary wedge block 116 to move, and the secondary wedge block 116 drives the piston rod 110 to move, and the piston rod 110 drives the piston pad 108 to move upward, thereby generating negative pressure, and the air supply hose transports the air in the suction cup 102 to the guide tube 106, and the guide tube 106 transports the air flow to the air cylinder 107, thereby generating negative pressure on the suction cup 102 and tightly adsorbing the accessory.

[0033] At the same time, the piston pad 108 compresses the second spring 109 during the movement. When the first clamp 11 and the second clamp 19 release the accessory, the second spring 109 drives the piston pad 108 to reset and move, and then the airflow in the air cylinder 107 is transported to the suction cup 102, and the suction cup 102 releases the accessory.

[0034] Furthermore, a limiting slider 115 is provided on the main wedge block 113 , and the limiting slider 115 is slidably provided in a limiting slide groove 114 . The limiting slide groove 114 is provided at one side of the installation cavity 111 , and can limit the movement of the main wedge block 113 .

[0035] As a specific embodiment of this application, please refer to Figure 5 The angle adjustment structure includes a main bevel gear 183, which is arranged on the driving shaft of the second motor 182. The main bevel gear 183 is meshed with the auxiliary bevel gear 185. The auxiliary bevel gear 185 is arranged on the rotating shaft 181. The rotating shaft 181 is rotatably arranged in the cavity 184. The cavity 184 is arranged on the second mechanical arm 9. One end of the rotating shaft 181 is connected to the cross frame 18, so that the angle of the cross frame 18 can be adjusted.

[0036] The second motor 182 drives the main bevel gear 183 to rotate, the main bevel gear 183 drives the auxiliary bevel gear 185 to rotate, the auxiliary bevel gear 185 drives the rotating shaft 181 to rotate, the rotating shaft 181 drives the horizontal frame 18 to rotate, and the rotation of the horizontal frame 18 can adjust the angle of the accessory.

[0037] As an embodiment of the present application, a linear drive mechanism is arranged on the base 4, and the linear drive mechanism includes a third motor 2, and the third motor 2 is arranged on the carrier frame 3. The base 4 is slidingly arranged on the carrier frame 3, and the third motor 2 is connected to the base 4 through a screw transmission structure. Specifically, the screw transmission structure includes a transverse screw, and the transverse screw is rotatably arranged in the carrier frame 3. At the same time, the transverse screw is connected to the third motor 2, and a transverse nut is arranged on the third screw, and the transverse nut is connected to the base 4. By rotating the transverse screw, and then driving the transverse reciprocating movement of the base 4 through the transverse nut, the transverse position of the device is reciprocated.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An embedded multi-degree-of-freedom manipulator with linear reciprocating motion, comprising a base (4), a support column (5) arranged on the base (4), a first mechanical arm (7) rotatably arranged on the support column (5), and a second mechanical arm (9) rotatably arranged on the first mechanical arm (7), characterized in that: The second mechanical arm (9) is provided with a claw mechanism (1); The clamping mechanism (1) comprises a cross frame (18), the cross frame (18) is arranged on the second mechanical arm (9), and the cross frame (18) is connected to the second mechanical arm (9) through an angle adjustment structure, a first clamping jaw (11) and a second clamping jaw (19) are arranged on the cross frame (18), and the first clamping jaw (11) and the second clamping jaw (19) are connected to the cross frame (18) through an opposing driving structure; Wherein, both the first clamping jaw (11) and the second clamping jaw (19) are provided with an adsorption fixing structure for secondary clamping of the accessory, and a linear drive mechanism is provided on the base (4).

2. The embedded multi-DOF manipulator with linear reciprocating motion according to claim 1, characterized in that: The counter-drive structure comprises a bidirectional screw rod (13), the bidirectional screw rod (13) is rotatably arranged in a mounting groove (12), the mounting groove (12) is arranged on a cross frame (18), a first nut (14) and a second nut (16) are symmetrically arranged on the bidirectional screw rod (13), the first nut (14) is connected to a first clamping jaw (11), the second nut (16) is connected to a second clamping jaw (19), and the bidirectional screw rod (13) is connected to a driving shaft of a first motor (17) located on the cross frame (18).

3. The embedded multi-DOF manipulator with linear reciprocating motion according to claim 2, characterized in that: The first nut (14) and the second nut (16) are both provided with guide sliders, the guide sliders are slidably arranged in the guide slide groove (15), and the guide slide groove (15) is arranged on a side surface of the inner side of the installation groove (12).

4. The embedded multi-DOF manipulator with linear reciprocating motion according to claim 1, characterized in that: The adsorption and fixing structure comprises a suction cup (102), wherein the suction cup (102) is arranged in a receiving groove (103), wherein the receiving groove (103) is arranged on a first clamping jaw (11) and a second clamping jaw (19), wherein one end of the suction cup (102) is arranged on a guide rod (101), wherein the guide rod (101) is movably arranged in a guide sleeve (105), wherein the guide sleeve (105) is embedded in the receiving groove (103), wherein a first spring (104) is arranged in the guide sleeve (105), wherein one end of the first spring (104) is connected to the guide rod (101), wherein an air supply hose is arranged on the suction cup (102), wherein the air supply hose is connected to a guide pipe (106), and wherein the guide pipe (106) is connected to a negative pressure component.

5. The embedded multi-DOF manipulator with linear reciprocating motion according to claim 4, characterized in that: The negative pressure component is arranged in an installation cavity (111), and the installation cavity (111) is arranged in a first clamp (11) and a second clamp (19). The negative pressure component includes an air cylinder (107), and the air cylinder (107) is arranged in the installation cavity (111). A piston rod (110) is movably arranged in the air cylinder (107), a piston pad (108) is arranged on the piston rod (110), and a secondary wedge block (116) is also arranged on the piston rod (110), and the secondary wedge block (116) is in contact with the main wedge block (113), and the main wedge block (113) is arranged on a positioning rod (112), and the positioning rod (112) is movably arranged on the first clamp (11) and the second clamp (19).

6. The embedded multi-DOF manipulator with linear reciprocating motion according to claim 5, characterized in that: A limiting sliding block (115) is arranged on the main wedge block (113), and the limiting sliding block (115) is slidably arranged in a limiting sliding groove (114), and the limiting sliding groove (114) is arranged on one side in the installation cavity (111).

7. The embedded multi-DOF manipulator with linear reciprocating motion according to claim 1, characterized in that: The angle adjustment structure comprises a main bevel gear (183), the main bevel gear (183) is arranged on the driving shaft of the second motor (182), the main bevel gear (183) is meshed with a secondary bevel gear (185), the secondary bevel gear (185) is arranged on a rotating shaft (181), the rotating shaft (181) is rotatably arranged in a cavity (184), the cavity (184) is arranged on the second mechanical arm (9), and one end of the rotating shaft (181) is connected to the cross frame (18).

8. The linear reciprocating embedded multi-degree-of-freedom manipulator according to claim 1, characterized in that: The linear drive mechanism comprises a third motor (2), the third motor (2) is arranged on a carrier frame (3), the base (4) is slidably arranged on the carrier frame (3), and the third motor (2) is connected to the base (4) via a screw transmission structure.

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