Material grabbing manipulator

Abstract

The utility model discloses a material grabbing mechanical arm which comprises a frame. The transverse action mechanism comprises a first motor, a first driving chain wheel, a first driven chain wheel, a first transmission chain, a first fixed seat and a first sliding seat, the first transmission chain bypasses the first driving chain wheel and the first driven chain wheel, the first motor drives the first driving chain wheel to rotate, and the first fixed seat is fixedly connected with the frame; the first sliding seat is in sliding connection with the first fixed seat, and the first sliding seat is connected with the first transmission chain through a first connecting block; the longitudinal action mechanism comprises a second motor, a second driving chain wheel, a second driven chain wheel, a second transmission chain, a second fixed seat and a second sliding seat, and the second transmission chain bypasses the second driving chain wheel and the second driven chain wheel respectively. The first motor drives the first driving chain wheel and the second motor drives the second driving chain wheel to control the grabbing mechanism to act, and the first motor and the second motor are high in control precision, so that the grabbing mechanism acts more accurately.

Description

Technical Field

[0001] The utility model generally relates to the field of vacuum forming machines, and in particular to a material grabbing manipulator. Background Art

[0002] The blister machine, also known as a thermoplastic forming machine, is a machine that blister-forms heated and plasticized thermoplastic plastic coils such as PVC, PE, PP, PET, HIPS, etc. into packaging boxes, frames, and other products of various shapes. Using the vacuum suction force generated by a vacuum pump, the heated and softened thermoplastic plastic sheets such as PVC and PET are blister-formed into vacuum covers, blister trays, bubble shells, and other shapes through molds.

[0003] Existing material grabbing robots are generally driven by cylinders, but cylinder drives have the problem of low control accuracy and are not suitable for application scenarios with high control accuracy. Utility Model Content

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a material grabbing robot with high control accuracy.

[0005] In the first aspect, the material grabbing manipulator of the utility model comprises:

[0006] frame;

[0007] A transverse action mechanism, comprising a first motor, a first driving sprocket, a first driven sprocket, a first transmission chain, a first fixed seat and a first sliding seat, wherein the first transmission chain passes around the first driving sprocket and the first driven sprocket respectively, the first motor drives the first driving sprocket to rotate, the first fixed seat is fixedly connected to the frame, the first sliding seat is slidably connected to the first fixed seat, and the first sliding seat is connected to the first transmission chain through a first connecting block;

[0008] A longitudinal action mechanism, comprising a second motor, a second driving sprocket, a second driven sprocket, a second transmission chain, a second fixed seat and a second sliding seat, wherein the second transmission chain passes around the second driving sprocket and the second driven sprocket respectively, the second motor drives the second driving sprocket to rotate, the second fixed seat is fixedly connected to the first sliding seat, the second sliding seat is slidably connected to the second fixed seat, and the second sliding seat is connected to the second transmission chain through a second connecting block;

[0009] The material grabbing mechanism comprises a fixed frame and a plurality of adsorption rods, wherein the fixed frame is fixedly connected to the second sliding seat, and the plurality of adsorption rods are respectively fixedly connected to the fixed frame.

[0010] According to the technical solution provided in the embodiment of the present application, the movement of the material grabbing mechanism is controlled by driving the first active sprocket by the first motor and the second active sprocket by the second motor. The control accuracy of the first motor and the second motor is high, so that the movement of the material grabbing mechanism is more precise. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0012] Figure 1 This is a structural schematic diagram of a material grabbing manipulator according to an embodiment of the utility model;

[0013] Figure 2 for Figure 1 A partial enlarged view of the middle A;

[0014] Figure 3 for Figure 1 A partial enlarged view of point B in the middle. DETAILED DESCRIPTION

[0015] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant utility model, rather than to limit the utility model. It is also necessary to explain that, for ease of description, only the parts related to the utility model are shown in the accompanying drawings.

[0016] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0017] Please refer to Figures 1 to 3The material grabbing manipulator of the utility model comprises: a frame 100; a transverse action mechanism 200, which comprises a first motor, a first driving sprocket 210, a first driven sprocket 220, a first transmission chain 230, a first fixed seat 240 and a first sliding seat 250, the first transmission chain 230 respectively passes around the first driving sprocket 210 and the first driven sprocket 220, the first motor drives the first driving sprocket 210 to rotate, the first fixed seat 240 is fixedly connected to the frame 100, the first sliding seat 250 is slidably connected to the first fixed seat 240, and the first sliding seat 250 is connected to the first transmission chain 230 through a first connecting block; a longitudinal action mechanism 300, which comprises a second motor 310, a second driving Sprocket 320, second driven sprocket 330, second transmission chain 340, second fixed seat 350 and second sliding seat 360, the second transmission chain 340 respectively bypasses the second driving sprocket 320 and the second driven sprocket 330, the second motor 310 drives the second driving sprocket 320 to rotate, the second fixed seat 350 is fixedly connected to the first sliding seat 250, the second sliding seat 360 is slidingly connected to the second fixed seat 350, and the second sliding seat 360 is connected to the second transmission chain 340 through a second connecting block; the grabbing mechanism 400 includes a fixed frame 410 and a plurality of adsorption rods, the fixed frame 410 is fixedly connected to the second sliding seat 360, and the plurality of adsorption rods are fixedly connected to the fixed frame 410 respectively.

[0018] In the embodiment of the present invention, the frame 100 is placed on the ground to support the transverse action mechanism 200 and the longitudinal action mechanism 300 .

[0019] The transverse action mechanism 200 includes a first motor, a first driving sprocket 210, a first driven sprocket 220, a first transmission chain 230, a first fixed seat 240 and a first sliding seat 250. The first motor drives the first driving sprocket 210 to rotate, driving the first transmission chain 230 to move. The first sliding seat 250 is connected to the first transmission chain 230 through a first connecting block. The movement of the first transmission chain 230 drives the first sliding seat 250 to move through the first connecting block. The first sliding seat 250 is slidably connected to the first fixed seat 240, ensuring the stability of the movement of the first sliding seat 250. Of course, the first sliding seat 250 moves in the horizontal direction relative to the first fixed seat 240.

[0020] The longitudinal action mechanism 300 includes a second motor 310, a second driving sprocket 320, a second driven sprocket 330, a second transmission chain 340, a second fixed seat 350 and a second sliding seat 360. The second motor 310 drives the second driving sprocket 320 to rotate, thereby driving the second transmission chain 340 to move. The second sliding seat 360 is connected to the second transmission chain 340 through a second connecting block. The movement of the second transmission chain 340 drives the second sliding seat 360 to move through the second connecting block. The second sliding seat 360 is slidably connected to the second fixed seat 350, thereby ensuring the stability of the movement of the second sliding seat 360. Of course, the second sliding seat 360 moves in a vertical direction relative to the second fixed seat 350. The second fixed seat 350 is fixedly connected to the first sliding seat 250, and the second fixed seat 350 can move together with the first sliding seat 250, that is, the longitudinal action mechanism 300 can move together with the first sliding seat 250.

[0021] The material grabbing mechanism 400 includes a fixed frame 410 and a plurality of adsorption rods, and the adsorption rods can adsorb the material so that the material moves with the material grabbing mechanism 400. The fixed frame 410 is fixedly connected to the second sliding seat 360. The first motor drives the first driving sprocket 210 to rotate, drives the first transmission chain 230 to move, and can drive the fixed frame 410 to move in the horizontal direction. The second motor 310 drives the second driving sprocket 320 to rotate, drives the second transmission chain 340 to move, and can drive the fixed frame 410 to move in the vertical direction. The horizontal action mechanism 200 and the longitudinal action mechanism 300 can drive the fixed frame 410 to move in a three-dimensional space. The first motor drives the first driving sprocket 210 and the second motor 310 drives the second driving sprocket 320 to control the action of the material grabbing mechanism 400. The first motor and the second motor 310 have high control accuracy, so that the action of the material grabbing mechanism 400 is more accurate. Of course, the first motor and the second motor 310 are both servo motors. The second motor 310 may be configured as a servo motor with a brake to prevent the second sliding seat 360 from moving relative to the second fixed seat 350 after the second motor 310 is powered off, thereby further improving the reliability of the longitudinal action mechanism 300 .

[0022] Furthermore, two parallel first guide rails 241 are fixedly connected to the first fixed seat 240 , and two parallel first sliders 251 are fixedly connected to the first sliding seat 250 . One first slider 251 slides on one first guide rail 241 , and the first guide rails 241 are arranged in the horizontal direction.

[0023] In the embodiment of the utility model, the first sliding seat 250 is slidably connected with the first fixed seat 240 by slidingly cooperating with the two first sliders 251 and the two first guide rails 241, thereby ensuring the stability of the sliding connection between the first sliding seat 250 and the first fixed seat 240. The cross section of the first guide rail 241 can be set to an I-shaped shape, and an I-shaped groove is correspondingly provided on the first slider 251 to achieve a stable sliding connection between the first slider 251 and the first guide rail 241, thereby preventing the first slider 251 from being separated from the first guide rail 241. The first guide rail 241 is arranged in the horizontal direction, so that the first sliding seat 250 moves in the horizontal direction relative to the first fixed seat 240.

[0024] Furthermore, the first sliding block 251 is located above the first guide rail 241 .

[0025] In the embodiment of the utility model, the first slider 251 is located above the first guide rail 241 , so that the first guide rail 241 can better support the first sliding seat 250 , ensuring the reliability and stability of the sliding connection between the first sliding seat 250 and the first fixed seat 240 .

[0026] Furthermore, the first transmission chain 230 is located between the two first guide rails 241 .

[0027] In the embodiment of the present invention, the first transmission chain 230 is located between the two first guide rails 241 , so that the structure of the lateral action mechanism 200 is more compact.

[0028] Furthermore, at least one first limiting block 242 is fixedly connected to the first fixing seat 240 , and the first limiting block 242 is located on the movement path of the first connecting block.

[0029] In an embodiment of the utility model, by setting a first limit block 242 on the first fixed seat 240, and the first limit block 242 is located on the movement path of the first connecting block, the first limit block 242 can stop the first connecting block, thereby limiting the movement range of the first sliding seat 250 relative to the first fixed seat 240.

[0030] Furthermore, two parallel second guide rails 351 are fixedly connected to the second fixed seat 350 , and two parallel second sliders 361 are fixedly connected to the second sliding seat 360 . One second slider 361 slides on one second guide rail 351 , and the second guide rails 351 are arranged in the vertical direction.

[0031] In the embodiment of the utility model, the second sliding seat 360 is slidably connected with the second fixed seat 350 by slidingly cooperating with the two second sliders 361 and the two second guide rails 351, thereby ensuring the stability of the sliding connection between the second sliding seat 360 and the second fixed seat 350. The cross section of the second guide rail 351 can be set to an I-shaped shape, and an I-shaped groove is correspondingly provided on the second slider 361 to achieve a stable sliding connection between the second slider 361 and the second guide rail 351, thereby preventing the second slider 361 from being separated from the second guide rail 351. The second guide rail 351 is arranged in the horizontal direction, so that the second sliding seat 360 moves in the horizontal direction relative to the second fixed seat 350.

[0032] Furthermore, the second transmission chain 340 is located between the two second guide rails 351 .

[0033] In the embodiment of the present invention, the second transmission chain 340 is located between the two second guide rails 351 , so that the structure of the longitudinal action mechanism 300 is more compact.

[0034] Furthermore, at least one second limiting block 352 is fixedly connected to the second fixing seat 350 , and the second limiting block 352 is located on the movement path of the second connecting block.

[0035] In an embodiment of the utility model, by setting a second limit block 352 on the second fixed seat 350, and the second limit block 352 is located on the movement path of the second connecting block, the second limit block 352 can stop the second connecting block, thereby limiting the movement range of the second sliding seat 360 relative to the second fixed seat 350.

[0036] Furthermore, the second motor 310 is fixedly connected to the second fixing seat 350 , and the second motor 310 and the second sliding seat 360 are located on both sides of the second fixing seat 350 .

[0037] In the embodiment of the present invention, the second motor 310 and the second sliding seat 360 are located on both sides of the second fixing seat 350 , so that the force on the second fixing seat 350 is balanced.

[0038] Furthermore, the second motor 310 is located above the first sliding seat 250 , and a reinforcing plate 252 is disposed between the first sliding seat 250 and the second fixed seat 350 . The reinforcing plate 252 is located above the first sliding seat 250 .

[0039] In the embodiment of the present invention, by providing the reinforcing plate 252 , the connection strength between the first sliding seat 250 and the second fixing seat 350 can be improved.

[0040] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the utility model involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the concept of the utility model. For example, the above features are replaced with the technical features with similar functions disclosed in the present application (but not limited to) by each other to form a technical solution.

Claims

1. A material grabbing manipulator, characterized in that: include: frame; A transverse action mechanism, comprising a first motor, a first driving sprocket, a first driven sprocket, a first transmission chain, a first fixed seat and a first sliding seat, wherein the first transmission chain passes around the first driving sprocket and the first driven sprocket respectively, the first motor drives the first driving sprocket to rotate, the first fixed seat is fixedly connected to the frame, the first sliding seat is slidably connected to the first fixed seat, and the first sliding seat is connected to the first transmission chain through a first connecting block; A longitudinal action mechanism, comprising a second motor, a second driving sprocket, a second driven sprocket, a second transmission chain, a second fixed seat and a second sliding seat, wherein the second transmission chain passes around the second driving sprocket and the second driven sprocket respectively, the second motor drives the second driving sprocket to rotate, the second fixed seat is fixedly connected to the first sliding seat, the second sliding seat is slidably connected to the second fixed seat, and the second sliding seat is connected to the second transmission chain through a second connecting block; The material grabbing mechanism comprises a fixed frame and a plurality of adsorption rods, wherein the fixed frame is fixedly connected to the second sliding seat, and the plurality of adsorption rods are respectively fixedly connected to the fixed frame.

2. The material grabbing manipulator according to claim 1, characterized in that: Two parallel first guide rails are fixedly connected to the first fixed seat, and two parallel first sliding blocks are fixedly connected to the first sliding seat. One of the first sliding blocks slides on one of the first guide rails, and the first guide rails are arranged in a horizontal direction.

3. The material grabbing manipulator according to claim 2, characterized in that: The first sliding block is located above the first guide rail.

4. The material grabbing manipulator according to claim 2, characterized in that: The first transmission chain is located between the two first guide rails.

5. The material grabbing manipulator according to claim 1, characterized in that: At least one first limiting block is fixedly connected to the first fixing seat, and the first limiting block is located on the movement path of the first connecting block.

6. The material grabbing manipulator according to claim 1, characterized in that: The second fixed seat is fixedly connected to two parallel second guide rails, the second sliding seat is fixedly connected to two parallel second sliding blocks, one second sliding block slides on one second guide rail, and the second guide rails are arranged along the vertical direction.

7. The material grabbing manipulator according to claim 6, characterized in that: The second transmission chain is located between the two second guide rails.

8. The material grabbing manipulator according to claim 1, characterized in that: At least one second limiting block is fixedly connected to the second fixing seat, and the second limiting block is located on the movement path of the second connecting block.

9. The material grabbing manipulator according to claim 1, characterized in that: The second motor is fixedly connected to the second fixing seat, and the second motor and the second sliding seat are located on both sides of the second fixing seat.

10. The material grabbing manipulator according to claim 9, characterized in that: The second motor is located above the first sliding seat. A reinforcing plate is provided between the first sliding seat and the second fixed seat. The reinforcing plate is located above the first sliding seat.

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