High-speed servo side taking manipulator

Abstract

The utility model provides a high-speed servo side taking manipulator which comprises a support and a lifting mechanism arranged on the support, a vertical sliding seat is arranged on the lifting mechanism, a first transverse moving mechanism is arranged on the vertical sliding seat, and the first transverse moving mechanism is in driving connection with a cross beam arranged on the vertical sliding seat in a sliding mode. A second transverse moving mechanism is further arranged on the cross beam; an arm beam is arranged on the second transverse moving mechanism; a suction cup assembly is arranged at the tail end of the arm beam. The transverse movement device is simple in structure and high in practicability, the lifting mechanism controls the beam to ascend and descend, the first transverse mechanism and the second transverse mechanism control the suction cup to transversely move, and therefore transverse movement of a longer distance is achieved; a plurality of parts can be grabbed through the suction cup assembly; therefore, the grabbing efficiency of the parts is improved; moving and supporting of the manipulator can be achieved through the universal wheels and the supporting legs.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a high-speed servo side-taking manipulator. Background Art

[0002] A manipulator is an automatic operating device that can imitate some action functions of human hands and arms and grasp, transport objects or operate tools according to a fixed program. Manipulators have developed in the process of mechanized and automated production. Although they are not as flexible as human hands, they have the advantages of being able to repeat work continuously, not being fatigued, not being afraid of danger, and having a greater lifting force for heavy objects than human hands. Therefore, they are widely used in automatic production lines.

[0003] Existing manipulators generally have a complex structure, poor practicability and low grasping efficiency. Summary of the Utility Model

[0004] Aiming at the deficiencies of the existing technology, the utility model provides a high-speed servo side-taking manipulator, which has a simple structure, strong practicability and is easy to operate and control.

[0005] The technical solution of the utility model is as follows: a high-speed servo side-taking manipulator, including a bracket, a lifting mechanism arranged on the bracket, a vertical sliding seat arranged on the lifting mechanism, a first transverse moving mechanism arranged on the vertical sliding seat, and the first transverse moving mechanism is drivingly connected with a cross beam slidably arranged on the vertical sliding seat; a second transverse moving mechanism is further arranged on the cross beam; an arm beam is arranged on the second transverse moving mechanism; a suction cup assembly is arranged at the end of the arm beam.

[0006] Preferably, the lifting mechanism includes a lifting driving motor, a lifting driving belt, and a lifting belt clamping plate. The lifting driving motor is arranged inside the bracket, and a pulley is arranged on the motor shaft of the lifting driving motor. Another pulley is also arranged inside the bracket at the other end relative to the lifting driving motor. The two pulleys are sleeved with the lifting driving belt, and the lifting belt clamping plate is arranged on the lifting driving belt. The other side of the lifting belt clamping plate is connected with the vertical sliding seat.

[0007] Preferably, two vertical sliding rails are symmetrically arranged on the bracket, and both of the two vertical sliding rails are slidably connected with the vertical sliding seat.

[0008] Preferably, the vertical sliding seat includes a vertical sliding plate, two connecting plates are symmetrically arranged at the rear side of the vertical sliding plate, a supporting plate is arranged at the upper ends of the two connecting plates, and the first transverse moving mechanism is arranged on the supporting plate.

[0009] Preferably, the first lateral movement mechanism includes a first lateral drive motor, a gear, and a rack. The first lateral drive motor is disposed at the lower end of the support plate, and the motor shaft of the first lateral drive motor axially penetrates through the support plate and is connected to the gear. The gear is also in meshing connection with the rack provided on the inner side wall of the cross beam.

[0010] Preferably, the lower end of the cross beam is also symmetrically provided with first lateral slide rails. The two first lateral slide rails are also slidably connected to the sliders provided on the upper end of the support plate.

[0011] Preferably, a second lateral movement mechanism is also provided on the cross beam. The second lateral movement mechanism includes a first lateral belt clamping plate, a second lateral drive belt, a second lateral belt clamping plate, and a lateral slide plate. Corresponding second belt pulleys are respectively provided at both ends of the cross beam, and the second lateral drive belt is sleeved on the two second belt pulleys. The first lateral belt clamping plate is disposed on the support plate at one end of the cross beam, the second lateral belt clamping plate is disposed at the lower end of the lateral slide plate, and both the first lateral belt clamping plate and the second lateral belt clamping plate are sleeved on the second lateral drive belt. The lateral slide plate is also slidably connected to the second lateral slide rails symmetrically provided on the upper end of the cross beam.

[0012] Preferably, an arm beam is provided on the lateral slide plate. The main frame of the arm beam is L-shaped, and a plurality of reinforcing bars are welded on the L-shaped main frame of the arm beam.

[0013] Preferably, the end of the L-shaped main frame is connected to the suction cup assembly through a mounting plate.

[0014] Preferably, the suction cup assembly includes a suction nozzle fixing plate and a plurality of suction nozzles provided at the lower end of the suction nozzle fixing plate.

[0015] The beneficial effects of the present utility model are as follows:

[0016] 1. The structure of the present utility model is simple and practical. The lifting of the cross beam is controlled by the lifting mechanism, and the lateral movement of the suction cup is controlled by the first lateral mechanism and the second lateral mechanism in the present utility model, so as to realize the lateral movement over a longer distance.

[0017] 2. The present utility model can realize the grasping of multiple parts through the suction cup assembly, thereby improving the part grasping efficiency.

[0018] 3. The present utility model can realize the movement and support of the manipulator through the universal wheels and the support feet. Description of the Drawings

[0019] Figure 1 It is a schematic structural diagram of the present utility model;

[0020] Figure 2 Structural schematic diagram of another side of the present utility model;

[0021] Figure 3 Structural schematic diagram of the lifting mechanism of the present utility model;

[0022] Figure 4 Structural schematic of the first and second lateral movement mechanisms of the present utility model Figure 1 ;

[0023] Figure 5 Structural schematic of the first and second lateral movement mechanisms of the present utility model Figure 2 ;

[0024] Figure 6 Structural schematic of the first and second lateral movement mechanisms of the present utility model Figure 3 ;

[0025] In the figure, 1 - support; 2 - lifting mechanism; 3 - vertical sliding seat; 4 - first lateral movement mechanism; 5 - cross beam; 6 - second lateral movement mechanism; 7 - arm beam; 8 - suction cup assembly; 9 - mounting plate;

[0026] 21 - lifting drive motor; 22 - lifting drive belt; 23 - lifting belt clamping plate; 24 - vertical slide rail;

[0027] 31 - vertical sliding plate; 32 - connecting plate; 33 - support plate;

[0028] 41 - first lateral drive motor; 42 - gear; 43 - rack; 44 - first lateral slide rail;

[0029] 61 - first lateral belt clamping plate; 62 - second lateral drive belt; 63 - second lateral belt clamping plate; 64 - lateral sliding plate; 65 - second lateral slide rail;

[0030] 71 - main frame; 72 - reinforcing bar;

[0031] 81 - nozzle fixing plate; 82 - nozzle. Specific embodiments

[0032] The following further describes the specific embodiments of the present utility model with reference to the accompanying drawings:

[0033] Embodiment 1

[0034] As Figure 1 and 2As shown in the figure, this embodiment provides a high-speed servo side-taking manipulator, which includes a bracket 1 and a lifting mechanism 2 arranged on the bracket 1. A vertical sliding seat 3 is arranged on the lifting mechanism 2, and a first transverse moving mechanism 4 is arranged on the vertical sliding seat 3. The first transverse moving mechanism 4 is drivingly connected to a cross beam 5 slidably arranged on the vertical sliding seat 3; a second transverse moving mechanism 6 is further arranged on the cross beam 5; an arm beam 7 is arranged on the second transverse moving mechanism 6; a suction cup assembly 8 is arranged at the end of the arm beam 7.

[0035] Preferably in this embodiment, as Figure 1 and 2 shown, the bracket 1 includes a cabinet body and columns arranged on the cabinet body, and F-shaped fixing rods are further arranged on both sides of the columns. Universal wheels and adjustable support feet are arranged at the lower end of the cabinet body. When movement is required, adjust the height of the support feet to be less than the height of the universal wheels, and then it can be moved.

[0036] Preferably in this embodiment, as Figure 2 and 3 shown, the lifting mechanism 2 includes a lifting drive motor 21, a lifting drive belt 22, and a lifting belt clamping plate 23. The lifting drive motor 21 is arranged inside the bracket 1, and a pulley is arranged on the motor shaft of the lifting drive motor 21. Another pulley is also arranged inside the bracket 1 at the other end relative to the lifting drive motor 21. The two pulleys are sleeved with a lifting drive belt 22, and a lifting belt clamping plate 23 is arranged on the lifting drive belt 22. The other side of the lifting belt clamping plate 23 is connected to the vertical sliding seat 3. In this embodiment, the lifting drive motor 21 drives the lifting drive belt 22 to rotate, thereby driving the lifting belt clamping plate 23 to move, and further controlling the lifting of the vertical sliding seat 3.

[0037] Preferably in this embodiment, as Figure 2 shown, two vertical slide rails 24 are symmetrically arranged on the bracket 1, and both of the two vertical slide rails 24 are slidably connected to the vertical sliding seat 3.

[0038] Preferably in this embodiment, as Figure 3 shown, the vertical sliding seat 3 includes a vertical sliding plate 31, two connecting plates 32 are symmetrically arranged at the rear side of the vertical sliding plate 31, a support plate 33 is arranged at the upper ends of the two connecting plates 32, and the first transverse moving mechanism 4 is arranged on the support plate 33.

[0039] Preferably in this embodiment, as Figures 4 - 6As shown in the figure, the first lateral movement mechanism 4 includes a first lateral drive motor 41, a gear 42, and a rack 43. The first lateral drive motor 41 is arranged at the lower end of the support plate 33, and the motor shaft of the first lateral drive motor 41 axially penetrates through the support plate 33 and is connected to the gear 42. The gear 42 is also meshed with the rack 43 arranged on the inner side wall of the cross beam 5.

[0040] Preferably in this embodiment, as Figures 4 - 6 shown in the figure, the lower end of the cross beam 5 is also symmetrically provided with first lateral slide rails 44. The two first lateral slide rails 44 are also slidably connected to the sliders arranged at the upper end of the support plate 33. In this embodiment, the first lateral drive motor 41 drives the gear 42 to rotate. Since the gear 42 is meshed with the rack 43 arranged on the inner side wall of the cross beam 5, during the rotation of the gear 42, the cross beam 5 will be driven to move laterally on the first lateral slide rails 44.

[0041] Preferably in this embodiment, as Figures 4 - 6 shown in the figure, a second lateral movement mechanism 6 is also arranged on the cross beam 5. The second lateral movement mechanism 6 includes a first lateral belt clamping plate 61, a second lateral drive belt 62, a second lateral belt clamping plate 63, and a lateral sliding plate 64. Corresponding second belt pulleys are respectively arranged at both ends of the cross beam 5, and the second lateral drive belt 62 is sleeved on the two second belt pulleys. The first lateral belt clamping plate 61 is arranged on the support plate 33 at one end of the cross beam 5, the second lateral belt clamping plate 63 is arranged at the lower end of the lateral sliding plate 64, and both the first lateral belt clamping plate 61 and the second lateral belt clamping plate 63 are sleeved on the second lateral drive belt 62. The lateral sliding plate 64 is also slidably connected to the second lateral slide rails 65 symmetrically arranged at the upper end of the cross beam 5. In this embodiment, since the first lateral belt clamping plate 61 is arranged on the support plate 33 and the second lateral belt clamping plate 63 is arranged at the lower end of the lateral sliding plate 64, and both the first lateral belt clamping plate 61 and the second lateral belt clamping plate 63 are sleeved on the second lateral drive belt 62, during the movement of the cross beam 5, the second lateral drive belt 62 will also be driven to rotate, thereby driving the lateral sliding plate 64 to move.

[0042] Preferably in this embodiment, as Figure 1 and 2 shown in the figure, an arm beam 7 is arranged on the lateral sliding plate 64. The main frame 71 of the arm beam 7 is L-shaped, and a plurality of reinforcing rods 72 are welded on the L-shaped main frame 71 of the arm beam 7.

[0043] Preferably in this embodiment, as Figure 1 and 2 shown in the figure, the end of the L-shaped main frame 71 is connected to the suction cup assembly 8 through a mounting plate 9.

[0044] Preferably in this embodiment, as Figure 1 and 2 shown, the suction cup assembly 8 includes a nozzle fixing plate 81 and a plurality of nozzles 82 provided at the lower end of the nozzle fixing plate 81.

[0045] The above embodiments and the descriptions in the specification only illustrate the principles and the best embodiments of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed.

Claims

1. A high-speed servo side-picking robot, comprising a bracket (1), a lifting mechanism (2) arranged on the bracket (1), a vertical slide (3) arranged on the lifting mechanism (2), a first lateral moving mechanism (4) arranged on the vertical slide (3), the first lateral moving mechanism (4) being drivingly connected to a crossbeam (5) slidably arranged on the vertical slide (3); a second lateral moving mechanism (6) being arranged on the crossbeam (5); an arm beam (7) being arranged on the second lateral moving mechanism (6); and a suction cup assembly (8) being arranged at the end of the arm beam (7).

2. A high-speed servo side-taking robot according to claim 1, characterized in that: The lifting mechanism (2) comprises a lifting drive motor (21), a lifting drive belt (22), and a lifting belt clamp (23); the lifting drive motor (21) is arranged in the bracket (1), and a pulley is arranged on the motor shaft of the lifting drive motor (21); another pulley is also arranged in the bracket (1) at the other end of the lifting drive motor (21); the lifting drive belt (22) is sleeved on the two pulleys; the lifting drive belt (22) is provided with a lifting belt clamp (23); and the other side of the lifting belt clamp (23) is connected to the vertical slide seat (3).

3. A high-speed servo side-taking robot according to claim 2, characterized in that: The bracket (1) is also symmetrically provided with two vertical slide rails (24), and the two vertical slide rails (24) are both slidably connected to the vertical slide seat (3).

4. A high-speed servo side-taking robot according to claim 3, characterized in that: The vertical slide seat (3) comprises a vertical slide plate (31), two connecting plates (32) are symmetrically arranged on the rear side of the vertical slide plate (31), support plates (33) are arranged on the upper ends of the two connecting plates (32), and a first lateral moving mechanism (4) is arranged on the support plate (33).

5. A high-speed servo side-taking robot according to claim 3, characterized in that: The first lateral moving mechanism (4) comprises a first lateral driving motor (41), a gear (42), and a rack (43); the first lateral driving motor (41) is arranged at the lower end of the support plate (33), and the motor shaft of the first lateral driving motor (41) passes through the support plate (33) in an axial direction and is connected to the gear (42); the gear (42) is also meshedly connected with the rack (43) arranged on the inner side wall of the crossbeam (5).

6. A high-speed servo side-taking robot according to claim 5, characterized in that: Two first transverse slide rails (44) are symmetrically arranged at the lower end of the crossbeam (5); the two first transverse slide rails (44) are also slidably connected to a sliding block arranged at the upper end of the support plate (33).

7. A high-speed servo side-taking robot according to claim 6, characterized in that: The crossbeam (5) is also provided with a second transverse moving mechanism (6), and the second transverse moving mechanism (6) includes a first transverse belt clamping plate (61), a second transverse driving belt (62), a second transverse belt clamping plate (63), and a transverse slide plate (64); corresponding second pulleys are respectively provided at both ends of the crossbeam (5), and the two second pulleys are sleeved with a second transverse driving belt (62); the first transverse belt clamping plate (61) is arranged on a supporting plate (33) at one end of the crossbeam (5), and the second transverse belt clamping plate (63) is arranged at the lower end of the transverse slide plate (64), and the first transverse belt clamping plate (61) and the second transverse belt clamping plate (63) are both sleeved on the second transverse driving belt (62); the transverse slide plate (64) is also slidably connected to a second transverse slide rail (65) symmetrically arranged at the upper end of the crossbeam (5).

8. A high-speed servo side-taking robot according to claim 7, characterized in that: An arm beam (7) is arranged on the transverse slide plate (64); the main frame (71) of the arm beam (7) is L-shaped, and a plurality of reinforcing rods (72) are welded to the L-shaped main frame (71) of the arm beam (7).

9. A high-speed servo side-taking robot according to claim 8, characterized in that: The end of the L-shaped main frame (71) is connected to the suction cup assembly (8) via a mounting plate (9).

10. A high-speed servo side-taking robot according to claim 9, characterized in that: The suction cup assembly (8) comprises a suction nozzle fixing plate (81) and a plurality of suction nozzles (82) arranged at the lower end of the suction nozzle fixing plate (81).

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