Manipulator for grabbing variable-pitch module

Abstract

The utility model relates to the technical field of manipulators, in particular to a manipulator for grabbing a variable-pitch module, which comprises a worktable, a first drag chain slide rail is arranged on the worktable, a second drag chain slide rail is arranged on the first drag chain slide rail, a first connecting plate is arranged on the second drag chain slide rail, and a variable-pitch module manipulator component is arranged on the first connecting plate. The first drag chain sliding rail, the second drag chain sliding rail and the first connecting plate are matched with one another, so that the variable-pitch module manipulator assembly can move in the X direction and the Y direction, a guide rod air cylinder on the variable-pitch module manipulator assembly drives a vacuum suction cup to do up-and-down lifting motion, a workpiece can be grabbed, and the working efficiency is improved. The distance between workpieces can be changed according to requirements in the grabbing process, the requirements for grabbing and placing the workpieces at different distances in industrial production are met, the practicability of grabbing the variable-distance module manipulator is improved, and the variable-distance module manipulator assembly only uses one servo motor as a driving source, so that the structure is simple, maintenance is convenient, cost is saved, and the production efficiency is improved. Therefore, the production benefit is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator for a grasping variable pitch module. Background Art

[0002] A manipulator is an automatic operating device that can imitate some action functions of human hands and arms, and is used to grasp, transport objects or operate tools according to a fixed program. It can complete repetitive and dangerous work tasks with high precision and high speed, improve production efficiency and quality, reduce manual labor intensity and risks. Its flexible operation and precise control ability make it an indispensable key device in modern industrial automation production.

[0003] In the existing technology, the ways for a manipulator to achieve grasping mainly include using a group of manipulators to grasp workpieces separately multiple times, or using several groups of cylinders and transmission mechanisms to grasp workpieces simultaneously to achieve the purpose of inconsistent front and rear spacing of workpiece picking and placing. However, the method of a group of manipulators grasping separately multiple times has low efficiency, and frequent operations increase the running time and energy consumption of the equipment. Although the combination of several groups of cylinders and transmission mechanisms can achieve the function, it makes the whole structure complex and bloated. It not only occupies a large amount of space, but also increases the weight of the equipment, making the equipment as a whole appear bulky, thus greatly reducing the practicability of the manipulator for the grasping variable pitch module.

[0004] Therefore, it is urgent to improve the manipulator for the grasping variable pitch module to solve the above existing problems. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a manipulator for a grasping variable pitch module. Through the mutual cooperation of the first drag chain slide rail, the second drag chain slide rail and the first connecting plate, the variable pitch module manipulator assembly can move in the X and Y directions. The guide rod cylinder on the variable pitch module manipulator assembly drives the vacuum suction cup to move up and down, which can realize the grasping of workpieces, and can change the spacing of workpieces according to requirements during the grasping process, meeting the needs of grasping and placing workpieces with different spacings in industrial production, improving the practicability of the manipulator for the grasping variable pitch module. Moreover, the variable pitch module manipulator assembly only uses one servo motor as the driving source, with a simple structure, easy to maintain, cost-saving, thus improving production efficiency.

[0006] In order to achieve the above purpose, the main technical solutions adopted by the utility model include:

[0007] A grasping variable pitch module manipulator, including a workbench, on which a group of symmetrically distributed first drag chain slides are fixedly installed. Two second drag chain slides are arranged on the first drag chain slides, and both ends of the two second drag chain slides are slidably connected to the first drag chain slides. Two first connecting plates are slidably connected to the second drag chain slides, and a variable pitch module manipulator assembly is fixedly installed on the first connecting plates;

[0008] The variable pitch module manipulator assembly includes a servo motor. The output end of the servo motor is fixedly connected with a cam member through a toothed belt. A plurality of sliders are threadedly connected to the cam member. A guide rod cylinder is arranged on one side of the slider, and the output end of the guide rod cylinder is fixedly connected with a vacuum suction cup.

[0009] Preferably, one end of the first connecting plate away from the second drag chain slide is fixedly connected with a variable pitch slide, and the servo motor is fixedly arranged on one side of the variable pitch slide.

[0010] Preferably, the cam member is rotatably arranged inside the variable pitch slide.

[0011] Preferably, a plurality of the sliders are all slidably connected to the variable pitch slide.

[0012] Preferably, a second connecting plate is fixedly installed on the slider, and one end of the second connecting plate away from the slider is connected to the guide rod cylinder.

[0013] Preferably, the number of the vacuum suction cups is three, and the distance between every two of them is equidistant.

[0014] The utility model has at least the following beneficial effects:

[0015] 1. Through the mutual cooperation of the first drag chain slide, the second drag chain slide and the first connecting plate, the variable pitch module manipulator assembly can move in the X and Y directions. The guide rod cylinder on the variable pitch module manipulator assembly drives the vacuum suction cup to move up and down, which can realize the grasping of workpieces, and can change the distance between workpieces according to requirements during the grasping process, meeting the requirements for grasping and placing workpieces with different distances in industrial production, improving the practicability of the grasping variable pitch module manipulator. Moreover, the variable pitch module manipulator assembly only uses one servo motor as the driving source, with a simple structure, convenient maintenance and cost saving, thus improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation to the present application. In the drawings:

[0017] Figure 1Schematic diagram of the overall structure provided by the present utility model;

[0018] Figure 2 Schematic diagram of a partial structure provided by the present utility model Figure 1 ;

[0019] Figure 3 Schematic diagram of a partial structure provided by the present utility model Figure 2 ;

[0020] Figure 4 Schematic diagram of a partial structure provided by the present utility model Figure 3 .

[0021] In the figure, 1 is a workbench; 2 is a first drag chain slide rail; 3 is a second drag chain slide rail; 4 is a first connecting plate; 5 is a variable pitch module manipulator assembly; 501 is a servo motor; 502 is a cam member; 503 is a slider; 504 is a guide rod cylinder; 505 is a vacuum chuck; 6 is a variable pitch slide rail; 7 is a second connecting plate. Specific embodiments

[0022] The following will cooperate with the drawings and embodiments to detail the implementation manners of the present application, so as to fully understand how the present application uses technical means to solve technical problems and achieve the realization process of technical effects and implement accordingly.

[0023] As Figures 1-4 shown, the grasping variable pitch module manipulator provided in this embodiment includes a workbench 1, a set of symmetrically distributed first drag chain slide rails 2 are fixedly installed on the workbench 1, two second drag chain slide rails 3 are arranged on the first drag chain slide rails 2, both ends of the two second drag chain slide rails 3 are slidably connected to the first drag chain slide rails 2, two first connecting plates 4 are slidably connected to the second drag chain slide rails 3, and a variable pitch module manipulator assembly 5 is fixedly installed on the first connecting plates 4;

[0024] The variable pitch module manipulator assembly 5 includes a servo motor 501. The output end of the servo motor 501 is fixedly connected with a cam member 502 through a toothed belt. A plurality of sliders 503 are threadedly connected to the cam member 502. A guide rod cylinder 504 is arranged on one side of the slider 503. The output end of the guide rod cylinder 504 is fixedly connected with a vacuum chuck 505. The mutual cooperation of the first drag chain slide rail 2, the second drag chain slide rail 3 and the first connecting plate 4 enables the variable pitch module manipulator assembly 5 to move in the X and Y directions. The servo motor 501 in the variable pitch module manipulator assembly 5 drives the cam member 502 to rotate through a toothed belt. The sliders 503 on the cam member 502 can be adjusted in position by threading according to requirements. The guide rod cylinder 504 drives the vacuum chuck 505 to move up and down, so as to be able to grasp the workpiece, and the spacing of the workpiece can be changed according to requirements during the grasping process, meeting the requirements for grasping and placing workpieces with different spacings in industrial production, improving the practicability of the variable pitch module manipulator for grasping, and the variable pitch module manipulator assembly 5 only uses one servo motor 501 as the driving source, with a simple structure, convenient maintenance and cost savings, thus improving production efficiency.

[0025] Further, as Figures 1-4 shown, one end of the first connecting plate 4 far from the second drag chain slide rail 3 is fixedly connected with a variable pitch slide rail 6, and the servo motor 501 is fixedly arranged on one side of the variable pitch slide rail 6. The cam member 502 is rotatably arranged inside the variable pitch slide rail 6. The variable pitch slide rail 6 provides an installation and operation space for the servo motor 501 and the cam member 502, enabling the servo motor 501 to stably drive the cam member 502 to rotate in the variable pitch slide rail 6, thereby helping to accurately control the position of the slider 503 and realizing the adjustment of the grasping spacing of the workpiece, improving the working accuracy and stability.

[0026] Further, as Figures 1-4 shown, a plurality of sliders 503 are all slidably connected with the variable pitch slide rail 6. A second connecting plate 7 is fixedly installed on the slider 503. One end of the second connecting plate 7 far from the slider 503 is connected with the guide rod cylinder 504. The slider 503 is slidably connected with the variable pitch slide rail 6, and then the guide rod cylinder 504 is connected with the slider 503 through the second connecting plate 7, so that the guide rod cylinder 504 can be driven to move while the slider 503 moves, thereby realizing the adjustment of the position of the guide rod cylinder 504 to meet the requirements for the grasping position and spacing of the workpiece under different working conditions.

[0027] Further, as Figures 1-4 shown, the number of vacuum chucks 505 is three, and the distance between each two is equidistant. The number of vacuum chucks 505 is three and they are evenly distributed, which can provide more stable adsorption force and balanced grasping effect, ensure uniform force when grasping the workpiece, prevent the workpiece from tilting or slipping, and improve the reliability and safety of grasping.

[0028] AsFigures 1-4 As shown in the figure, the principle of the grasping variable pitch module manipulator provided in this embodiment is as follows:

[0029] First, according to the grasping requirements, control the second drag chain slide rail 3 to move on the first drag chain slide rail 2, and cooperate with the variable pitch module manipulator assembly 5 to move on the second drag chain slide rail 3 to adjust the grasping position of the variable pitch module manipulator assembly 5 in the X and Y directions. Turn on the servo motor 501, and the servo motor 501 drives the cam member 502 to rotate through the toothed belt, so that the slider 503 drives the guide rod cylinder 504 and the vacuum suction cup 505 to move on the variable pitch slide rail 6 to adjust the grasping pitch of the vacuum suction cup 505. Then, drive the vacuum suction cup 505 to move up and down through the guide rod cylinder 504 to realize the grasping and releasing of the workpiece, thereby improving the practicability of the grasping variable pitch module manipulator.

[0030] As used in the specification and claims, certain terms are used to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use the difference in names as a way to distinguish components, but use the difference in the functions of components as the criterion for distinction. As mentioned throughout the specification and claims, "comprising" is an open-ended term and should be interpreted as "including but not limited to". "Substantially" means within an acceptable error range. Those skilled in the art can solve technical problems within a certain error range and basically achieve the technical effect.

[0031] It should be noted that the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a commodity or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent in such commodity or system. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the commodity or system including the element.

[0032] The above description shows and describes several preferred embodiments of the present invention. However, as mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be within the scope of the inventive concept described herein, through the above teachings or the technology or knowledge in the relevant field. And the changes and modifications made by those skilled in the art that do not depart from the spirit and scope of the present invention should all be within the protection scope of the appended claims of the present invention.

Claims

1. A gripping variable pitch module manipulator, comprising a workbench (1), characterized in that: A group of symmetrically distributed first drag chain slide rails (2) are fixedly mounted on the workbench (1); two second drag chain slide rails (3) are arranged on the first drag chain slide rails (2); both ends of the two second drag chain slide rails (3) are slidably connected to the first drag chain slide rails (2); two first connecting plates (4) are slidably connected to the second drag chain slide rails (3); and a variable distance module manipulator assembly (5) is fixedly mounted on the first connecting plate (4); The variable pitch module manipulator assembly (5) comprises a servo motor (501), the output end of the servo motor (501) being fixedly connected to a cam member (502) via a toothed belt, a plurality of sliders (503) being threadedly connected to the cam member (502), a guide rod cylinder (504) being provided on one side of the slider (503), and the output end of the guide rod cylinder (504) being fixedly connected to a vacuum suction cup (505).

2. A gripping variable pitch module manipulator according to claim 1, characterized in that: One end of the first connecting plate (4) away from the second drag chain slide rail (3) is fixedly connected to a variable pitch slide rail (6), and the servo motor (501) is fixedly arranged on one side of the variable pitch slide rail (6).

3. A gripping variable pitch module manipulator according to claim 2, characterized in that: The cam member (502) is rotatably arranged inside the variable distance slide rail (6).

4. A gripping variable pitch module manipulator according to claim 3, characterized in that: A plurality of the sliding blocks (503) are all slidably connected to the variable pitch sliding rail (6).

5. The gripping variable-distance module manipulator according to claim 1, characterized in that: A second connecting plate (7) is fixedly mounted on the sliding block (503); one end of the second connecting plate (7) away from the sliding block (503) is connected to the guide rod cylinder (504).

6. The variable-pitch gripping module manipulator according to claim 1, characterized in that: The number of the vacuum suction cups (505) is three, and the distance between every two of them is equidistant.

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