Manipulator for carrying pole pieces

Abstract

The utility model discloses a mechanical arm for carrying pole pieces. The mechanical arm comprises a lifting mechanism and a mechanical arm body installed on the lifting mechanism. The lifting mechanism comprises a supporting frame; a driving part is arranged on one side of the supporting frame, a mounting plate is arranged on the other side of the supporting frame, and the mounting plate is connected with the manipulator; the driving part is connected with the mounting plate through a crank connecting rod mechanism, and the crank connecting rod mechanism is driven to move through the driving part, so that the mounting plate moves upwards or downwards along the supporting frame. When the driving piece drives the crank connecting rod mechanism to work, the mounting plate is driven to move upwards or downwards along the supporting frame, and then reciprocating motion of the mechanical arm can be completed through rotation of the driving piece. Therefore, compared with the technical scheme that a synchronous belt is matched with a synchronous wheel to promote the driving lead screw to ascend and descend, the device solves the problem that the synchronous belt and the synchronous belt wheel are frequently damaged due to frequent high-speed reciprocating motion of the synchronous belt and the synchronous belt wheel.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a manipulator for transporting pole pieces. Background Art

[0002] In the prior art solution, in order to transfer the pole piece from the conveyor belt to the rectifying platform, a combined mechanism of a ball screw and a synchronous belt is adopted to realize the up-and-down movement of the manipulator. Specifically, a servo motor is used to drive the synchronous belt, and the synchronous belt drives the screw to move up and down; since this type of manipulator has two important characteristics during movement: one is that the lifting movement is frequent; the other is that the lifting movement speed is fast. Therefore, it is easy to cause serious local wear of the synchronous belt and the synchronous belt pulley, resulting in frequent damage to the synchronous belt and the belt pulley. In addition, for the up-and-down movement of the manipulator, a servo motor controls the synchronous belt to drive the screw to realize the up-and-down movement of the screw. The servo motor needs to quickly and frequently perform forward and reverse rotations, which not only increases the control difficulty of the motor, but also reduces the service life of the motor. Content of the Utility Model

[0003] The purpose of the utility model is to provide a manipulator for transporting pole pieces to solve the problems raised in the above background art.

[0004] To achieve the above purpose, the utility model provides the following technical solution: A manipulator for transporting pole pieces includes a lifting mechanism and a manipulator installed on the lifting mechanism; the lifting mechanism includes a support frame; a driving member is provided on one side of the support frame, and a mounting plate is provided on the other side of the support frame, and the mounting plate is connected to the manipulator; the driving member is connected to the mounting plate through a crank-link mechanism, and the driving member is used to drive the crank-link mechanism to move, so that the mounting plate moves up or down along the support frame.

[0005] As a preferred technical solution of the utility model: The crank-link mechanism includes a crank and a connecting rod with one end pivotally connected to the crankshaft, and the other end of the connecting rod is connected to a linkage plate through a linkage shaft provided, and the linkage plate is used to drive the mounting plate to move up or down along the support frame.

[0006] As a preferred technical solution of the utility model: A first guiding member is further provided between the mounting plate and the linkage plate to guide the movement of the mounting plate through the first guiding member.

[0007] As a preferred technical solution of the utility model: A lifting member is further provided on the side of the mounting plate facing the manipulator; one end of the lifting member is connected to the crank-link mechanism, and the other end of the lifting member is fixedly connected to the mounting plate.

[0008] As a preferred technical solution of the present utility model: A second guiding member is further provided between the mounting plate and the support frame; wherein, one side of the second guiding member is fixedly connected to the mounting plate, and the other side of the second guiding member is fixedly connected to the support frame.

[0009] As a preferred technical solution of the present utility model: The bottom surface of the lifting mechanism is connected to a provided rotating motor, and the rotating motor is used to drive the lifting mechanism to rotate on the rotating motor.

[0010] Adopting the above technical solution, the beneficial effect of the present utility model is that when the driving member drives the crank - connecting rod mechanism to work, it causes the mounting plate to move upward or downward along the support frame, and thus the reciprocating motion of the manipulator can be completed by the rotation of the driving member; at the same time, the crank - connecting rod mechanism is directly connected to the driving member, and the driving member is used to drive the crank - connecting rod mechanism to complete the lifting of the manipulator. Therefore, compared with the technical solution of using a synchronous belt and a synchronous pulley to cooperate to drive the lifting of the driving lead screw, this device solves the problem that the synchronous belt and the belt pulley are frequently damaged due to frequent high - speed reciprocating motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a schematic diagram of the main structure of the present utility model;

[0012] Figure 2 is an exploded schematic diagram of the lifting mechanism of the present utility model;

[0013] Figure 3 is a schematic diagram of one side after the support frame and the mounting plate of the present utility model are disassembled;

[0014] Figure 4 is a schematic diagram of the other side after the support frame and the mounting plate of the present utility model are disassembled;

[0015] Figure 5 is an exploded structural schematic diagram of the crank - connecting rod mechanism of the present utility model.

[0016] In the figure: 1, rotating motor; 2, manipulator; 3, lifting mechanism; 30, support frame; 31, driving member; 32, crank - connecting rod mechanism; 33, first guiding member; 34, mounting plate; 35, lifting member; 36, second guiding member; 37, linkage plate; 38, crank; 39, connecting rod; 310, linkage shaft. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] Embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present utility model, and should not be construed as a limitation of the present utility model. In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by terms such as "upper", "lower", "front", "upper surface", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model.

[0018] Please refer to Figures 1-5 , an embodiment provided by the present utility model: A manipulator for transporting pole pieces, including a lifting mechanism 3 and a manipulator 2 installed on the lifting mechanism 3; the lifting mechanism 3 includes a support frame 30; a driving member 31 is provided on one side of the support frame 30, and a mounting plate 34 is provided on the other side of the support frame 30, and the mounting plate 34 is connected to the manipulator 2; the driving member 31 is connected to the mounting plate 34 through a crank-link mechanism 32, and the driving member 31 is used to cause the crank-link mechanism 32 to move, so that the mounting plate 34 moves upward or downward along the support frame 30.

[0019] In summary, when the driving member 31 causes the crank-link mechanism 32 to work, it causes the mounting plate 34 to move upward or downward along the support frame 30, and thus the reciprocating motion of the manipulator 2 can be completed by the rotation of the driving member 31; at the same time, the crank-link mechanism 32 is directly connected to the driving member 31, and the driving member 31 is used to cause the crank-link mechanism 32 to complete the lifting of the manipulator. Therefore, compared with the technical solution of using a synchronous belt and a synchronous pulley to cooperate to drive the lifting of the driving lead screw, this device solves the problem that the synchronous belt and the belt pulley are frequently damaged due to frequent high-speed reciprocating motion.

[0020] Specifically, the crank-link mechanism 32 includes a crank 38 and a connecting rod 39 whose one end is pivotally connected to the crank 38, and the other end of the connecting rod 39 is connected to a linkage plate 37 through a linkage shaft 310 provided, and the linkage plate 37 is used to cause the mounting plate 34 to move upward or downward along the support frame 30.

[0021] Among them, the driving member 31 uses a servo motor to drive the crank-link mechanism 32, and the crank-link mechanism 32 is used to replace the synchronous belt and the belt pulley, which can reduce the damage rate; at the same time, when the driving member 31 drives the crank-link mechanism 32, the motor does not need to rotate forward and backward, and only needs to rotate in one direction, which reduces the difficulty of motor control and increases the service life of the motor;

[0022] In addition, since there is no damage to the synchronous belt and pulley, on the one hand, the material cost and labor cost of replacing vulnerable parts can be reduced, and on the other hand, the efficiency and stability of the equipment can be improved.

[0023] Furthermore, since a first guiding member 33 is provided between the mounting plate 34 and the linkage plate 37, and the mounting plate 34 is guided to move through the first guiding member 33. Therefore, the first guiding member 33 can be used to guide the mounting plate 34 to slide directionally, ensuring the stable sliding of the mounting plate 34 while avoiding the situation that the mounting plate 34 does not operate along the predetermined trajectory.

[0024] Based on the above solution, since a lifting member 35 is further provided on the side of the mounting plate 34 facing the manipulator 2; one end of the lifting member 35 is connected to the crank - connecting rod mechanism 32, and the other end of the lifting member 35 is fixedly connected to the mounting plate 34. Therefore, after the crank - connecting rod mechanism 32 realizes one - time lifting and lowering of the manipulator 2, the lifting member 35 can be used to complete the secondary lifting and lowering of the manipulator 2. Based on this, the lifting stroke of the manipulator 2 is expanded. Among them, the lifting member 35 is preferably a cylinder.

[0025] Furthermore, since a second guiding member 36 is provided between the mounting plate 34 and the support frame 30; one side of the second guiding member 36 is fixedly connected to the mounting plate 34, and the other side of the second guiding member 36 is fixedly connected to the support frame 30. Therefore, the second guiding member 36 can be used to ensure that the mounting plate 34 moves directionally and stably during the secondary lifting and lowering process; the first guiding member 33 and the second guiding member 36 are preferably a slider and a slide rail.

[0026] In addition, since the bottom surface of the lifting mechanism 3 is connected to the provided rotary motor 1, and the rotary motor 1 is used to drive the lifting mechanism 3 to rotate on the rotary motor 1. Therefore, the rotary motor 1 can be used to directly drive the lifting mechanism 3 to rotate, and the rotary motor 1 is preferably a speed reducer with commutation function.

[0027] Based on this, a speed reducer with commutation function is used to replace the synchronous belt mechanism to realize the rotational movement of the manipulator. Therefore, in the rotational movement, synchronous belts and pulleys are not required either. Furthermore, the material cost and labor cost of replacing vulnerable parts can be further reduced, and the efficiency and stability of the equipment can be further improved.

[0028] The embodiments of the present utility model have been described in detail above in conjunction with the accompanying drawings, but the present utility model is not limited to the described embodiments. For those skilled in the art, without departing from the principle and spirit of the present utility model, various changes, modifications, substitutions, and variations made to these embodiments still fall within the protection scope of the present utility model.

Claims

1. A robot for carrying pole pieces, characterized in that: It comprises a lifting mechanism (3) and a manipulator (2) installed on the lifting mechanism (3); The lifting mechanism (3) comprises a support frame (30); a driving member (31) is provided on one side of the support frame (30), and a mounting plate (34) is provided on the other side of the support frame (30), and the mounting plate (34) is connected to the manipulator (2); The driving member (31) is connected to the mounting plate (34) via a crank-connecting rod mechanism (32), and the driving member (31) causes the crank-connecting rod mechanism (32) to move, so that the mounting plate (34) moves upward or downward along the support frame (30).

2. A robot for carrying pole pieces according to claim 1, characterized in that: The crank-connecting rod mechanism (32) comprises a crank (38), a connecting rod (39) having one end connected to an axle pin of the crank (38), and the other end of the connecting rod (39) is connected to a linkage plate (37) via a linkage shaft (310), and the mounting plate (34) is urged to move upward or downward along the support frame (30) via the linkage plate (37).

3. A robot for carrying pole pieces according to claim 2, characterized in that: A first guide member (33) is also provided between the mounting plate (34) and the linkage plate (37), and the mounting plate (34) is guided to move by the first guide member (33).

4. A robot for carrying pole pieces according to claim 1, 2 or 3, characterized in that: A lifting member (35) is also provided on the side of the mounting plate (34) facing the manipulator (2); one end of the lifting member (35) is connected to the crank-connecting rod mechanism (32), and the other end of the lifting member (35) is fixedly connected to the mounting plate (34).

5. A robot for carrying pole pieces according to claim 4, characterized in that: A second guide member (36) is also provided between the mounting plate (34) and the support frame (30); wherein one surface of the second guide member (36) is fixedly connected to the mounting plate (34), and the other surface of the second guide member (36) is fixedly connected to the support frame (30).

6. A robot for carrying pole pieces according to claim 5, characterized in that: The bottom surface of the lifting mechanism (3) is connected to a rotating motor (1), and the lifting mechanism (3) is driven to rotate on the rotating motor (1) through the rotating motor (1).

Images