Workpiece carrying manipulator

Abstract

The utility model discloses a workpiece carrying mechanical arm which comprises a bottom plate, a transverse moving adjusting mechanism, a clamping loading and unloading mechanism and a loading and unloading auxiliary mechanism. The transverse moving adjusting mechanism comprises a longitudinal plate, a driving motor, a lead screw, a threaded block and a mounting base; the clamping loading and unloading mechanism comprises a clamping pipe, a clamping rod, a clamping groove, a pressing rod, a tension spring, a mounting groove, an upper hinge plate, a lower hinge plate and a hinge pressing plate, and the loading and unloading auxiliary mechanism comprises a connecting plate, an inner gear sleeve, a rotating gear, a threaded rod and a threaded plate. And the guide rails and the guide legs are arranged, so that the linearity and the stability in the transverse moving process are ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and more specifically, it relates to a workpiece handling manipulator. Background Art

[0002] A workpiece handling manipulator is an automated device used to handle and position workpieces during industrial production. It mimics the functions of a human arm to achieve the grasping, handling, and placement of workpieces.

[0003] In the existing technology, firstly, in some devices, the manipulator cannot accurately control its position during lateral movement, which affects the accurate handling of workpieces. The manipulator may wobble or become unstable during movement, reducing the reliability of handling. The manipulator is difficult to adapt to workpieces of different shapes and sizes, limiting its application range. Secondly, in some devices, the manipulator may slip or fall off when gripping workpieces, affecting the safety of handling, and the clamping component is not easy to quickly disassemble and maintain. The manipulator is difficult to stably grip workpieces with irregular shapes, reducing the reliability of handling. Finally, in some devices, the installation and disassembly of the clamping component may require more time and labor, reducing work efficiency, and the connection may become loose or deviate during handling, affecting the stability of handling. Summary of the Utility Model

[0004] (I) Technical Problems to be Solved

[0005] In view of the problems existing in the prior art, the utility model provides a workpiece handling manipulator to solve the technical problems mentioned in the background art, such as the inability to accurately control the position during lateral movement of the manipulator and the difficulty in quickly disassembling and maintaining the clamping component.

[0006] (II) Technical Solutions

[0007] To achieve the above object, the present utility model provides the following technical solution: A workpiece handling manipulator, comprising a bottom plate, a transverse movement adjustment mechanism, a clamping and loading / unloading mechanism, and a loading / unloading auxiliary mechanism. The transverse movement adjustment mechanism includes a longitudinal plate, a driving motor, a lead screw, a threaded block, and a mounting seat. Two sets of longitudinal plates are symmetrically installed on the top end surface of the bottom plate. The driving motor is installed on one side of the longitudinal plate, and one end of the lead screw is installed at the output end of the driving motor. The other end of the lead screw is rotatably connected to the longitudinal plate in a mating manner. The threaded block is fitted to the bottom of the mounting seat and is fitted onto the lead screw. The clamping and loading / unloading mechanism includes a clamping pipe, a clamping rod, a clamping groove, a pressure rod, a tension spring, a mounting groove, an upper hinge plate, a lower hinge plate, and a hinge pressing plate. The clamping rod can extend into the clamping pipe. The clamping groove is provided on the side wall of the clamping rod. The tension spring is installed on the inner wall of the clamping pipe. The tension spring pulls the pressure rod away from the clamping groove. The mounting groove is longitudinally provided on the outer wall of the clamping pipe. One end of the upper hinge plate is hinged to the top of the mounting groove. One end of the lower hinge plate is slidably hinged to the bottom of the mounting groove. Both ends of the hinge pressing plate are respectively hinged to the upper hinge plate and the lower hinge plate. The hinge pressing plate can press against the pressure rod, causing the pressure rod to extend into the clamping groove to fix the clamping rod.

[0008] The present utility model is further provided that the loading / unloading auxiliary mechanism includes a connecting plate, an internal gear sleeve, a rotating gear, a threaded rod, and a threaded plate. The connecting plate is fixedly installed on the side wall of the clamping pipe. The internal gear sleeve is rotatably provided on the top end surface of the connecting plate. The rotating gear is rotatably provided on the top of the connecting plate. The internal gear sleeve and the rotating gear are meshed and connected. One end of the threaded rod is installed on the rotating gear. The threaded plate is movably sleeved on the outer wall of the clamping pipe. The threaded plate is fitted onto the threaded rod, and the inner wall of the threaded plate is provided with a slope. When the threaded plate moves downward, it presses against the upper hinge plate, causing the hinge pressing plate to press against the pressure rod.

[0009] The present utility model is further provided that guide rails are symmetrically installed between the longitudinal plates, and guide legs are installed around the mounting seat, and the guide legs are movably arranged in a directional manner on the guide rails. Through the setting of the guide rails and the guide legs, the linearity and stability of the transverse movement adjustment mechanism during movement are ensured, and the accuracy of handling is improved.

[0010] The present utility model is further provided that a robotic arm assembly is installed on the top end surface of the mounting seat, and one end of the robotic arm assembly is cooperatively connected to one end of the clamping rod. Through the installation of the robotic arm assembly, the flexibility and adaptability of the manipulator during handling are provided, and it can handle workpieces of different shapes and sizes.

[0011] The present utility model is further provided that a three-jaw clamping assembly is installed on one side of the connecting plate on the outer wall of one end of the clamping pipe. Through the setting of the three-jaw clamping assembly, stable clamping of the workpiece is provided, especially when handling workpieces with irregular shapes, and the reliability of handling is improved.

[0012] The present utility model is further configured such that a direction adjustment spring is connected to the inner side of the hinge pressing plate, and one end of the direction adjustment spring is cooperatively connected to one end of the pressing rod. Through the connection of the direction adjustment spring, the ability to adjust the direction of the pressing rod is provided, making the clamping action more precise and adaptable to the shapes of different workpieces.

[0013] The present utility model is further configured such that a moving groove is formed in the inner wall of the bottom end of the installation groove, and both sides of one end of the lower hinge plate extend into the moving groove and are slidably arranged in cooperation. A support spring is installed between the bottom of the lower hinge plate and the top of the connecting plate. Through the arrangement of the moving groove and the support spring, the support and restoring force during the movement of the lower hinge plate are provided, ensuring the stability and reliability of the clamping action.

[0014] The present utility model is further configured such that a stabilizing sleeve is installed at the bottom end of the threaded plate, and one end of the threaded rod passes through the stabilizing sleeve and is stably connected to the threaded plate in cooperation. Through the installation of the stabilizing sleeve, the stability of the connection between the threaded plate and the threaded rod is improved, reducing the looseness and deviation that may occur during the handling process.

[0015] (III) Beneficial effects

[0016] Compared with the prior art, the present utility model provides a workpiece handling manipulator, which has the following beneficial effects:

[0017] The present utility model is provided with a lateral movement adjustment mechanism. Through the cooperation of the driving motor and the lead screw, the lateral movement of the two longitudinal plates can be precisely controlled to achieve precise positioning of the workpiece. The setting of the guide rail and the guide leg ensures the linearity and stability during the lateral movement, improving the accuracy of handling. The installation of the robotic arm assembly provides the flexibility and adaptability of the manipulator during the handling process, enabling it to handle workpieces of different shapes and sizes.

[0018] The present utility model is provided with a clamping and loading / unloading mechanism. The cooperative design of the clamping rod and the clamping tube enables the manipulator to be flexibly and quickly installed and disassembled. Through the cooperation of the pressing rod and the hinge pressing plate, the clamping rod can be firmly fixed to prevent it from falling off during the handling process. The connection of the direction adjustment spring provides the ability to adjust the direction of the pressing rod.

[0019] The present utility model is provided with a loading / unloading auxiliary mechanism. When the threaded plate moves downward, it presses against the upper hinge plate to further fix the clamping rod, enhancing the stability of the workpiece. The installation of the stabilizing sleeve improves the stability of the connection between the threaded plate and the threaded rod, reducing the looseness and deviation that may occur during the handling process. Description of the drawings

[0020] Figure 1 It is a schematic structural diagram of the whole device of the present utility model in the unused state;

[0021] Figure 2This is a schematic diagram of the overall structure of the device in the present utility model from a side perspective;

[0022] Figure 3 This is a schematic diagram of the transverse movement adjustment mechanism in the present utility model;

[0023] Figure 4 This is a schematic diagram of the clamping and loading / unloading mechanism and the loading / unloading auxiliary mechanism in the present utility model;

[0024] Figure 5 This is a schematic diagram of the internal structure of the clamping and loading / unloading mechanism and the loading / unloading auxiliary mechanism in the present utility model.

[0025] In the figure: 1, bottom plate; 2, longitudinal plate; 3, driving motor; 4, lead screw; 5, threaded block; 6, mounting seat; 7, clamping pipe; 8, clamping rod; 9, card slot; 10, pressing rod; 11, tension spring; 12, mounting groove; 13, upper hinge plate; 14, lower hinge plate; 15, hinge pressing plate; 16, connecting plate; 17, internal gear sleeve; 18, rotating gear; 19, threaded rod; 20, threaded plate; 21, guide rail; 22, guide leg; 23, robotic arm assembly; 24, three-jaw clamping assembly; 25, direction adjustment spring; 26, moving groove; 27, support spring; 28, stabilizing sleeve. Detailed implementation manners

[0026] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments may be combined with each other. The present utility model will be described in detail below with reference to the drawings and in combination with the embodiments.

[0027] It should be pointed out that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs.

[0028] In the present utility model, unless otherwise stated, the orientations such as "upper, lower" are generally in the directions shown in the drawings, or in the vertical, perpendicular or gravitational directions; similarly, for ease of understanding and description, "left, right" are generally in the left and right shown in the drawings; "inside, outside" refer to the inside and outside relative to the contours of each component itself, but the above orientation terms are not used to limit the present utility model.

[0029] Please refer to Figures 1-5, A workpiece handling manipulator, including a bottom plate 1, a transverse movement adjustment mechanism, a clamping and loading / unloading mechanism, and a loading / unloading auxiliary mechanism. The transverse movement adjustment mechanism includes a longitudinal plate 2, a driving motor 3, a lead screw 4, a threaded block 5, and a mounting seat 6. Two groups of longitudinal plates 2 are symmetrically installed on the top end surface of the bottom plate 1. The driving motor 3 is installed on one side of the longitudinal plate 2, and one end of the lead screw 4 is installed on the output end of the driving motor 3. The other end of the lead screw 4 is rotatably connected to the longitudinal plate. The threaded block 5 is fitted to the bottom of the mounting seat 6 and is fitted on the lead screw 4. The clamping and loading / unloading mechanism includes a clamping pipe 7, a clamping rod 8, a clamping groove 9, a pressure rod 10, a tension spring 11, a mounting groove 12, an upper hinge plate 13, a lower hinge plate 14, and a hinge pressing plate 15. The clamping rod 8 can extend into the clamping pipe 7. The clamping groove 9 is provided on the side wall of the clamping rod 8. The tension spring 11 is installed on the inner wall of the clamping pipe 7, and the tension spring 11 pulls the pressure rod 10 away from the clamping groove 9. The mounting groove 12 is longitudinally provided on the outer wall of the clamping pipe 7. One end of the upper hinge plate 13 is hinged to the top of the mounting groove 12. One end of the lower hinge plate 14 is slidably hinged to the bottom of the mounting groove 12. Both ends of the hinge pressing plate 15 are respectively hinged to the upper hinge plate 13 and the lower hinge plate 14. The hinge pressing plate 15 can press towards the pressure rod 10 to make the pressure rod 10 extend into the clamping groove 9 to fix the clamping rod 8.

[0030] In this embodiment, two groups of longitudinal plates 2 are symmetrically installed on the top end surface of the bottom plate 1. The driving motor 3, the lead screw 4, the threaded block 5, and the mounting seat 6 are in a standby state. The driving motor 3 is started, and through the cooperation of the lead screw 4 and the threaded block 5, the longitudinal plate 2 is driven to move along the guide rail 21 to realize the lateral adjustment of the manipulator. The guide rail 21 and the guide leg 22 ensure the linearity and stability during the movement, improve the accuracy of handling, and facilitate the quick installation and disassembly of the clamping claws. The tension spring 11 pulls the pressure rod 10 away from the clamping groove 9. One end of the upper hinge plate 13 is hinged to the top of the mounting groove 12. One end of the lower hinge plate 14 is slidably hinged to the bottom of the mounting groove 12. Both ends of the hinge pressing plate 15 are respectively hinged to the upper hinge plate 13 and the lower hinge plate 14. The hinge pressing plate 15 can press towards the pressure rod 10 to make the pressure rod 10 extend into the clamping groove 9 to fix the clamping rod 8. The direction adjustment spring 25 is connected to the inner side of the hinge pressing plate 15 to provide the ability to adjust the direction of the pressure rod 10, making it convenient to adjust the stability of the force of the pressure rod 10 pressing towards the clamping groove 9.

[0031] The loading / unloading auxiliary mechanism includes a connecting plate 16, an internal gear sleeve 17, a rotating gear 18, a threaded rod 19, and a threaded plate 20. The connecting plate 16 is fixedly installed on the side wall of the clamping pipe 7. The internal gear sleeve 17 is rotatably arranged on the top end surface of the connecting plate 16. The rotating gear 18 is rotatably arranged on the top of the connecting plate 16. The internal gear sleeve 17 and the rotating gear 18 are meshed and connected. One end of the threaded rod 19 is installed on the rotating gear 18. The threaded plate 20 is movably sleeved on the outer wall of the clamping pipe 7. The threaded plate 20 is fitted on the threaded rod 19, and the inner wall of the threaded plate 20 is sloped. When the thread moves downward, it presses on the upper hinge plate 13 to make the hinge pressing plate 15 press towards the pressure rod 10.

[0032] In this embodiment, the rotating inner gear sleeve 17 is rotated to drive the rotating gear 18 to rotate on the top of the connecting plate 16, thereby driving the threaded rod 19 to rotate, and further driving the threaded plate 20 to move. The inner wall of the threaded plate 20 is provided with a slope, and the thread moves downward, pressing against the upper hinge plate 13, so that the hinge pressing plate 15 presses against the pressing rod 10, thereby fixing the clamping rod 8.

[0033] Please refer to Figures 1-5 , as a supplementary implementation manner of a workpiece handling manipulator for the transverse movement adjustment mechanism, the clamping and loading and unloading mechanism, and the loading and unloading auxiliary mechanism: Guide rails 21 are symmetrically installed between the longitudinal plates 2, and guide legs 22 are installed around the mounting seat 6. The guide legs 22 are arranged to move directionally and cooperate with the guide rails 21. A robotic arm assembly 23 is installed on the top end face of the mounting seat 6. One end of the robotic arm assembly 23 is cooperatively connected with one end of the clamping rod 8. A three-jaw clamping assembly 24 is installed on one side of the connecting plate 16 on the outer wall of one end of the clamping pipe 7. A direction adjustment spring 25 is connected to the inner side of the hinge pressing plate 15, and one end of the direction adjustment spring 25 is cooperatively connected with one end of the pressing rod 10. A moving groove 26 is opened on the bottom end inner wall of the installation groove 12, and both sides of one end of the lower hinge plate 14 extend into the moving groove 26 and are arranged to cooperate and slide. A support spring 27 is installed between the bottom of the lower hinge plate 14 and the top of the connecting plate 16. A stabilizing sleeve 28 is installed at the bottom end of the threaded plate 20, and one end of the threaded rod 19 passes through the stabilizing sleeve 28 and is stably connected to the threaded plate 20 in cooperation.

[0034] More specifically, the manipulator moves to the workpiece position through the transverse movement adjustment mechanism. The three-jaw clamping assembly 24 of the clamping and loading and unloading mechanism stably clamps the workpiece. The loading and unloading auxiliary mechanism provides additional fixation and support to ensure the safety of the workpiece during handling. The manipulator moves to the target position through the transverse movement adjustment mechanism while keeping the workpiece stably clamped. After reaching the destination, the clamping and loading and unloading mechanism releases the workpiece to complete a handling cycle.

[0035] In summary, when the overall equipment is in use or operation: When the operation of the transverse movement adjustment mechanism is required, the two longitudinal plates 2 are symmetrically installed on the top end face of the bottom plate 1. The drive motor 3, the lead screw 4, the threaded block 5, and the mounting seat 6 are in a standby state. The drive motor 3 is started, and through the cooperation of the lead screw 4 and the threaded block 5, the longitudinal plate 2 is driven to move along the guide rail 21 to realize the lateral adjustment of the manipulator. The guide rail 21 and the guide legs 22 ensure the linearity and stability during the movement, improving the accuracy of handling.

[0036] When the operation of the clamping and loading / unloading mechanism is required, it is convenient to realize the quick installation and disassembly of the clamping jaws. The tension spring 11 pulls the pressure rod 10 away from the clamping groove 9. One end of the upper hinge plate 13 is hinged to the top of the installation groove 12, and one end of the lower hinge plate 14 is slidably hinged to the bottom of the installation groove 12. Both ends of the hinge pressing plate 15 are respectively hinged to the upper hinge plate 13 and the lower hinge plate 14. The hinge pressing plate 15 can press towards the pressure rod 10, so that the pressure rod 10 extends into the clamping groove 9 to fix the clamping rod 8. The direction adjustment spring 25 is connected to the inner side of the hinge pressing plate 15, providing the ability to adjust the direction of the pressure rod 10, so as to facilitate the stable adjustment of the force of the pressure rod 10 pressing towards the clamping groove 9.

[0037] When the operation of the loading / unloading auxiliary mechanism is required, rotate the internal gear sleeve 17 to drive the rotating gear 18 to rotate on the top of the connecting plate 16, and then drive the threaded rod 19 to rotate, and then drive the threaded plate 20 to move. And the inner wall of the threaded plate 20 is provided with a slope, and the thread moves downward and presses on the upper hinge plate 13, so that the hinge pressing plate 15 presses on the pressure rod 10, thereby fixing the clamping rod 8.

[0038] The manipulator moves to the workpiece position through the lateral movement adjustment mechanism. The three-jaw clamping component 24 of the clamping and loading / unloading mechanism stably clamps the workpiece. The loading / unloading auxiliary mechanism provides additional fixation and support to ensure the safety of the workpiece during the handling process. The manipulator moves to the target position through the lateral movement adjustment mechanism while maintaining the stable clamping of the workpiece. After reaching the destination, the clamping and loading / unloading mechanism releases the workpiece to complete a handling cycle.

[0039] In all the solutions mentioned above, for the connection between two components, welding, the cooperation connection of bolts and nuts, bolt or screw connection or other well-known connection methods can be selected according to the actual situation, which will not be elaborated one by one here. For those mentioned above that involve fixed connection, welding is preferably considered. Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A workpiece handling manipulator, comprising a bottom plate (1), a transverse movement adjustment mechanism, a clamping and loading / unloading mechanism, and a loading / unloading auxiliary mechanism, characterized in that: The transverse movement adjustment mechanism includes a longitudinal plate (2), a driving motor (3), a lead screw (4), a threaded block (5) and a mounting seat (6). Two groups of longitudinal plates (2) are symmetrically installed on the top end face of the bottom plate (1). The driving motor (3) is installed on one side of the longitudinal plate (2), and one end of the lead screw (4) is installed on the output end of the driving motor (3). The other end of the lead screw (4) is rotatably connected to the longitudinal plate. The threaded block (5) is fitted to the bottom of the mounting seat (6). The clamping and loading / unloading mechanism includes a clamping pipe (7), a clamping rod (8), a clamping groove (9), a pressing rod (10), a tension spring (11), a mounting groove (12), an upper hinge plate (13), a lower hinge plate (14) and a hinge pressing plate (15). The clamping rod (8) can extend into the clamping pipe (7). The clamping groove (9) is arranged on the side wall of the clamping rod (8). The tension spring (11) is installed on the inner wall of the clamping pipe (7). The tension spring (11) pulls the pressing rod (10) away from the clamping groove (9). The mounting groove (12) is longitudinally arranged on the outer wall of the clamping pipe (7). One end of the upper hinge plate (13) is hinged to the top of the mounting groove (12). One end of the lower hinge plate (14) is slidably hinged to the bottom of the mounting groove (12). Both ends of the hinge pressing plate (15) are respectively hinged to the upper hinge plate (13) and the lower hinge plate (14).

2. The workpiece handling manipulator according to claim 1, characterized in that: The loading / unloading auxiliary mechanism includes a connecting plate (16), an internal gear sleeve (17), a rotating gear (18), a threaded rod (19) and a threaded plate (20). The connecting plate (16) is fixedly installed on the side wall of the clamping pipe (7). The internal gear sleeve (17) is rotatably arranged on the top end face of the connecting plate (16). The rotating gear (18) is rotatably arranged on the top of the connecting plate (16). The internal gear sleeve (17) and the rotating gear (18) are meshed and connected. One end of the threaded rod (19) is installed on the rotating gear (18). The threaded plate (20) is movably sleeved on the outer wall of the clamping pipe (7). The threaded plate (20) is fitted on the threaded rod (19), and the inner wall of the threaded plate (20) is arranged in a slope. When the threaded plate (20) moves downward, it presses on the upper hinge plate (13), so that the hinge pressing plate (15) presses on the pressing rod (10).

3. The workpiece handling manipulator according to claim 1, characterized in that: Guide rails (21) are symmetrically installed between the longitudinal plates (2), and guide legs (22) are installed around the mounting seat (6), and the guide legs (22) are movably arranged on the guide rails (21) in a directional manner.

4. A workpiece handling manipulator according to claim 1, characterized in that: A robotic arm assembly (23) is installed on the top end face of the mounting seat (6), and one end of the robotic arm assembly (23) is connected to one end of the clamping rod (8) in a matching manner.

5. The workpiece handling manipulator according to claim 1, characterized in that: A three-jaw clamping assembly (24) is installed on one side of the connecting plate (16) on the outer wall of one end of the clamping pipe (7).

6. The workpiece handling manipulator according to claim 1, characterized in that: A direction adjustment spring (25) is connected to the inner side of the hinge pressing plate (15), and one end of the direction adjustment spring (25) is connected to one end of the pressing rod (10) in a matching manner.

7. The workpiece handling manipulator according to claim 1, characterized in that: A moving groove (26) is opened on the inner wall of the bottom end of the mounting groove (12), and both sides of one end of the lower hinge plate (14) extend into the moving groove (26) and are slidably arranged in a matching manner. A support spring (27) is installed between the bottom of the lower hinge plate (14) and the top of the connecting plate (16).

8. A workpiece handling manipulator according to claim 2, characterized in that: A stabilizing sleeve (28) is installed at the bottom end of the threaded plate (20), and one end of the threaded rod (19) passes through the stabilizing sleeve (28) and is stably connected in cooperation with the threaded plate (20).

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