Pick-up manipulator capable of moving stably

Abstract

The utility model relates to the technical field of manipulators, and discloses a workpiece taking manipulator capable of moving stably, which comprises a guide rail, and a rack is fixedly mounted in the top end of the guide rail. Through the arrangement of the rack, the extrusion plate, the moving plates and the moving frame, when the pneumatic cylinder operates, the extrusion plate is driven to move downwards, and the extrusion plate extrudes the two moving plates in the downward movement, so that the two moving plates drive the two rotating gears to move oppositely; at the moment, two rotating gears drive two circular shafts to integrally move back to back through two moving frames, two driving wheels are separated from the two rubber strips in the back-to-back movement process, due to lack of driving of the two driving wheels, a moving seat integrally stops moving, meanwhile, an extrusion plate is in contact with a rack in the downward direction, and the two rubber strips are extruded by the extrusion plate. And due to the design of the rack, movement of the extrusion plate is blocked, then the whole movement seat stops moving immediately, and therefore the whole mechanical arm can be accurately, stably and rapidly braked.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and more specifically, the utility model relates to a picking manipulator with stable movement. 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 grab, transport objects or operate tools according to a fixed program. Its characteristics are that it can complete various expected operations through programming, and its structure and performance combine the respective advantages of humans and mechanical robots.

[0003] However, most of the existing manipulators have various problems. For example, the existing manipulators do not run smoothly when moving horizontally. When they are moving horizontally at high speed, due to the generally heavy self-weight of the manipulators, the inertia during their movement is large. When the manipulator brakes, it will not stop immediately, but will slide a certain distance under the action of inertia, which greatly reduces the positioning accuracy of the manipulator. In addition, the existing manipulators usually move horizontally through gear drive. Since traditional gear drive is necessarily accompanied by vibration, this results in large amplitude fluctuations during the movement of the manipulator and poor stability during the grasping process. Therefore, it needs to be improved. Content of the Utility Model

[0004] In order to overcome the deficiencies of the prior art, the utility model provides a picking manipulator with stable movement, which has the advantages of accurate, stable and fast braking.

[0005] To achieve the above object, the utility model provides the following technical solution: A picking manipulator with stable movement, comprising:

[0006] A guide rail, inside the top of which a rack is fixedly installed, the outer surface of the guide rail is movably connected with a moving seat, a short groove is opened at the top inside the moving seat, and a manipulator body is fixedly installed at the top of the moving seat;

[0007] A braking mechanism, which is arranged inside the moving seat;

[0008] Among them, the braking mechanism includes a pneumatic cylinder, which is fixedly sleeved inside the moving seat. A pressing plate is fixedly installed at the bottom end of the pneumatic cylinder. A moving plate is movably connected to the outer surface of the pressing plate. The outer surface of the top end of the moving plate is movably connected to the inside of the short groove. A rotating gear is movably connected to the outer surface of the moving plate. A square rod is movably sleeved inside the rotating gear. A fixing plate is movably sleeved on the outer surface of the middle section of the square rod. A connecting rod is fixedly installed at the bottom end of the fixing plate. The other end of the connecting rod is fixedly connected to the inside of the moving seat. A moving frame is movably sleeved inside the inner surface of the rotating gear. A round shaft is movably sleeved inside the other end of the moving frame. A driven gear is fixedly sleeved at the top end of the round shaft. The driven gear is meshed and connected with the rotating gear. A driving wheel is fixedly sleeved at the bottom end of the round shaft. The outer surface of the driving wheel is movably connected to the outer surface of the guide rail.

[0009] As a preferred technical solution of the present invention, springs are fixedly installed on the outer surface of the rotating gear. The number of the springs is two. The opposite ends of the two springs are respectively fixedly connected to the outer surfaces of both ends of the square rod.

[0010] As a preferred technical solution of the present invention, a rubber strip is fixedly installed inside the outer surface of the guide rail. The outer surface of the rubber strip is movably connected to the outer surface of the driving wheel. The rubber strip is made of rubber.

[0011] As a preferred technical solution of the present invention, baffles are fixedly installed at both the left and right ends of the guide rail. The outer shape of the baffles is square.

[0012] As a preferred technical solution of the present invention, a driving motor is fixedly installed on the right side of the back surface of the moving seat. The other end of the output shaft of the driving motor is fixedly sleeved with a rotating shaft.

[0013] As a preferred technical solution of the present invention, a driving gear is fixedly sleeved at the front end of the rotating shaft. The outer surface of the driving gear is meshed and connected with the outer surface of the rotating gear.

[0014] As a preferred technical solution of the present invention, the outer shape of the driving wheel is circular. The driving wheel is made of rubber.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. In the present utility model, by providing a rack, a pressing plate, a moving plate and a moving frame, when the air cylinder operates, it will drive the pressing plate to move downward. At this time, the pressing plate will press the two moving plates during the downward movement, causing the two moving plates to drive the two rotating gears to move away from each other. At this time, the two rotating gears will drive the two round shafts to move away from each other as a whole through the two moving frames. At this time, the two driving wheels will separate from the two rubber strips during the movement away from each other. Due to the lack of the drive of the two driving wheels, the entire moving seat will stop moving at this time. At the same time, the pressing plate will contact the rack during the downward movement. Due to the design of the rack, the movement of the pressing plate will be blocked, thereby immediately stopping the movement of the entire moving seat, and thus being able to perform precise, stable and rapid braking on the entire manipulator body.

[0017] 2. In the present utility model, by providing a rotating gear, a driven gear, a driving wheel and a driving gear, since the driving gear meshes with the two rotating gears, when the driving gear rotates, it will drive the two rotating gears to rotate. Since the two rotating gears mesh with the two driven gears, when the two rotating gears rotate, they will drive the two round shafts and the two driving wheels to rotate through the two driven gears. Due to the outer shape design of the driving wheel, the movement of the entire moving seat will be more stable during movement, and thus the movement of the entire manipulator body can be made more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of the present utility model;

[0019] Figure 2 is a rear view structural diagram of the present utility model;

[0020] Figure 3 is a sectional structural diagram of the present utility model;

[0021] Figure 4 is a sectional structural diagram of the moving seat of the present utility model;

[0022] Figure 5 is a sectional structural diagram of the square rod of the present utility model.

[0023] In the figure: 1, guide rail; 2, rack; 3, moving seat; 4, short groove; 5, manipulator body; 6, air cylinder; 7, pressing plate; 8, moving plate; 9, rotating gear; 10, square rod; 11, fixing plate; 12, connecting rod; 13, moving frame; 14, round shaft; 15, driven gear; 16, driving wheel; 17, spring; 18, rubber strip; 19, baffle; 20, driving motor; 21, rotating shaft; २२, driving gear. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0025] As Figures 1 to 5 shown, the present utility model provides a picking manipulator with stable movement, including:

[0026] A guide rail 1, a rack 2 is fixedly installed inside the top end of the guide rail 1, a moving seat 3 is movably connected to the outer surface of the guide rail 1, a short groove 4 is opened at the top end inside the moving seat 3, and a manipulator body 5 is fixedly installed at the top end of the moving seat 3;

[0027] A braking mechanism, which is arranged inside the moving seat 3;

[0028] Among them, the braking mechanism includes a pneumatic cylinder 6, the pneumatic cylinder 6 is fixedly sleeved inside the moving seat 3, an extrusion plate 7 is fixedly installed at the bottom end of the pneumatic cylinder 6, a moving plate 8 is movably connected to the outer surface of the extrusion plate 7, the outer surface of the top end of the moving plate 8 is movably connected to the inside of the short groove 4, a rotating gear 9 is movably connected to the outer surface of the moving plate 8, a square rod 10 is movably sleeved inside the rotating gear 9, a fixing plate 11 is movably sleeved on the outer surface of the middle section of the square rod 10, a connecting rod 12 is fixedly installed at the bottom end of the fixing plate 11, the other end of the connecting rod 12 is fixedly connected to the inside of the moving seat 3, a moving frame 13 is movably sleeved inside the inner surface of the rotating gear 9, a round shaft 14 is movably sleeved inside the other end of the moving frame 13, a driven gear 15 is fixedly sleeved at the top end of the round shaft 14, the driven gear 15 is meshed with the rotating gear 9, and a driving wheel 16 is fixedly sleeved at the bottom end of the round shaft 14, and the outer surface of the driving wheel 16 is movably connected to the outer surface of the guide rail 1.

[0029] Since the rotating gear 9 is meshed and connected with the driven gear 15, when the rotating gear 9 rotates, it will drive the whole driven gear 15 to rotate. At this time, the whole moving seat 3 will move left and right along the outer surface of the guide rail 1 during the rotation of the two driving wheels 16. When the air cylinder 6 operates, the bottom end of the air cylinder 6 will drive the pressing plate 7 to move downward. At this time, the outer surface of the pressing plate 7 will squeeze and push the two moving plates 8. At this time, the moving plates 8 will drive the two rotating gears 9 to move away from each other along the outer surface of the square rod 10. At the same time, the two rotating gears 9 will drive the two driven gears 15 to move away from each other through the two moving frames 13. At this time, the two driving wheels 16 will be separated from the outer surface of the guide rail 1 during the moving-away movement. At this time, the two driving wheels 16 will not be able to drive the whole moving seat 3 to move. At the same time, the bottom end of the pressing plate 7 will contact the top end of the rack 2 during the downward movement. Due to the design of the rack 2, it will block the movement of the pressing plate 7, thereby causing the whole moving seat 3 to stop immediately.

[0030] Among them, a spring 17 is fixedly installed on the outer surface of the rotating gear 9. The number of the springs 17 is two. The opposite ends of the two springs 17 are respectively fixedly connected with the outer surfaces of both ends of the square rod 10.

[0031] When the two rotating gears 9 move away from each other, the two springs 17 will be in a compressed state at this time. Due to the elastic force of the two springs 17, it will have a good reset effect on the movement of the two rotating gears 9.

[0032] Among them, a rubber strip 18 is fixedly installed inside the outer surface of the guide rail 1. The outer surface of the rubber strip 18 is movably connected with the outer surface of the driving wheel 16. The rubber strip 18 is made of rubber.

[0033] Due to the design of the two rubber strips 18, it will be able to enhance the friction force on the outer surface of the guide rail 1.

[0034] Among them, baffles 19 are fixedly installed at both the left and right ends of the guide rail 1. The outer shape of the baffles 19 is square.

[0035] Due to the design of the two baffles 19, it will limit the movement stroke of the whole moving seat 3.

[0036] Among them, a driving motor 20 is fixedly installed on the right side of the back surface of the moving seat 3. The other end of the output shaft of the driving motor 20 is fixedly sleeved with a rotating shaft 21.

[0037] When the driving motor 20 operates, the rotating shaft 21 will rotate at this time.

[0038] Among them, a driving gear 22 is fixedly sleeved at the front end of the rotating shaft 21. The outer surface of the driving gear 22 is meshed and connected with the outer surface of the rotating gear 9.

[0039] Since the rotation of the rotating shaft 21 will drive the driving gear 22 to rotate, and the outer surface of the driving gear 22 is meshed and connected with the two rotating gears 9, when the driving gear 22 rotates, it will drive the two rotating gears 9 to rotate.

[0040] Among them, the driving wheel 16 has a circular shape and is made of rubber.

[0041] Due to the design of the outer shape of the driving wheel 16, the overall movement of the moving seat 3 will be more stable. Since the driving wheel 16 is made of rubber, it will be able to enhance the friction between the driving wheel 16 and the rubber strip 18, thereby making the moving seat 3 more stable during movement.

[0042] The working principle and usage process of the present utility model:

[0043] First, the operator starts the driving motor 20. At this time, the rotating shaft 21 will drive the driving gear 22 to rotate. Since the outer surface of the driving gear 22 is respectively meshed and connected with the outer surfaces of the two rotating gears 9, when the driving gear 22 rotates, it will drive the two rotating gears 9 to rotate. At the same time, the two rotating gears 9 will drive the square rod 10 to rotate around the movable socket with the fixed plate 11 as the axis. Also, since the outer surfaces of the two rotating gears 9 are respectively meshed and connected with the outer surfaces of the two driven gears 15, at this time, the two rotating gears 9 will drive the two driven gears 15 to rotate. Then, the two driven gears 15 will drive the two driving wheels 16 to rotate through the two round shafts 14. Since the driving wheels 16 are movably connected with the rubber strip 18, at this time, the overall moving seat 3 will move along the outer surface of the guide rail 1 during the rotation of the driving wheels 16. Since the driving wheels 16 have a circular shape, the overall movement of the moving seat 3 is more stable, thereby realizing the function of making the overall manipulator body 5 move smoothly.

[0044] When the entire moving seat 3 moves to the designated position, the operator activates the pneumatic cylinder 6 at this time. At this time, the bottom end of the pneumatic cylinder 6 will drive the pressing plate 7 to move downward. At this time, the outer surface of the pressing plate 7 will squeeze and push the two moving plates 8 during the downward movement. Due to the design of the two short grooves 4, the movement of the two moving plates 8 will be limited. At this time, the two moving plates 8 will move away from each other along the inside of the two short grooves 4. At this time, the two moving plates 8 will drive the two rotating gears 9 to move away from each other along the outer surface of the two square rods 10. During this process, the two springs 17 will be in a compressed state. At the same time, the two rotating gears 9 will drive the two round shafts 14 to move away from each other through the two moving frames 13. At this time, the two round shafts 14 will simultaneously drive the two driven gears 15 and the two driving wheels 16 to move away from each other. At this time, the two driving wheels 16 will disengage from the two rubber strips 18 during the movement away from each other. At this time, the two driving wheels 16 will not be able to drive the entire moving seat 3 to move. At the same time, the bottom end of the pressing plate 7 will contact the top end of the rack 2 during the downward movement. Due to the design of the rack 2, it will block the movement of the pressing plate 7, and thus can block the movement of the entire moving seat 3, thereby realizing the function of precisely and smoothly and quickly braking the entire manipulator body 5.

[0045] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0046] 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 picking manipulator with stable movement, characterized in that, It includes: A guide rail (1), inside the top end of the guide rail (1) is fixedly installed a rack (2), the outer surface of the guide rail (1) is movably connected with a moving seat (3), at the top end inside the moving seat (3) is opened a short slot (4), and at the top end of the moving seat (3) is fixedly installed a manipulator body (5); A braking mechanism, which is arranged inside the moving seat (3); Among them, the braking mechanism includes a pneumatic cylinder (6), the pneumatic cylinder (6) is fixedly sleeved inside the moving seat (3), at the bottom end of the pneumatic cylinder (6) is fixedly installed a pressing plate (7), the outer surface of the pressing plate (7) is movably connected with a moving plate (8), the outer surface at the top end of the moving plate (8) is movably connected inside the short slot (4), the outer surface of the moving plate (8) is movably connected with a rotating gear (9), inside the rotating gear (9) is movably sleeved a square rod (10), at the middle section of the square rod (10) is movably sleeved a fixing plate (11), at the bottom end of the fixing plate (11) is fixedly installed a connecting rod (12), the other end of the connecting rod (12) is fixedly connected with the inside of the moving seat (3), inside the inner surface of the outer surface of the rotating gear (9) is movably sleeved a moving frame (13), inside the other end of the moving frame (13) is movably sleeved a round shaft (14), at the top end of the round shaft (14) is fixedly sleeved a driven gear (15), the driven gear (15) is meshed and connected with the rotating gear (9), at the bottom end of the round shaft (14) is fixedly sleeved a driving wheel (16), and the outer surface of the driving wheel (16) is movably connected with the outer surface of the guide rail (1).

2. The picking manipulator with stable movement according to claim 1, characterized in that: Fixedly installed on the outer surface of the rotating gear (9) are springs (17), the number of the springs (17) is two, and the opposite ends of the two springs (17) are respectively fixedly connected with the outer surfaces at both ends of the square rod (10).

3. A pick-up manipulator with stable movement according to claim 1, characterized in that: Fixedly installed inside the outer surface of the guide rail (1) is a rubber strip (18), and the outer surface of the rubber strip (18) is movably connected with the outer surface of the driving wheel (16), and the rubber strip (18) is made of rubber.

4. A picking manipulator with stable movement according to claim 1, characterized in that: Fixedly installed at both the left and right ends of the guide rail (1) are baffles (19), and the shape of the baffles (19) is square.

5. The pick-up manipulator with stable movement according to claim 1, characterized in that: Fixedly installed on the right side of the back surface of the moving seat (3) is a driving motor (20), and at the other end of the output shaft of the driving motor (20) is fixedly sleeved a rotating shaft (21).

6. The picking manipulator with stable movement according to claim 5, characterized in that: Fixedly sleeved at the front end of the rotating shaft (21) is a driving gear (22), and the outer surface of the driving gear (22) is meshed and connected with the outer surface of the rotating gear (9).

7. The pick-up manipulator with stable motion according to claim 1, characterized in that: The shape of the driving wheel (16) is round, and the driving wheel (16) is made of rubber.

Images