Biaxial manipulator capable of being stably used for long time

Abstract

The utility model relates to a two-shaft manipulator capable of being stably used for a long time, which is characterized by comprising a transverse connecting beam and a longitudinal connecting beam, the longitudinal connecting beam is provided with a vertical linear motor capable of vertically moving, and the transverse connecting beam is connected to a mover seat of the vertical linear motor. A horizontal linear motor moving horizontally is arranged on the transverse connecting beam, a connecting plate is fixed to a rotor seat of the horizontal linear motor, a mounting plate is fixed to the connecting plate, a driving air cylinder and clamping blocks are arranged on the mounting plate, the clamping blocks are symmetrically arranged on the mounting plate, and a transmission device is arranged between the driving air cylinder and the clamping blocks. The driving air cylinder drives the clamping blocks on the two sides to move towards each other or move away from each other through the transmission device so that objects can be grabbed or released. The clamping device has the following advantages and effects that the object clamping stability can be improved during long-time use, so that the clamping device can be stably used for a long time.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a two-axis manipulator that can be used stably for a long time. Background Art

[0002] Servo robots are automated production equipment that can imitate the functions of human limbs and allow them to be automatically controlled, so that they can transport workpieces or manipulate tools to perform production operations according to predetermined requirements. They are widely used in various production automation industries, reducing workers' labor intensity and working conditions.

[0003] For example, the Chinese patent document with the announcement number CN218927830U discloses a manipulator with adjustable manipulator spacing, including a slide bar, the left and right sides of which are fixedly connected with side plates, the left and right sides of the outer wall of the slide bar are slidably connected with through blocks, the interior of the slide bar is provided with screw holes, the interior of the through blocks is provided with through holes, the bottom ends of the through blocks are installed with electric hydraulic rods, the bottom ends of the electric hydraulic rods are installed with electric turntables, the bottom ends of the electric turntables are installed with manipulator clamping components, and the manipulator clamping components include a lower opening shell, a driving cylinder, a trapezoidal block, a guide rail, a slider, a connecting plate, an inclined plate, a connecting rod, a spring and a fixed plate.

[0004] From the above disclosed content, it can be seen that in the above technical solution, the through block slides left and right along the slide bar, so as to conveniently adjust the distance between the manipulators, and when clamping objects, the trapezoidal block is driven downward by driving the cylinder, and the fixed plate can be pushed to move horizontally by coupling with the inclined plate on the fixed plate to achieve clamping of the object, thereby making the manipulator clamping structure simple.

[0005] However, in the process of implementing the above technical solution, the inventors found that in the above technical solution, the fixed plate can only be driven to move after the trapezoidal block and the inclined plate contact each other. However, during long-term use, the friction generated between the trapezoidal block and the inclined plate will aggravate the wear between the trapezoidal block and the inclined plate, making the contact between the trapezoidal block and the inclined plate insufficient, which will affect the movement of the inclined plate driven by the trapezoidal block, and further affect the stability of the manipulator clamping. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a two-axis manipulator that can be used stably for a long time, which can improve the stability of clamping objects during long-term use, thereby enabling long-term and stable use.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a two-axis manipulator that can be used stably for a long time, comprising a transverse connecting beam and a longitudinal connecting beam, the longitudinal connecting beam being provided with a vertical linear motor that moves vertically, the transverse connecting beam being connected to the mover seat of the vertical linear motor, the transverse connecting beam being provided with a horizontal linear motor that moves horizontally, a connecting plate being fixed on the mover seat of the horizontal linear motor, a mounting plate being fixed on the connecting plate, a driving cylinder and a clamping block being provided on the mounting plate, the clamping blocks being symmetrically arranged on the mounting plate, a transmission device being provided between the driving cylinder and the clamping block, the driving cylinder drives the clamping blocks on both sides to move toward or away from each other through the transmission device, so as to realize the grasping or release of objects.

[0008] The utility model is further configured as follows: the transmission device includes a transmission plate, the transmission plate is rotatably connected to the mounting plate, a slidable movable plate is provided on both sides of the mounting plate, the clamping block is connected to the movable plate, and the movable plate is provided with a connecting portion extending toward the transmission plate, one end of the connecting portion is rotatably connected to the transmission plate, and the other end is rotatably connected to the movable plate.

[0009] The utility model is further configured as follows: the mounting plate is symmetrically provided with slide rails, the movable plate is provided with a slider on the side facing the slide rails, and the slider is coupled to the slide rails to form a sliding fit between the two.

[0010] The utility model is further configured as follows: a detachable friction plate is provided on the clamping block.

[0011] The utility model is further configured as follows: a protruding guide block is provided on one side of the clamping block, a guide groove adapted to the guide block is provided on the friction plate, the guide block is coupled to the guide groove, and a sliding fit between the two can be formed.

[0012] The utility model is further configured as follows: first threaded holes are provided on both sides of the clamping block, and second threaded holes opposite to the first threaded holes are provided on the friction plate.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] Since a transmission device is provided, during long-term use, the driving cylinder drives the clamping blocks to move toward or away from each other through the transmission device to achieve the grasping or releasing of the object. In this way, the clamping blocks can be driven to move without direct contact with the clamping blocks, thereby avoiding wear on the clamping blocks. Therefore, it effectively solves the technical problem in the prior art that the output end of the driving cylinder directly contacts the clamping blocks, resulting in increased wear between the two and affecting the clamping stability of the clamping blocks, thereby improving the stability of clamping of objects during long-term use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1This is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 It is a schematic diagram of the local structure of the utility model;

[0017] Figure 3 This is a schematic diagram of the specific structure of the clamping block in the utility model. DETAILED DESCRIPTION

[0018] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0019] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] like Figures 1 to 3 As shown, the utility model discloses a two-axis manipulator that can be used stably for a long time, including a transverse connecting beam and a longitudinal connecting beam. The longitudinal connecting beam is provided with a vertical linear motor 1 for vertical movement. The transverse connecting beam is connected to the mover seat of the vertical linear motor 1. The transverse connecting beam is provided with a horizontal linear motor 2 for horizontal movement. A connecting plate 3 is fixed on the mover seat of the horizontal linear motor 2. A mounting plate 4 is fixed on the connecting plate 3. A driving cylinder 5 and a clamping block 6 are provided on the mounting plate 4. The clamping blocks 6 are symmetrically arranged on the mounting plate 4. A transmission device is provided between the driving cylinder 5 and the clamping block 6. The driving cylinder 5 drives the clamping blocks 6 on both sides to move toward or away from each other through the transmission device to achieve grasping or releasing of objects. During long-term use, the driving cylinder 5 drives the clamping blocks 6 to move toward or away from each other through the transmission device to achieve grasping or releasing of objects. In this way, the clamping blocks 6 can be driven to move without direct contact with the clamping blocks 6, thereby avoiding wear on the clamping blocks 6, and thus improving the stability of clamping objects during long-term use.

[0021] When the lever 72 is unlocked, the lever 73 is unlocked and the other end of the lever 73 is unlocked, so that the lever 73 can be unlocked.

[0022] In this embodiment, the structure for the movable plate 72 to slide on the mounting plate 4 is that a slide rail 73 is symmetrically provided on the mounting plate 4, and a slider 74 is provided on the side of the movable plate 72 facing the slide rail 73. The slider 74 is coupled to the slide rail 73 and can form a sliding fit between the two. When the movable plate 72 is driven to slide by the driving cylinder 5, the movable plate 72 can form a sliding fit with the slide rail 73 through the slider 74, thereby guiding the movement of the movable plate 72 and making its movement more stable.

[0023] In this embodiment, a detachable friction plate 8 is further provided on the clamping block 6. The provided friction plate 8 can increase the roughness of the surface of the clamping block 6, thereby improving the clamping stability of the clamping block 6. In addition, by detachably connecting the friction plate 8 to the clamping block 6, the friction plate 8 can be replaced to ensure that the clamping block 6 still has good clamping performance after long-term use.

[0024] In this embodiment, the detachable connection structure between the clamping block 6 and the friction plate 8 is as follows: a protruding guide block 61 is provided on one side of the clamping block 6, and a guide groove adapted to the guide block 61 is provided on the friction plate 8. The guide block 61 is coupled to the guide groove and can form a sliding fit between the two. The friction plate 8 can slide along the guide block 61 through the guide groove. In this way, the friction plate 8 can be installed in or removed from the clamping block 6 by sliding. In addition, by providing the protruding guide block 61, the distance between the friction plates 8 on both sides can be reduced after the friction plate 8 is installed in the clamping block 6, thereby reducing the requirement for the telescopic stroke of the driving cylinder 5.

[0025] In addition, in order to ensure the stability of the friction plate 8 when it is installed on the clamping block 6, a first threaded hole 62 is provided on both sides of the clamping block 6, and a second threaded hole opposite to the first threaded hole 62 is provided on the friction plate 8. In this way, by screwing in a locking piece 100 that forms a threaded fit with the first threaded hole 62 and the second threaded hole, the friction plate 8 can be fixed. One side of the second threaded hole is a countersunk hole. In this way, after the locking piece 100 is screwed in, the end of the locking piece 100 will not protrude, thereby ensuring sufficient contact between the friction plate 8 and the object to be clamped.

[0026] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A two-axis manipulator that can be used stably for a long time, characterized in that: It includes a transverse connecting beam and a longitudinal connecting beam, the longitudinal connecting beam is provided with a vertical linear motor that moves vertically, the transverse connecting beam is connected to the mover seat of the vertical linear motor, the transverse connecting beam is provided with a horizontal linear motor that moves horizontally, the mover seat of the horizontal linear motor is fixed with a connecting plate, the connecting plate is fixed with a mounting plate, a driving cylinder and a clamping block are provided on the mounting plate, the clamping blocks are symmetrically arranged on the mounting plate, a transmission device is provided between the driving cylinder and the clamping block, the driving cylinder drives the clamping blocks on both sides to move toward or away from each other through the transmission device to realize the grasping or release of objects.

2. A two-axis manipulator that can be used stably for a long time according to claim 1, characterized in that: The transmission device includes a transmission plate, which is rotatably connected to the mounting plate. Slidable movable plates are respectively provided on both sides of the mounting plate. The clamping block is connected to the movable plate. The movable plate is provided with a connecting portion extending toward the transmission plate. One end of the connecting portion is rotatably connected to the transmission plate, and the other end is rotatably connected to the movable plate.

3. A two-axis manipulator capable of long-term stable use according to claim 2, characterized in that: The mounting plate is symmetrically provided with slide rails, and the movable plate is provided with a slider on a side facing the slide rail. The slider is coupled to the slide rail and can form a sliding fit between the two.

4. The two-axis manipulator capable of long-term stable use according to claim 1, characterized in that: The clamping block is provided with a detachable friction plate.

5. The two-axis manipulator capable of long-term stable use according to claim 4, characterized in that: A protruding guide block is provided on one side of the clamping block, and a guide groove adapted to the guide block is provided on the friction plate. The guide block is coupled to the guide groove, and a sliding fit between the two can be formed.

6. The two-axis manipulator capable of long-term stable use according to claim 5, characterized in that: The clamping block is provided with first threaded holes on both sides, and the friction plate is provided with second threaded holes opposite to the first threaded holes.

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