Full-servo oblique arm manipulator

Abstract

The utility model discloses a full-servo oblique arm manipulator which comprises a control console, a rotating frame is transversely arranged on one side of the control console, a cross beam is transversely arranged on one side of the rotating frame, the rotating frame and the cross beam are in the same movement direction, and the control console controls the rotating frame to drive the cross beam to rotate on the side face of the cross beam. A movable table is vertically arranged on one side of the cross beam, the movable table translates on the side face of the cross beam, a lifting frame is vertically arranged on the side face of the movable table, the lifting frame moves up and down on the side face of the movable table, and the lifting frame is in electric control connection with the control table; and then a movement instruction is sent to the moving table through the control table, the lifting frame is driven to horizontally move on the side face of the cross beam, a mechanical clamp is vertically arranged at the bottom end of the lifting frame in a driving mode, and the lifting frame and the mechanical clamp are in the same movement direction.

Description

Technical Field

[0001] The utility model relates to the field of mechanical equipment, in particular to a full-servo oblique-arm manipulator. Background Art

[0002] In injection molding equipment technology, in order to improve the compactness and automation of production, a robot is generally installed on the injection molding machine. When the product is injected and the mold on the injection molding machine is opened, the robot automatically takes out the injection molded part in the mold cavity. However, the angle between the gripper and the horizontal plane of the robot installed in the existing technology on the injection molding machine is often not adjustable, the clamping range is narrow, and the gripping force is insufficient, which can easily cause the product to fall off, resulting in poor gripping accuracy. Poor gripping accuracy can easily damage the product, resulting in an increase in product defective rate. For this reason, a full-servo oblique arm robot is proposed. Utility Model Content

[0003] In order to overcome the above-mentioned shortcomings, the present invention aims to provide a technical solution that can solve the above-mentioned problems.

[0004] The full-servo oblique arm manipulator includes a control console, a rotating frame is horizontally arranged on one side of the control console, and a crossbeam is horizontally arranged on one side of the rotating frame, and the rotating frame and the crossbeam have the same movement direction, and the control console controls the rotating frame to drive the crossbeam to rotate on its side, a moving platform is vertically arranged on one side of the crossbeam, and the moving platform translates on the side of the crossbeam, a lifting frame is vertically arranged on the side of the moving platform, and the lifting frame moves up and down on the side of the moving platform, the lifting frame and the control console are electrically controlled and connected, and then the control console sends motion instructions to the moving platform and drives the lifting frame to move horizontally on the side of the crossbeam, and a mechanical clamp is vertically driven at the bottom end of the lifting frame, and the lifting frame and the mechanical clamp have the same movement direction.

[0005] Preferably, a driving block and a rotating shaft are provided between the crossbeam and the movable platform, and the rotating shaft is laterally located inside the crossbeam, the driving block is laterally arranged on the side of the rotating shaft, and the movable platform and the driving block are drivingly connected.

[0006] Preferably, a second motor is provided between the crossbeam and the rotating shaft, and the second motor is laterally located at one side of the outer bottom end of the crossbeam, and a driving connection is established between the second motor and the rotating shaft.

[0007] Preferably, a first motor is provided between the console and the rotating frame, and the first motor is laterally located on the other side of the console. The first motor is electrically controlled and connected to the console, and is driven and connected to the rotating frame.

[0008] Preferably, a driving cylinder is provided between the lifting frame and the mechanical clamp, and the driving cylinder is vertically located at the bottom end of the lifting frame, and a driving connection is established between the driving cylinder and the mechanical clamp.

[0009] Compared with the prior art, the beneficial effect of the present invention is that when the product needs to be clamped and transported, the control console issues instructions to the lifting frame and causes the lifting frame to move downward on the side of the mobile platform while driving the mechanical clamp to move to the product to be clamped, so that the mechanical clamp clamps the product. At this time, the control console controls the lifting frame and the product clamped by the mechanical clamp to be reset and controls the mobile platform and the lifting frame to move at the same time, thereby transporting the product to the designated position or flipping the crossbeam connecting the lifting frame and the mechanical clamp through the rotating frame, thereby clamping and transporting products in different directions, reducing communication interference and making the overall layout compact and beautiful.

[0010] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0012] Figure 1 This is a structural diagram of the full-servo oblique-arm robot;

[0013] Figure 2 This is another structural diagram of the full-servo oblique-arm manipulator;

[0014] Figure 3 This is another structural diagram of the full-servo oblique-arm robot.

[0015] Shown in the figure: 1. Control console, 2. Crossbeam, 3. First motor, 4. Lifting frame, 5. Moving table, 6. Driving cylinder, 7. Mechanical clamp, 8. Connecting frame, 9. Second motor, 10. Rotating axis, 11. Driving block, 12. Rotating frame. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0017] See also Figure 1-3 In the embodiment of the present invention, the full-servo oblique arm manipulator includes a control console 1, a rotating frame 12 is horizontally arranged on one side of the control console 1, and a beam 2 is horizontally arranged on one side of the rotating frame 12, and the rotating frame 12 and the beam 2 are in the same movement direction, and the control console 1 controls the rotating frame 12 to drive the beam 2 to rotate on its side, a moving platform 5 is vertically arranged on one side of the beam 2, and the moving platform 5 is translated on the side of the beam 2, a lifting frame 4 is vertically arranged on the side of the moving platform 5, and the lifting frame 4 moves up and down on the side of the moving platform 5, and the lifting frame 4 is electrically controlled and connected to the control console 1, and then the control console 1 sends a motion instruction to the moving platform 5 and drives the lifting frame 4 to the side of the beam 2. The surface moves horizontally, and a mechanical clamp 7 is provided at the bottom of the lifting frame 4 for vertical driving, and the lifting frame 4 and the mechanical clamp 7 are in the same movement direction. When the product needs to be clamped and transported, the control console 1 issues a command to the lifting frame 4 and makes the lifting frame 4 move downward on the side of the moving platform 5 while driving the mechanical clamp 7 to move to the product to be clamped, so that the mechanical clamp 7 clamps the product. At this time, the control console 1 controls the lifting frame 4 to reset the product clamped by the mechanical clamp 7 and controls the moving platform 5 to move together with the lifting frame 4 while resetting, so as to transport the product to the designated position or the crossbeam 2 connected to the lifting frame 4 and the mechanical clamp 7 can be flipped through the rotating frame 12, so that products in different orientations can be clamped and transported.

[0018] A driving block 11 and a rotating shaft 10 are provided between the beam 2 and the movable platform 5, and the rotating shaft 10 is located laterally inside the beam 2. The driving block 11 is laterally arranged on the side of the rotating shaft 10, and the movable platform 5 and the driving block 11 are driven and connected, so that when the rotating shaft 10 rotates inside the beam 2, the driving block 11 is driven to move horizontally inside the beam 2 and at the same time drive the movable platform 5 to translate outside the beam 2, thereby driving the lifting frame 4 to move.

[0019] A second motor 9 is arranged between the beam 2 and the rotating shaft 10, and the second motor 9 is laterally located on one side of the outer bottom end of the beam 2, and the second motor 9 is driven and connected to the rotating shaft 10, thereby driving the rotating shaft 10 to rotate and driving the driving block 11 to translate inside the beam 2.

[0020] A first motor 3 is provided between the console 1 and the rotating frame 12, and the first motor 3 is laterally located on the other side of the console 1. The first motor 3 is electrically controlled and connected to the console 1, and the first motor 3 is driven and connected to the rotating frame 12. The rotating frame 12 is driven to rotate on one side of the console 1 by the first motor 3, thereby driving the crossbeam 2 and the lifting frame 4 to rotate.

[0021] A driving cylinder 6 is provided between the lifting frame 4 and the mechanical clamp 7, and the driving cylinder 6 is vertically located at the bottom end of the lifting frame 4. The driving cylinder 6 and the mechanical clamp 7 are driven and connected, and then the driving cylinder 6 drives the mechanical clamp 7 to open and close at the bottom end of the lifting frame 4 so as to subsequently clamp the product to be transported.

[0022] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations that come within the meaning and range of equivalents of the claims be embraced within the present invention.

Claims

1. Full servo oblique arm manipulator, including control console, characterized in that: A rotating frame is horizontally arranged on one side of the console, and a cross beam is horizontally arranged on one side of the rotating frame, and the rotating frame and the cross beam have the same movement direction, and the console controls the rotating frame to drive the cross beam to rotate on its side, and a moving platform is vertically arranged on one side of the cross beam, and the moving platform translates on the side of the cross beam, and a lifting frame is vertically arranged on the side of the moving platform, and the lifting frame moves up and down on the side of the moving platform, the lifting frame and the console are electrically controlled and connected, and then the console sends a movement instruction to the moving platform and drives the lifting frame to move horizontally on the side of the cross beam, and a mechanical clamp is vertically driven at the bottom end of the lifting frame, and the lifting frame and the mechanical clamp have the same movement direction.

2. The full-servo oblique arm manipulator according to claim 1, characterized in that: A driving block and a rotating shaft are provided between the crossbeam and the moving platform, and the rotating shaft is laterally located inside the crossbeam. The driving block is laterally arranged on the side of the rotating shaft, and the moving platform and the driving block are drivingly connected.

3. The full-servo oblique arm manipulator according to claim 2, characterized in that: A second motor is provided between the crossbeam and the rotating shaft, and the second motor is laterally located at one side of the bottom end of the outer portion of the crossbeam, and a driving connection is established between the second motor and the rotating shaft.

4. The full-servo oblique arm manipulator according to claim 1, characterized in that: A first motor is provided between the console and the rotating frame, and is laterally located on the other side of the console. The first motor is electrically connected to the console and is driven to the rotating frame.

5. The full-servo oblique arm manipulator according to claim 1, characterized in that: A driving cylinder is provided between the lifting frame and the mechanical clamp, and the driving cylinder is vertically located at the bottom end of the lifting frame, and a driving connection is established between the driving cylinder and the mechanical clamp.

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