Precise heavy-load manipulator capable of achieving positioning compensation

Abstract

The utility model relates to the technical field of precise heavy-load manipulators, in particular to a precise heavy-load manipulator capable of achieving positioning compensation. Comprising a conveying belt and an auxiliary device, a mechanical arm body is installed on the upper surface of the conveying belt, an adjusting device is arranged on one side of the conveying belt and comprises a supporting plate, the supporting plate is fixedly connected with the conveying belt, a top frame is fixedly connected to one side of the supporting plate, and adjusting grooves are formed in the two sides of the inner wall of the top frame correspondingly; the inner wall of the adjusting groove is slidably connected with two sliding blocks, and the sides, close to each other, of the four sliding blocks are fixedly connected with the same moving plate. The precise heavy-load mechanical arm capable of achieving positioning compensation has the advantages that when the mechanical arm is used on the conveying belt, the position of the mechanical arm can be moved on the conveying belt through the adjusting device, so that the flexibility of the mechanical arm in the working process is improved by moving the mechanical arm, and the working efficiency of the mechanical arm is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of precision heavy-load manipulators, in particular to a precision heavy-load manipulator capable of positioning compensation. Background Art

[0002] A precision heavy-load manipulator is an industrial robot arm that can work under high precision and high load conditions. This type of manipulator has been widely used in some occasions that require higher load capacity and precision. Precision heavy-load manipulators can provide strong support in multiple industries, improve production efficiency, and ensure high standards of precision and quality.

[0003] The utility model with announcement number CN219132313U discloses a new type of heavy-duty hollow multi-joint manipulator. The key points of its technical solution are as follows: it includes a rotating base that rotates around the circumference of the base, a first swing arm hinged to the rotating base and driven to rotate by a first swing arm motor, the other end of the first swing arm is hinged to a second swing arm, the second swing arm is driven to rotate by the second swing arm motor, the other end of the second swing arm is hinged to a third swing arm of a hollow structure, the third swing arm is driven to rotate by a third swing arm motor, the other end of the third swing arm is hinged to a fourth swing arm, the fourth swing arm is driven to rotate by a fourth swing arm motor, and the other end of the fourth swing arm is hinged to a rotating shaft. The utility model realizes the multi-axis linkage of the joint manipulator through the coordinated action of the rotating base, the first swing arm, the second swing arm, the third swing arm, and the fourth swing arm. The end body adopts a hollow joint structure, which increases the product's scope of use and also reduces the industrial robot's reliance on precision reducers.

[0004] Regarding the above-mentioned related content, the following technical defects exist: The precision heavy-load manipulator is an industrial robot arm with high precision and high load capacity. Its main feature is the ability to maintain high-precision operation under high-load conditions. Based on the traditional manipulator, the manipulator has added a technology that automatically adjusts and corrects position information, which can ensure that when carrying heavy objects and performing high-precision operations, the manipulator can compensate in real time for positioning deviations caused by load, environmental changes or mechanical errors, thereby improving positioning accuracy and repeatability. However, the manipulator is fixed to one side of the conveyor belt when in use, and its position is fixed, which also leads to the limitation of the working range of the manipulator and poor flexibility in use, which further reduces the working efficiency of the manipulator.

[0005] Therefore, it is necessary to provide a new precision heavy-load manipulator with positioning compensation to solve the above technical problems. Utility Model Content

[0006] The purpose of the utility model is to solve the problem in the prior art that the manipulator is fixed on one side of the conveyor belt when in use, and its position is fixed, which also leads to the limitation of the working range of the manipulator and poor flexibility during use, which further leads to reduced working efficiency of the manipulator.

[0007] Base comprises support, castor, and frame upper is provided with guide rail, and support and conveyer frames movable end contact site are provided with recoil spring, and castor is arranged on the pin of base bottom four, to carry mobile handler location.

[0008] The effect achieved by the above components is: the precision heavy-load manipulator body is an industrial robot arm with high precision and high load capacity. Its main feature is that it can maintain high-precision operation under high load conditions. The manipulator body has added a technology for automatic adjustment and correction of position information on the basis of the traditional manipulator body, which can ensure that when carrying heavy objects and performing high-precision operations, the manipulator can compensate for the positioning deviation caused by load, environmental changes or mechanical errors in real time, thereby improving positioning accuracy and repeatability. However, the manipulator body is fixed on one side of the conveyor belt when in use, and its position is fixed, which also leads to the limitation of the working range of the manipulator body and poor flexibility during use, which further leads to reduced working efficiency of the manipulator body. At this time, the manipulator body can be moved at an angle on the conveyor belt through an adjustment device, thereby improving the flexibility of the manipulator body when in use and improving its working efficiency by moving the manipulator body.

[0009] Preferably, a same guide rod is slidably passed through the inner walls of the two sliding blocks, and two ends of the arc surface of the guide rod are fixedly connected to two sides of the inner wall of the adjustment groove respectively.

[0010] The effect achieved by the above components is that when the slider slides in the adjustment groove, the guide rod installed on the slider can guide the sliding of the slider, thereby improving the sliding stability of the slider through the guide rod.

[0011] Preferably, both ends of the arc surface of the guide rod are fixedly connected to fixing rings, the sides of the two fixing rings close to each other are fixedly connected to springs, and the ends of the springs away from the fixing rings are fixedly connected to abutment rings, and the inner wall of the abutment ring is slidably connected to the arc surface of the guide rod.

[0012] The effect achieved by the above components is that when the slider slides along the direction of the guide rod, the spring and connecting ring installed on the guide rod can prevent the slider from abutting against the side wall of the adjustment groove, and the spring and connecting ring can protect the sliding position of the slider.

[0013] Preferably, a connection pad is fixedly connected to a side of the contact block away from the electric push rod, and the cross-section of the connection pad is rectangular.

[0014] The effect achieved by the above components is: when the electric push rod drives the contact block to contact the top frame, the connection pad installed on the contact block can increase the friction when the contact block and the top frame are connected, thereby improving the stability of the contact block and the top frame when in contact.

[0015] Preferably, an auxiliary device is provided on the side of the manipulator body close to the movable plate, and the auxiliary device includes a top plate, the top plate is fixedly connected to the movable plate, and a bidirectional screw is rotated through the inner wall of the top plate, and both ends of the circular arc surface of the bidirectional screw are threadedly connected to an adjusting rod, one end of the circular arc surface of the adjusting rod is fixedly connected to the limiting plate, and the inner wall of the limiting plate is threaded through two connecting rods, and the two connecting rods are fixedly connected to the manipulator body, and the inner wall of the adjusting rod slides through the limiting rod, and one end of the circular arc surface of the limiting rod is fixedly connected to the top plate, and the inner wall of the bidirectional screw slides through a rotating rod.

[0016] The effect achieved by the above components is: when the robot body needs to be repaired, the robot body can be removed from the moving plate through the auxiliary device, so that the robot body can be quickly removed from the moving plate through the auxiliary device, making it easier for maintenance personnel to repair it.

[0017] Preferably, a plurality of anti-slip grooves are provided at both ends of the arc surface of the rotating rod, and the plurality of anti-slip grooves are evenly distributed on the rotating rod.

[0018] The effect achieved by the above components is that when the bidirectional screw is driven to rotate by the rotating rod, the anti-slip groove on the rotating rod can increase the friction on the surface of the rotating rod, thereby enabling the user to better rotate the bidirectional screw through the rotating rod.

[0019] Preferably, one end of the connecting rod away from the arc surface of the robot body is fixedly connected with a protrusion, and the cross-section of the protrusion is arc-shaped.

[0020] The effect achieved by the above components is that when the limit plate is connected to the connecting rod, the protrusion installed on the connecting rod can reduce the angle of connection between the connecting rod and the limit plate, and the protrusion can make the connecting rod better connected to the limit plate.

[0021] Compared with related technologies, the precision heavy-load manipulator with positioning compensation provided by the present invention has the following beneficial effects:

[0022] The utility model provides a precision heavy-load manipulator with positioning compensation. By setting an adjustment device, when the manipulator is used on a conveyor belt, the position of the manipulator can be moved on the conveyor belt through the adjustment device, thereby improving the flexibility of the manipulator at work by moving the manipulator, thereby improving the working efficiency of the manipulator.

[0023] By setting up an auxiliary device, when a robot fails, the faulty robot can be quickly removed from the mobile plate through the auxiliary device. The disassembly makes it easier for maintenance personnel to repair the robot, and the auxiliary device can improve the efficiency of repairing the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a structural diagram of a precision heavy-load manipulator with positioning compensation provided by the utility model;

[0025] Figure 2 for Figure 1 The structural diagram of the regulating device shown;

[0026] Figure 3 for Figure 1 A partially enlarged structural schematic diagram of the regulating device shown;

[0027] Figure 4 for Figure 1 A schematic diagram of the partial structure of the regulating device shown;

[0028] Figure 5 for Figure 1 Schematic diagram of the structure of the auxiliary device shown.

[0029] Numbers in the figure: 1. Conveyor belt; 2. Adjusting device; 201. Support plate; 202. Top frame; 203. Adjusting slot; 204. Slider; 205. Moving plate; 206. Guide rod; 207. Rack; 208. Connecting ring; 209. Motor; 210. Turntable; 211. Fixed plate; 212. Electric push rod; 213. Contact block; 214. Fixed ring; 215. Spring; 216. Abutment ring; 217. Connecting pad; 3. Auxiliary device; 31. Top plate; 32. Bidirectional screw; 33. Adjusting rod; 34. Limiting plate; 35. Connecting rod; 36. Limiting rod; 37. Rotating rod; 38. Anti-slip groove; 39. Bump; 4. Robot body. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0031] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0032] See also Figures 1 to 5 The embodiment of the utility model provides a precision heavy-load manipulator with positioning compensation, including: a conveyor belt 1 and an auxiliary device 3, a manipulator body 4 is installed on the upper surface of the conveyor belt 1, an adjustment device 2 is provided on one side of the conveyor belt 1, and an auxiliary device 3 is provided on the side of the manipulator body 4 close to the movable plate 205.

[0033] In the embodiments of the present invention, please refer to Figures 2 to 4The adjusting device 2 includes a support plate 201, which is fixedly connected to the conveyor belt 1. One side of the support plate 201 is fixedly connected to the top frame 202. Adjustment slots 203 are provided on both sides of the inner wall of the top frame 202. Two sliders 204 are slidably connected to the inner wall of the adjustment slot 203. One side of the four sliders 204 close to each other is fixedly connected to the same movable plate 205. One side of the movable plate 205 is fixedly connected to a connecting ring 208. The inner wall of the connecting ring 208 is fixedly connected to a motor 209. The output end of the motor 209 is fixedly connected to a turntable 210. The tooth surface of the turntable 210 is meshed with a rack 207. One side of the rack 207 is fixedly connected to the top frame 202. One end of the movable plate 205 is fixedly connected to a fixed plate 211. One side of the fixed plate 211 The electric push rod 212 is fixedly connected, and the output end of the electric push rod 212 is fixedly connected to the contact block 213. The end of the moving plate 205 away from the fixed plate 211 is fixedly connected to the manipulator body 4 with the help of the auxiliary device 3. The precision heavy-duty manipulator body 4 is an industrial robot arm with high precision and high load capacity. Its main feature is that it can maintain high-precision operation under high load conditions. In addition, the manipulator body 4 has added a technology for automatically adjusting and correcting position information on the basis of the traditional manipulator body 4, which can ensure that when carrying heavy objects and performing high-precision operations, the manipulator can compensate for positioning deviations caused by load, environmental changes or mechanical errors in real time, thereby improving positioning accuracy and repeatability. However, the manipulator body 4 is fixed on the transmission when in use. On one side of the belt 1, its position is fixed, which also limits the working range of the robot body 4 and has poor flexibility during use, which also reduces the working efficiency of the robot body 4. At this time, the robot body 4 can be moved at an angle on the conveyor belt 1 by the adjusting device 2, thereby improving the flexibility of the robot body 4 during use and improving its working efficiency by moving the robot body 4. The inner wall sliding of the two sliders 204 is penetrated by the same guide rod 206, and the two ends of the arc surface of the guide rod 206 are fixedly connected to the two sides of the inner wall of the adjusting groove 203 respectively. When the slider 204 slides in the adjusting groove 203, the guide rod 206 installed on the slider 204 can guide the sliding of the slider 204, so that the guide rod 206 can To improve the sliding stability of the slider 204, both ends of the arc surface of the guide rod 206 are fixedly connected to a fixing ring 214, and the sides of the two fixing rings 214 close to each other are fixedly connected to a spring 215, and the end of the spring 215 away from the fixing ring 214 is fixedly connected to an abutting ring 216, and the inner wall of the abutting ring 216 is slidably connected to the arc surface of the guide rod 206. When the slider 204 slides along the direction of the guide rod 206, the spring 215 and the connecting ring installed on the guide rod 206 can prevent the slider 204 from abutting against the side wall of the adjustment groove 203. The spring 215 and the connecting ring can protect the sliding position of the slider 204. The side of the contact block 213 away from the electric push rod 212 is fixedly connected to a connecting pad 217, and the cross-section of the connecting pad 217 is rectangular.When the electric push rod 212 drives the contact block 213 to come into contact with the top frame 202, the connection pad 217 installed on the contact block 213 can increase the friction force when the contact block 213 and the top frame 202 are connected, thereby improving the stability of the contact block 213 and the top frame 202 when in contact;

[0034] In the embodiments of the present invention, please refer to Figure 5 The auxiliary device 3 includes a top plate 31, which is fixedly connected to the movable plate 205. The inner wall of the top plate 31 is rotated and penetrated by a bidirectional screw 32. Both ends of the arc surface of the bidirectional screw 32 are threadedly connected to an adjusting rod 33. One end of the arc surface of the adjusting rod 33 is fixedly connected to a limiting plate 34. The inner wall thread of the limiting plate 34 is penetrated by two connecting rods 35. The two connecting rods 35 are fixedly connected to the manipulator body 4. The inner wall of the adjusting rod 33 slides through the limiting rod 36. One end of the arc surface of the limiting rod 36 is fixedly connected to the top plate 31. The inner wall of the bidirectional screw 32 is slidably penetrated by a rotating rod 37. When the manipulator body 4 needs to be repaired, the manipulator body 4 can be disassembled from the movable plate 205 through the auxiliary device 3, so that the manipulator body 4 can be quickly removed from the movable plate through the auxiliary device 3. The two ends of the arc surface of the rotating rod 37 are provided with a plurality of anti-skid grooves 38, and the plurality of anti-skid grooves 38 are evenly distributed on the rotating rod 37. When the bidirectional screw 32 is rotated by the rotating rod 37, the anti-skid grooves 38 provided on the rotating rod 37 can increase the friction force on the surface of the rotating rod 37, so that the user can better rotate the bidirectional screw 32 by the rotating rod 37. The end of the arc surface of the connecting rod 35 away from the manipulator body 4 is fixedly connected with a protrusion 39. The cross section of the protrusion 39 is arc-shaped. When the limit plate 34 is connected to the connecting rod 35, the protrusion 39 installed on the connecting rod 35 can reduce the angle of connection between the connecting rod 35 and the limit plate 34, and the protrusion 39 can make the connecting rod 35 better connected with the limit plate 34.

[0035] The working principle of a precision heavy-duty manipulator with positioning compensation provided by the present invention is as follows: start the motor 209 installed on the connecting ring 208, and the movement of the motor 209 will drive the turntable 210 to rotate through the output end. The rotation of the turntable 210 will engage with the rack 207, so that it can move on the rack 207, and the movement of the turntable 210 will drive the movable plate 205 to move, and the movable plate 205 will drive the slider 204 to slide on the adjustment groove 203, so that the manipulator body 4 can be driven to move through the movable plate 205. All movements are carried out in the top frame 202, and the top frame 202 can protect all movement processes to prevent external factors from affecting the overall movement. After the manipulator body 4 is adjusted to the appropriate position, the electric push rod 212 installed on the fixed plate 211 can be started. The movement of the electric push rod 212 will drive the contact block 213 to contact the top frame 202, so that the movement of the movable plate 205 can be fixed.

[0036] The bidirectional screw 32 is rotated by rotating the rod 37 in the top plate 31. The rotation of the bidirectional screw 32 will drive the adjusting rod 33 to move. The movement of the adjusting rod 33 will slide along the direction of the limiting rod 36. The adjusting rod 33 can drive the limiting plate 34 to slide in the opposite direction away from the connecting rod 35. The connecting rod 35 is rotated out of the limiting plate 34 to release the fixation of the manipulator body 4, and the manipulator body 4 can be removed from the moving plate 205.

[0037] The circuits and controls involved in the present invention are all prior art and will not be described in detail here.

[0038] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A precision heavy-load manipulator capable of positioning compensation, characterized in that: include: A conveyor belt (1) and an auxiliary device (3), wherein a manipulator body (4) is installed on the upper surface of the conveyor belt (1), an adjustment device (2) is provided on one side of the conveyor belt (1), and the adjustment device (2) comprises a support plate (201), wherein the support plate (201) is fixedly connected to the conveyor belt (1), and a top frame (202) is fixedly connected to one side of the support plate (201), and adjustment grooves (203) are provided on both sides of the inner wall of the top frame (202), and two sliders (204) are slidably connected to the inner wall of the adjustment groove (203), and the four sliders (204) are fixedly connected to the same movable plate (205) on one side close to each other, and the movable plate (205) is fixedly connected to one side thereof. A connecting ring (208) is fixedly connected to the inner wall of the connecting ring (208) with a motor (209), the output end of the motor (209) is fixedly connected to a turntable (210), the tooth surface of the turntable (210) is meshed with a rack (207), one side of the rack (207) is fixedly connected to the top frame (202), one end of the movable plate (205) is fixedly connected to a fixed plate (211), one side of the fixed plate (211) is fixedly connected to an electric push rod (212), the output end of the electric push rod (212) is fixedly connected to a contact block (213), and the end of the movable plate (205) away from the fixed plate (211) is fixedly connected to the manipulator body (4) by means of an auxiliary device (3).

2. A positioning-compensated, high-precision heavy-load manipulator according to claim 1, characterized in that: The inner walls of the two sliding blocks (204) are slidably penetrated by a same guide rod (206), and the two ends of the arc surface of the guide rod (206) are respectively fixedly connected to the two sides of the inner wall of the adjustment groove (203).

3. A positioning-compensated, high-load precision manipulator according to claim 2, characterized in that: Both ends of the circular arc surface of the guide rod (206) are fixedly connected to fixing rings (214), and the sides of the two fixing rings (214) close to each other are fixedly connected to springs (215). The ends of the springs (215) away from the fixing rings (214) are fixedly connected to abutment rings (216), and the inner wall of the abutment rings (216) is slidably connected to the circular arc surface of the guide rod (206).

4. A positioning-compensated, high-precision heavy-load manipulator according to claim 1, characterized in that: A connection pad (217) is fixedly connected to a side of the contact block (213) away from the electric push rod (212), and the cross section of the connection pad (217) is rectangular.

5. The positioning-compensated, high-precision heavy-load manipulator according to claim 1, characterized in that: The manipulator body (4) is provided with an auxiliary device (3) on one side close to the movable plate (205), and the auxiliary device (3) includes a top plate (31), the top plate (31) is fixedly connected to the movable plate (205), the inner wall of the top plate (31) is rotatably penetrated by a bidirectional screw (32), both ends of the circular arc surface of the bidirectional screw (32) are threadedly connected to an adjusting rod (33), one end of the circular arc surface of the adjusting rod (33) is fixedly connected to a limiting plate (34), the inner wall of the limiting plate (34) is threadedly penetrated by two connecting rods (35), the two connecting rods (35) are fixedly connected to the manipulator body (4), the inner wall of the adjusting rod (33) is slidably penetrated by a limiting rod (36), one end of the circular arc surface of the limiting rod (36) is fixedly connected to the top plate (31), and the inner wall of the bidirectional screw (32) is slidably penetrated by a rotating rod (37).

6. A positioning-compensated, high-precision heavy-load manipulator according to claim 5, characterized in that: A plurality of anti-slip grooves (38) are provided at both ends of the arc surface of the rotating rod (37), and the plurality of anti-slip grooves (38) are evenly distributed on the rotating rod (37).

7. The positioning-compensated, high-precision heavy-load manipulator according to claim 5, characterized in that: One end of the arc surface of the connecting rod (35) away from the manipulator body (4) is fixedly connected with a protrusion (39), and the cross section of the protrusion (39) is arc-shaped.

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