Three-shaft swing arm manipulator with positioning function

Abstract

The utility model discloses a three-shaft swing arm manipulator with a positioning function, which comprises a main body unit, the main body unit comprises a bottom plate, the upper side surface of the bottom plate is fixedly connected with a mounting seat, the upper side surface of the mounting seat is provided with a mechanical swing arm, and the other end of the mechanical swing arm is provided with a magnetic chuck. A motor is started through a power source to drive a two-way threaded rod to rotate, the two-way threaded rod rotates in the first fixing frame, and then a first fixing plate in threaded connection with the two-way threaded rod slides on the surface of the first fixing frame in a limited mode and is attached to the surfaces of the two sides of the tray. Meanwhile, a first bevel gear fixedly connected with the two-way threaded rod drives a second bevel gear in meshed connection with the first bevel gear to rotate, the one-way threaded rod rotates in a second fixing frame, then a second fixing plate in threaded connection with the one-way threaded rod slides on the surface of the second fixing frame in a limited mode, and the second fixing plate is attached to the surfaces of the other two sides of the tray; and the placement positions of the trays are positioned, so that the placement positions of the replaced trays are consistent all the time.

Description

Technical Field

[0001] The utility model relates to the technical field of three-axis swing arm manipulators, in particular to a three-axis swing arm manipulator with a positioning function. Background Art

[0002] The three-axis swing arm robot is an industrial automation equipment with three main motion axes, which can realize relatively complex spatial motion. The three-axis swing arm robot is controlled by writing a program. At the same time, a tray for loading, transporting and storing materials is provided under the three-axis swing arm robot, which is usually made of metal, plastic or other materials.

[0003] During use of the existing technology, a three-axis swing-arm robot repeatedly places items on each pallet under program control, and the position of the pallet needs to be precisely positioned so that the items loaded and unloaded by the three-axis swing-arm robot can be accurately placed on the center surface of the pallet. When the pallet is replaced, the position of the pallet will change, which in turn affects the placement of the items, resulting in a safety hazard of the items collapsing and falling during transportation. Utility Model Content

[0004] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and in the abstract and title of the utility model to avoid obscuring the purpose of this section, the abstract and the title of the utility model, and such simplifications or omissions shall not be used to limit the scope of the present invention.

[0005] In view of the above problems existing in the existing three-axis swing arm manipulator with positioning function, the present utility model is proposed.

[0006] Therefore, the purpose of the present utility model is to provide a three-axis swing arm manipulator with a positioning function, in order to solve the problem that "in the use of the existing technology, the three-axis swing arm manipulator repeatedly places items on each pallet under program control, and the position of the pallet needs to be precisely positioned so that the items loaded and unloaded by the three-axis swing arm manipulator can be accurately placed on the center surface of the pallet, and the position of the pallet will change when the pallet is replaced, which in turn affects the placement of the items, resulting in a safety hazard of the items collapsing and falling during transportation."

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] A three-axis swing arm manipulator with positioning function, comprising:

[0009] The main unit includes a base plate, the upper surface of the base plate is fixedly connected to a mounting base, the upper surface of the mounting base is mounted with a mechanical swing arm, and the other end of the mechanical swing arm is mounted with a magnetic chuck;

[0010] The positioning unit includes a support plate arranged on the lower side of the magnetic suction cup, the lower surface of the support plate is movably connected to the upper surface of the base plate, the upper surface of the support plate is fixedly connected to two groups of fixing frames 1, and fixing frames 2 are arranged on both sides of the fixing frame 1, the two groups of the fixing frames 1 are internally rotatably connected to bidirectional threaded rods, and both ends of the bidirectional threaded rods are threadedly connected to the fixing plate 1, one end of one group of the fixing frames 1 is fixedly connected to a motor, and the output end of the motor is fixedly connected to the bidirectional threaded rod, and the interiors of the two groups of the fixing frames 2 are both provided with auxiliary components.

[0011] As a preferred solution of the three-axis swing arm manipulator with positioning function described in the utility model, the auxiliary component includes a bevel gear 1 fixedly connected to the bidirectional threaded rod, and both sides of the bevel gear 1 are meshedly connected with bevel gear 2, the two sets of bevel gears 2 are fixedly connected to the opposite sides of the one-way threaded rod, and the surfaces of the one-way threaded rods are rotatably connected to the fixing frame 2, and the surfaces of the two sets of one-way threaded rods are threadedly connected to the fixing plate 2.

[0012] As an optimal solution of the three-axis swing arm manipulator with positioning function described in the utility model, wherein: the two groups of fixed plates are both designed in an inverted mountain shape, and the inner wall surfaces of the fixed plates are both slidably connected to the surface of the fixed frame one; the two groups of fixed plates are both designed in an inverted mountain shape, and the inner wall surfaces of the fixed plates are both slidably connected to the surface of the fixed frame two.

[0013] As a preferred solution of the three-axis swing arm manipulator with positioning function described in the utility model, the lower side surfaces of the two groups of fixed frames are both provided with a cleaning groove, and the lower side surfaces of the two groups of fixed frames are both provided with another cleaning groove.

[0014] As a preferred solution of the three-axis swing-arm manipulator with positioning function described in the utility model, wherein: a lifting rod is fixedly connected to the inside of the base plate, and the upper output end of the lifting rod is fixedly connected to a supporting plate.

[0015] As an optimal solution of the three-axis swing arm manipulator with positioning function described in the utility model, four groups of limit rods are fixedly connected to the lower surface of the support plate, four groups of limit grooves are opened on the upper surface of the base plate, and the inner wall surfaces of the limit grooves are all slidably connected to the limit rods.

[0016] Beneficial effects of the utility model:

[0017] 1. Place the pallet on the upper surface of the fixing frame 1 and the fixing frame 2, and then start the motor through the power supply to drive the two-way threaded rod to rotate, so that the two-way threaded rod rotates inside the fixing frame 1, and then the fixing plate 1 threadedly connected to the two-way threaded rod slides on the surface of the fixing frame 1 to fit with the two side surfaces of the pallet. At the same time, the bevel gear 1 fixedly connected to the two-way threaded rod drives the meshing bevel gear 2 to rotate, so that the unidirectional threaded rod rotates inside the fixing frame 2, and then the fixing plate 2 threadedly connected to the unidirectional threaded rod slides on the surface of the fixing frame 2 to fit with the other two side surfaces of the pallet, and then the position of the pallet is positioned, so that the placement position of the replaced pallet is always consistent, ensuring that the items placed by the three-axis swing arm robot are not affected, thereby improving safety.

[0018] 2. The lifting rod is activated by power to push the pallet upward. At the same time, the limit rod fixedly connected to the pallet slides upward inside the bottom plate, thereby adjusting the height of the pallet and effectively improving practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work. Among them:

[0020] Figure 1 : is a schematic diagram of the three-axis swing arm manipulator with positioning function proposed by the present invention;

[0021] Figure 2 Schematic diagram of the three-dimensional structure of the positioning unit;

[0022] Figure 3 for Figure 2 Schematic diagram of the three-dimensional structure cross section;

[0023] Figure 4 for Figure 3 A magnified schematic diagram of the structure in the middle.

[0024] In the figure: 100, main unit; 101, base plate; 102, mounting base; 103, mechanical swing arm; 104, magnetic suction cup; 200, positioning unit; 201, support plate; 202, fixing frame 1; 203, fixing frame 2; 204, two-way threaded rod; 205, motor; 206, fixing plate 1; 207, auxiliary component; 207a, bevel gear 1; 207b, one-way threaded rod; 207c, fixing plate 2; 207d, bevel gear 2; 208, cleaning tank; 209, lifting rod; 210, limit rod. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings.

[0026] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0027] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0028] Furthermore, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, when describing embodiments of the present invention, cross-sectional views of device structures may be partially enlarged and not to scale. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, three-dimensional dimensions, including length, width, and depth, should be included.

[0029] Reference Figure 1 -4. The present invention provides a three-axis swing arm manipulator with a positioning function, comprising:

[0030] The main unit 100 includes a base plate 101, a mounting base 102 is fixedly connected to the upper surface of the base plate 101, and a mechanical swing arm 103 is mounted on the upper surface of the mounting base 102. The other end of the mechanical swing arm 103 is mounted with a magnetic suction cup 104 for grabbing objects;

[0031] The positioning unit 200 includes a support plate 201 arranged on the lower side of the magnetic suction cup 104, the lower surface of the support plate 201 is movably connected to the upper surface of the base plate 101, the upper surface of the support plate 201 is fixedly connected to two groups of fixing frames 202, and fixing frames 203 are provided on both sides of the fixing frames 202, the two groups of fixing frames 202 are internally rotatably connected to bidirectional threaded rods 204, and both ends of the bidirectional threaded rods 204 are threadedly connected to fixing plates 1 206, one end of one group of fixing frames 1 202 is fixedly connected to a motor 205, and the output end shaft of the motor 205 is fixedly connected to the bidirectional threaded rod 204, and the interiors of the two groups of fixing frames 203 are both provided with auxiliary components 207, and the rotation of the bidirectional threaded rods 204 can drive the fixing plates 1 206 to move in opposite directions.

[0032] Among them, the auxiliary component 207 includes a bevel gear 1 207a fixedly connected to the bidirectional threaded rod 204, and both sides of the bevel gear 1 207a are meshed with bevel gear 2 207d, and the two sets of bevel gears 207d on the opposite sides are fixedly connected with a one-way threaded rod 207b, and the surfaces of the one-way threaded rod 207b are rotatably connected to the fixed frame 203, and the surfaces of the two sets of one-way threaded rods 207b are threadedly connected with the fixed plate 207c, driving the two sets of fixed plates 207c to move in opposite directions to fix the pallet.

[0033] Furthermore, the two sets of fixing plates 206 are both designed in the shape of an inverted mountain, and the inner wall surfaces of the fixing plates 1 206 are both slidably connected to the surface of the fixing frame 1 202. The two sets of fixing plates 2 207c are both designed in the shape of an inverted mountain, and the inner wall surfaces of the fixing plates 2 207c are both slidably connected to the surface of the fixing frame 2 203, which have a limiting function.

[0034] Furthermore, a cleaning slot 208 is provided on the lower surface of both sets of fixing frames 1 202 , and another cleaning slot 208 is provided on the lower surface of both sets of fixing frames 203 , so as to facilitate blowing out debris particles that fall into fixing frames 1 202 and 203 .

[0035] Furthermore, a lifting rod 209 is fixedly connected to the interior of the bottom plate 101 , and an upper output end of the lifting rod 209 is fixedly connected to the supporting plate 201 , so that the height of the supporting plate 201 can be adjusted.

[0036] Furthermore, four sets of limiting rods 210 are fixedly connected to the lower surface of the support plate 201, and four sets of limiting grooves are opened on the upper surface of the base plate 101, and the inner wall surfaces of the limiting grooves are all slidably connected to the limiting rods 210 to limit the support plate 201.

[0037] During use, the tray is placed on the upper surface of the fixing frame 1 202 and the fixing frame 2 203, and then the motor 205 is started by the power supply to drive the bidirectional threaded rod 204 to rotate, so that the bidirectional threaded rod 204 rotates inside the fixing frame 1 202, and then the fixing plate 1 206 threadedly connected to the bidirectional threaded rod 204 slides on the surface of the fixing frame 1 202 to fit with the two side surfaces of the tray. At the same time, the bevel gear 1 207a fixedly connected to the bidirectional threaded rod 204 drives the meshing bevel gear 207d to rotate, so that the unidirectional threaded rod 207b rotates inside the fixing frame 203, and then the fixing plate 2 207c threadedly connected to the unidirectional threaded rod 207b slides on the surface of the fixing frame 2 203 to fit with the other two side surfaces of the tray, thereby positioning the placement of the tray.

[0038] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, and all of these should be included in the scope of the claims of the present invention.

Claims

1. A three-axis swing arm manipulator with positioning function, characterized by: include: The main unit (100) comprises a base plate (101), the upper surface of the base plate (101) is fixedly connected to a mounting base (102), the upper surface of the mounting base (102) is mounted with a mechanical swing arm (103), and the other end of the mechanical swing arm (103) is mounted with a magnetic chuck (104); The positioning unit (200) comprises a support plate (201) arranged on the lower side of the magnetic suction cup (104), the lower side surface of the support plate (201) is movably connected to the upper side surface of the base plate (101), the upper side surface of the support plate (201) is fixedly connected to two groups of fixing frames (202), and fixing frames (203) are arranged on both sides of the fixing frames (202), the interiors of the two groups of fixing frames (202) are rotatably connected to bidirectional threaded rods (204), and both ends of the bidirectional threaded rods (204) are threadedly connected to fixing plates (206), one end of one group of fixing frames (202) is fixedly connected to a motor (205), and the output end of the motor (205) is fixedly connected to the bidirectional threaded rod (204), and the interiors of the two groups of fixing frames (203) are both provided with auxiliary components (207).

2. The three-axis swing arm manipulator with positioning function according to claim 1, characterized in that: The auxiliary component (207) includes a bevel gear 1 (207a) fixedly connected to the bidirectional threaded rod (204), and both sides of the bevel gear 1 (207a) are meshedly connected to the bevel gear 2 (207d), and the two sets of the bevel gear 2 (207d) are fixedly connected to the unidirectional threaded rod (207b) on the opposite sides, and the surfaces of the unidirectional threaded rod (207b) are rotatably connected to the fixed frame 2 (203), and the surfaces of the two sets of the unidirectional threaded rod (207b) are threadedly connected to the fixed plate 2 (207c).

3. The three-axis swing arm manipulator with positioning function according to claim 2, characterized in that: The two sets of fixed plates (206) are both designed in the shape of an inverted mountain, and the inner wall surfaces of the fixed plates (206) are both slidably connected to the surface of the fixed frame (202). The two sets of fixed plates (207c) are both designed in the shape of an inverted mountain, and the inner wall surfaces of the fixed plates (207c) are both slidably connected to the surface of the fixed frame (203).

4. The three-axis swing arm manipulator with positioning function according to claim 3, characterized in that: The lower surface of the two sets of fixing frames (202) is provided with a cleaning groove (208), and the lower surface of the two sets of fixing frames (203) is provided with another cleaning groove (208).

5. The three-axis swing arm manipulator with positioning function according to claim 4, characterized in that: A lifting rod (209) is fixedly connected to the interior of the bottom plate (101), and an upper output end of the lifting rod (209) is fixedly connected to a supporting plate (201).

6. The three-axis swing arm manipulator with positioning function according to claim 1, characterized in that: Four groups of limiting rods (210) are fixedly connected to the lower surface of the supporting plate (201), and four groups of limiting grooves are opened on the upper surface of the bottom plate (101), and the inner wall surfaces of the limiting grooves are all slidably connected to the limiting rods (210).

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