Multi-angle manipulator

Abstract

The utility model relates to a multi-angle manipulator. The multi-angle manipulator comprises a clamping jaw, a clamping jaw rotating mechanism and a hand rotating mechanism, clamping heads on the two sides of the clamping jaw are used for independent clamping, the clamping jaw rotating mechanism is arranged at the upper end of the clamping jaw and used for driving the clamping jaw to rotate by 360 degrees, and the hand rotating mechanism is vertically arranged on the clamping jaw rotating mechanism and used for driving the clamping jaw to rotate by 360 degrees. The hand rotating mechanism comprises an upper rotating plate, a lower rotating plate, a rotating motor assembly, a photoelectric rotary encoder and a high-precision harmonic wave speed-reducing transmission mechanism, one end of the upper rotating plate and one end of the lower rotating plate are stacked up and down, the stacking position is connected through the high-precision harmonic wave speed-reducing transmission mechanism, and a belt pulley is arranged at the upper end of the high-precision harmonic wave speed-reducing transmission mechanism; a rotating motor assembly is fixed to the upper rotating plate, a belt wheel is arranged at the lower end of the rotating motor assembly, the two belt wheels are connected through a belt, and the photoelectric rotary encoder is used for controlling the rotating motor assembly. By the adoption of the structure, the rotating angles of the mechanical arm are more diversified.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of mechanical hand, specifically a kind of mechanical hand special for vacuum cup. BACKGROUND

[0002] With the development of society, people's requirements for quality of life are also higher and higher, people not only gradually improve the requirements of material, appearance, performance and other aspects of cup, but also constantly rise the quality requirements of cup itself.From the beginning of glass cup, until now, stainless steel vacuum cup is popular among the public.Stainless steel vacuum cup is exquisite, solid and durable, and has good heat preservation performance, is common daily necessities.During the processing of stainless steel vacuum cup body, a weld will be formed on the cup body after stamping, welding, cutting and other process forming, firstly, the weld needs to be polished and polished, the worker places the formed cup body on the polishing equipment to polish the weld, then another polishing equipment is used to rough process the outer surface of the cup body, then another polishing equipment is used to polish the cup body again, finally, the cup body is polished by precision polishing equipment to achieve the required polishing precision, and the cup mouth of the cup body also needs to be polished, which also needs to be polished by multiple processes.At present, in the production of stainless steel cup in China, the polishing and polishing process of the surface is mainly traditional hand polishing, mechanical automatic polishing and full-automatic flow line polishing.The traditional hand polishing speed is slow, the mechanical automatic polishing generally uses automatic disc polishing machine, which can reduce the number of hand polishing equipment but needs manual material taking and placing, and the full-automatic flow line polishing increases mechanical hand to replace manual material taking and placing on the basis of mechanical automatic polishing.At present, special mechanical hand is widely used in various manufacturing industries, such as electrical manufacturing industry, automobile manufacturing industry, plastic processing industry, general mechanical manufacturing industry and metal processing industry.

[0003] With the further development of social production and the progress of science and technology, the function and performance of special mechanical hand will be further improved and enhanced, but the existing mechanical hand basically only has clamping jaw that can rotate, and the adaptability is poor. CONTENT OF UTILITY MODEL

[0004] In view of the defects of the existing vacuum cup mechanical hand, the technical problem to be solved by the utility model is to provide a vacuum cup special mechanical hand with more angles.

[0005] In order to achieve the above object, according to one aspect of the utility model, the utility model is through the following technical measures realizes: a multi-angle manipulator, include: the clamp jaw, the clamp head of the both sides of clamp jaw is independent and is taken, the upper end of clamp jaw is equipped with clamp jaw rotating mechanism, clamp jaw rotating mechanism is used for driving the 360 degrees rotation of clamp jaw, be equipped with the vertical setting hand rotating mechanism on clamp jaw rotating mechanism, hand rotating mechanism includes upper rotating plate, lower rotating plate, rotating motor assembly, photoelectric rotary encoder and high accuracy harmonic speed reduction transmission mechanism, upper rotating plate and lower rotating plate one end add up and down, and be connected through high accuracy harmonic speed reduction transmission mechanism at the place of adding up, and be equipped with the pulley on high accuracy harmonic speed reduction transmission mechanism upper end, rotating motor assembly is fixed on the upper rotating plate, rotating motor assembly lower extreme also is equipped with the pulley, and be connected through the belt between two pulleys, photoelectric rotary encoder is used for control rotating motor assembly.

[0006] Further, the clamp jaw includes a clamp jaw seat, and a double-head cylinder is fixed on each side of the clamp jaw seat.

[0007] Further, the cylinder head of the double-head cylinder extends horizontally and outward to form an extended clamp head.

[0008] Further, the clamp jaw rotating mechanism includes a rotating motor assembly I, a photoelectric rotary encoder I, a high-accuracy harmonic speed reduction transmission mechanism I, and a rotating shaft. The rotating shaft is fixed with the clamp jaw. The rotating motor assembly I drives the rotating shaft to rotate through the high-accuracy harmonic speed reduction transmission mechanism I. The photoelectric rotary encoder I is used for controlling the rotating motor assembly I.

[0009] Compared with the prior art, the utility model has the advantages that: the clamp jaw is rotated by 360 degrees through the clamp jaw rotating mechanism, and the clamp jaw rotating mechanism is moved in position through the hand rotating mechanism. Therefore, the multi-angle manipulator is applicable to different mug processing machines. BRIEF DESCRIPTION OF DRAWINGS

[0010] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the general description of the disclosure given above, and the detailed description of the embodiments below, serve to explain the principles of the present disclosure. In these drawings:

[0011] Figure 1 FIG. 1 is a structural schematic view of a multi-angle manipulator according to the utility model.

[0012] Explanation of reference signs: 1, clamping jaw; 2, clamping jaw rotating mechanism; 3, hand rotating mechanism; 4, upper rotating plate; 5, lower rotating plate; 6, rotating motor assembly; 7, high-precision harmonic speed reduction transmission mechanism; 8, belt pulley; 9, belt; 10, clamping jaw seat; 11, double-head air cylinder; 12, lengthened chuck; 13, rotating motor assembly I; 14, high-precision harmonic speed reduction transmission mechanism I; 15, rotating shaft. DETAILED DESCRIPTION

[0013] Hereinafter, the present application will be described in detail with reference to the accompanying drawings and embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0014] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "bottom", "top" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0015] Embodiment 1

[0016] Please refer to Figure 1 The multi-angle mechanical hand provided in the embodiment comprises a clamping jaw 1, a clamping jaw rotating mechanism 2 and a hand rotating mechanism 3. The clamping jaw 1 comprises a clamping jaw seat 10, a double-head air cylinder 11 is fixed on the left and right sides of the clamping jaw seat 10, the cylinder head of the double-head air cylinder 11 extends horizontally and outward to form a lengthened chuck 12. The hand rotating mechanism 3 comprises an upper rotating plate 4, a lower rotating plate 5, a rotating motor assembly 6, a photoelectric rotary encoder and a high-precision harmonic speed reduction transmission mechanism 7. The right side of the lower rotating plate 5 is located at the left side lower end of the upper rotating plate 4, and is connected through the high-precision harmonic speed reduction transmission mechanism 7 at the superimposed position, and a belt pulley 8 is arranged at the upper end of the high-precision harmonic speed reduction transmission mechanism 7. The upper rotating plate 4 is fixed with the rotating motor assembly 6 at the right side upper end, and the rotating motor assembly 6 is preferably a servo motor. The lower end of the rotating motor assembly 6 is also fixed with a belt pulley, and the two belt pulleys are connected through a belt 9. The rotating motor assembly 6 is controlled through the photoelectric rotary encoder. The clamping jaw rotating mechanism 2 comprises a rotating motor assembly I 13, a photoelectric rotary encoder I, a high-precision harmonic speed reduction transmission mechanism I 14 and a rotating shaft 15. The rotating shaft 15 is fixed at the upper end of the clamping jaw seat 10. The high-precision harmonic speed reduction transmission mechanism I 14 is arranged at the left side of the lower rotating plate 5 and connected with the rotating motor assembly I 13. The rotating motor assembly I 13 is also preferably a servo motor. The photoelectric rotary encoder I is used to control the rotating motor assembly I 13.

[0017] In use, the rotary motor assembly 6 drives the high-precision harmonic speed reduction mechanism 7 to rotate, and finally drives the lower rotary plate 5 to swing back and forth through the belt 9, and drives the clamping jaw 1360 degrees to rotate through the rotary motor assembly I 13, and clamps or loosens the thermal cup through the two double-head air cylinders 17 by the extended chuck 12.

[0018] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can be variously changed and modified. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-angle robot, comprising: The clamping jaw is characterized in that: the clamping heads on both sides of the clamping jaw are independently clamped, the upper end of the clamping jaw is provided with a clamping jaw rotating mechanism, the clamping jaw rotating mechanism is used for driving the clamping jaw to rotate by 360 degrees, a hand rotating mechanism is vertically arranged on the clamping jaw rotating mechanism, the hand rotating mechanism comprises an upper rotating plate, a lower rotating plate, a rotating motor assembly, an optical rotary encoder and a high-precision harmonic speed reduction transmission mechanism, the upper rotating plate and the lower rotating plate are stacked one above the other at one end, are connected through the high-precision harmonic speed reduction transmission mechanism at the stacking position, are provided with a belt pulley at the upper end of the high-precision harmonic speed reduction transmission mechanism, the rotating motor assembly is fixed on the upper rotating plate, the lower end of the rotating motor assembly is also provided with a belt pulley, and the two belt pulleys are connected through a belt, and the optical rotary encoder is used for controlling the rotating motor assembly.

2. A multi-angle robot as claimed in claim 1, characterized in that: The clamping jaw comprises a clamping jaw seat, and a double-head air cylinder is fixed on both sides of the clamping jaw seat.

3. A multi-angle robot as claimed in claim 2, characterized in that: The cylinder head of the double-head air cylinder extends horizontally and outwardly to form an elongated clamping head.

4. The multi-angle robot of claim 1, wherein: The clamping jaw rotating mechanism comprises a rotating motor assembly I, an optical rotary encoder I, a high-precision harmonic speed reduction transmission mechanism I and a rotating shaft, the rotating shaft is fixed with the clamping jaw, the rotating motor assembly I drives the rotating shaft to rotate through the high-precision harmonic speed reduction transmission mechanism I, and the optical rotary encoder I is used for controlling the rotating motor assembly I.

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