Reciprocating motion manipulator and production equipment

Abstract

The utility model discloses a reciprocating manipulator and production equipment, which are used for solving the technical problem that an existing manipulator capable of moving in two directions simultaneously is complicated in structure. A motor is installed on the machine frame, the motor is connected with a shaft sleeve, a U-shaped rail is arranged on the machine frame, a cam follower is movably arranged in the U-shaped rail, the cam follower is connected with a connecting plate, the shaft sleeve is arranged on the cam follower in a sleeved mode, a vertical sliding rail is fixedly connected to the connecting plate, and a horizontal sliding rail is further installed on the machine frame. The horizontal sliding rail is in sliding connection with a mounting plate, the mounting plate is in sliding connection with the vertical sliding rail, and the vertical sliding rail is connected with a clamping jaw assembly.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic design technical field especially, relates to a reciprocating motion manipulator and production facility. BACKGROUND

[0002] In prior art, in order to realize the automatic grabbing of material, the production equipment is generally provided with a manipulator, and the existing manipulator can generally move in at least two directions, and the specific structure generally comprises a jaw assembly, an X-axis linear module and a Y-axis linear module connected with the jaw assembly, the jaw assembly is driven to move in X direction and Y direction simultaneously, so as to grab the material in different positions. But in the above structure, X-axis linear module and Y-axis linear module with complex structure need to be set, which undoubtedly leads to the complex structure of the whole manipulator, and also increases the production cost of the manipulator to some extent.

[0003] Therefore, finding a technical scheme capable of solving the above technical problems becomes an important subject for the researchers in the field. UTILITY MODEL CONTENT

[0004] The utility model embodiment discloses a reciprocating motion manipulator and production facility for solving the technical problem of the complex structure of the existing manipulator which can move in two directions simultaneously.

[0005] The utility model provides a reciprocating motion manipulator, including the frame, the frame is installed with motor, the motor is connected with the shaft sleeve, the frame is provided with U type track, wherein, the U type track is movably provided with cam follower, the cam follower is connected with the connecting plate, the shaft sleeve is sleeved on the cam follower, the connecting plate is fixedly connected with vertical slide rail, the frame is still installed with the horizontal slide rail who is perpendicular with vertical slide rail, the horizontal slide rail is slidably connected with mounting plate, the mounting plate is slidably connected with vertical slide rail, and the bottom end of vertical slide rail is connected with jaw assembly.

[0006] When the motor drives the shaft sleeve to rotate in the first rotation direction to drive the cam follower to move in the U type track, the vertical slide rail is driven to move along the vertical direction relative to the mounting plate, and the mounting plate is driven to move on the horizontal slide rail towards the first direction, so that the jaw assembly moves towards the first direction while moving in the vertical direction.

[0007] The motor drives the shaft sleeve to rotate in a second rotation direction to drive the cam follower to move in the U-shaped track, the vertical slide rail is driven to move along the vertical direction relative to the mounting plate, and the mounting plate is driven to move on the horizontal slide rail towards a second direction, so that the clamp jaw assembly moves towards the second direction while moving in the vertical direction.

[0008] Optionally, the clamp jaw assembly comprises a clamp finger cylinder, a first clamp jaw and a second clamp jaw.

[0009] The first clamp jaw is connected to a first output end of the clamp finger cylinder, the second clamp jaw is connected to a second output end of the clamp finger cylinder, and the clamp finger cylinder is used to drive the first clamp jaw and the second clamp jaw to move towards or away from each other to clamp or release the material.

[0010] Optionally, a first sliding block is connected to the horizontal slide rail, and the mounting plate is fixed to the first sliding block.

[0011] Optionally, a second sliding block is mounted on the mounting plate, and the vertical slide rail is in sliding connection with the second sliding block.

[0012] Optionally, the U-shaped track comprises a first vertical section, a second vertical section and a horizontal section.

[0013] The first vertical section is arranged at a first end of the horizontal section, and the second vertical section is arranged at a second end of the horizontal section, wherein the first vertical section and the second vertical section both extend downwards.

[0014] Optionally, a first photoelectric sensor is further mounted on the rack, and the first photoelectric sensor is arranged close to an end of the first vertical section away from the horizontal section.

[0015] Optionally, a second photoelectric sensor is further mounted on the rack, and the second photoelectric sensor is arranged close to an end of the second vertical section away from the horizontal section.

[0016] Optionally, the first rotation direction is a clockwise direction.

[0017] Optionally, the second rotation direction is an anticlockwise direction.

[0018] The production equipment provided by the utility model has the advantages that compared with the prior art, the utility model has the following beneficial effects:

[0019] Compared with the prior art, the utility model has the following beneficial effects:

[0020] In the reciprocating mechanical hand, when the motor drives the shaft sleeve to rotate in a first rotating direction to drive the cam follower to move in the U-shaped track, the vertical slide rail is driven to move in the vertical direction relative to the mounting plate, and the mounting plate is driven to move on the horizontal slide rail in a first direction, so that the jaw assembly moves in the vertical direction and moves in the first direction; when the motor drives the shaft sleeve to rotate in a second rotating direction to drive the cam follower to move in the U-shaped track, the vertical slide rail is driven to move in the vertical direction relative to the mounting plate, and the mounting plate is driven to move on the horizontal slide rail in a second direction, so that the jaw assembly moves in the vertical direction and moves in the second direction. In the above design, only a single motor is used to realize the movement of the jaw assembly in the vertical direction and the horizontal direction, so that the structure of the mechanical hand is more simple. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0022] Figure 1 A structure schematic diagram of the reciprocating mechanical hand is provided.

[0023] Figure 2 A structure front view of the reciprocating mechanical hand is provided.

[0024] Figure 3 A position schematic diagram of the cam follower in the reciprocating mechanical hand is provided.

[0025] Figure 4 A structure schematic diagram of the jaw assembly of the reciprocating mechanical hand is provided.

[0026] Illustration: rack 1, motor 2, shaft sleeve 3, U-shaped track 4, horizontal section 401, first vertical section 402, second vertical section 403, connecting plate 5, vertical slide rail 6, mounting plate 7, horizontal slide rail 8, jaw assembly 9, jaw cylinder 901, first jaw 902, second jaw 903, first photoelectric sensor 10, second photoelectric sensor 11, cam follower 12, first direction X, second direction Y. DETAILED DESCRIPTION

[0027] The utility model discloses a reciprocating motion mechanical hand and production facility for solving the technical problem that the structure of the existing mechanical hand that can move in two directions simultaneously is relatively complex.

[0028] In order to make the personnel in the prior art better understand the utility model scheme, the utility model is further explained in detail below in combination with the drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the utility model, not all. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor belong to the range of protection of the utility model.

[0029] Please refer to Figures 1 to 4 The utility model discloses a reciprocating motion mechanical hand, including frame 1, install motor 2 on frame 1, motor 2 is connected with shaft sleeve 3, be provided with U type track 4 on frame 1, wherein, the U type track 4 is movably provided with cam follower 12, cam follower 12 is connected with connecting plate 5, shaft sleeve 3 is sleeved on cam follower 12, the vertical slide rail 6 of fixed connection is installed on connecting plate 5, frame 1 still installs with the horizontal slide rail 8 that is perpendicular to vertical slide rail 6, the mounting plate 7 of sliding connection is installed on horizontal slide rail 8, the mounting plate 7 is slidably connected with vertical slide rail 6, the bottom end of vertical slide rail 6 is connected with jaw assembly 9.

[0030] In the reciprocating motion mechanical hand of the embodiment, when the motor 2 drives the shaft sleeve 3 to rotate in the first rotation direction to make the shaft sleeve 3 drive the cam follower 12 to move in the U type track 4, the vertical slide rail 6 is driven to move in the vertical direction relative to the mounting plate 7, and the mounting plate 7 is driven to move on the horizontal slide rail 8 towards the first direction, so that the jaw assembly 9 moves in the vertical direction and towards the first direction at the same time; when the motor 2 drives the shaft sleeve 3 to rotate in the second rotation direction to make the shaft sleeve 3 drive the cam follower 12 to move in the U type track 4, the vertical slide rail 6 is driven to move in the vertical direction relative to the mounting plate 7, and the mounting plate 7 is driven to move on the horizontal slide rail 8 towards the second direction, so that the jaw assembly 9 moves in the vertical direction and towards the second direction at the same time. In the above design, only a single motor 2 can realize the movement of the jaw assembly 9 in the vertical direction and the horizontal direction, so that the structure of the mechanical hand is simpler.

[0031] Further, the jaw assembly 9 in the embodiment includes a finger cylinder 901, a first jaw 902, and a second jaw 903.

[0032] The first clamping jaw 902 is connected to a first output end of the clamping finger cylinder 901, the second clamping jaw 903 is connected to a second output end of the clamping finger cylinder 901, and the clamping finger cylinder 901 is used to drive the first clamping jaw 902 and the second clamping jaw 903 to move close to or away from each other to clamp or release the material.

[0033] It should be noted that the above is only one of the structural forms of the clamping jaw assembly 9 in the embodiment, and the clamping jaw assembly 9 can also have other structures in other specific embodiments, and the embodiment does not limit this.

[0034] Further, the horizontal sliding rail 8 in the embodiment is connected with a first sliding block, and the mounting plate 7 is fixed on the first sliding block.

[0035] It should be noted that through the above design, the movement of the mounting plate 7 is more smooth and smooth.

[0036] Further, the mounting plate 7 in the embodiment is provided with a second sliding block, and the vertical sliding rail 6 is in sliding connection with the second sliding block.

[0037] It should be noted that through the above design, the movement of the vertical sliding rail 6 is more smooth and smooth.

[0038] Further, the U-shaped rail 4 in the embodiment includes a first vertical section 402, a second vertical section 403, and a horizontal section 401.

[0039] The first vertical section 402 is arranged at a first end of the horizontal section 401, and the second vertical section 403 is arranged at a second end of the horizontal section 401, wherein the first vertical section 402 and the second vertical section 403 both extend downward.

[0040] It should be noted that through the above design, the clamping jaw assembly 9 can move in the vertical direction while moving in the horizontal direction.

[0041] Further, the rack 1 in the embodiment is also provided with a first photoelectric sensor 10, and the first photoelectric sensor 10 is arranged close to the end of the first vertical section 402 away from the horizontal section 401.

[0042] It should be noted that through the above design, when the clamping jaw assembly 9 moves to the range sensed by the first photoelectric sensor 10 in the first direction, the first photoelectric sensor 10 can send a signal to the control system, so that the control system controls the motor 2 to stop running, thereby limiting the maximum stroke of the clamping jaw assembly 9 in the first direction.

[0043] Further, the rack 1 in the embodiment is further provided with a second photoelectric sensor 11, which is arranged close to the end of the second vertical section 403 away from the horizontal section 401.

[0044] It should be noted that, through the above design, when the jaw assembly 9 moves to the range sensed by the second photoelectric sensor 11 in the second direction, the second photoelectric sensor 11 can send a signal to the control system, so that the control system controls the motor 2 to stop running, thereby limiting the maximum stroke of the jaw assembly 9 in the second direction.

[0045] Specifically, the first rotation direction in the embodiment is the clockwise direction, and the second rotation direction in the embodiment is the counterclockwise direction.

[0046] Please refer to Figures 1 to 4 The utility model embodiment provides a kind of production equipment, including reciprocating manipulator as above.

[0047] It should be noted that the above production equipment can be specifically an automatic device for part machining and assembly.

[0048] The reciprocating manipulator and production equipment provided by the utility model are described in detail above.For those skilled in the art, according to the idea of the embodiment of the utility model, the specific implementation and application range will be changed, and the content of the specification should not be understood as a limitation of the utility model.

Claims

1. A reciprocating robot characterized by comprising: The utility model provides a material clamping device, including frame (1), the motor (2) is installed on frame (1), the shaft sleeve (3) is connected with motor (2), U type track (4) is provided on frame (1), wherein, the cam follower (12) is movably arranged in U type track (4), the connecting plate (5) is connected with cam follower (12), the shaft sleeve (3) is sleeved on cam follower (12), the vertical slide rail (6) is fixedly connected on connecting plate (5), frame (1) still is installed with the horizontal slide rail (8) perpendicular with vertical slide rail (6), the mounting plate (7) is slidably connected with horizontal slide rail (8), the mounting plate (7) is slidably connected with vertical slide rail (6), the bottom end of vertical slide rail (6) is connected with jaw assembly (9); When the motor (2) drives the shaft sleeve (3) to rotate in a first rotation direction to make the shaft sleeve (3) drive the cam follower (12) to move in the U type track (4), the vertical slide rail (6) is driven to move in a vertical direction relative to the mounting plate (7), and the mounting plate (7) is driven to move in a first direction on the horizontal slide rail (8), so that the jaw assembly (9) moves in the vertical direction and moves in the first direction. When the motor (2) drives the shaft sleeve (3) to rotate in a second rotation direction to make the shaft sleeve (3) drive the cam follower (12) to move in the U type track (4), the vertical slide rail (6) is driven to move in a vertical direction relative to the mounting plate (7), and the mounting plate (7) is driven to move in a second direction on the horizontal slide rail (8), so that the jaw assembly (9) moves in the vertical direction and moves in the second direction.

2. The reciprocating robot according to claim 1, characterized in that, The jaw assembly (9) includes a finger cylinder (901), a first jaw (902), and a second jaw (903). The first jaw (902) is connected to a first output end of the finger cylinder (901), the second jaw (903) is connected to a second output end of the finger cylinder (901), and the finger cylinder (901) is used to drive the first jaw (902) and the second jaw (903) to move towards or away from each other to clamp or release the material.

3. The reciprocating robot according to claim 1, characterized in that, A first sliding block is connected to the horizontal slide rail (8), and the mounting plate (7) is fixed to the first sliding block.

4. The reciprocating robot according to claim 1, characterized in that, A second sliding block is installed on the mounting plate (7), and the vertical slide rail (6) is slidably connected with the second sliding block.

5. The reciprocating robot of claim 1, wherein, The U type track (4) includes a first vertical section (402), a second vertical section (403), and a horizontal section (401). The first vertical section (402) is arranged at a first end of the horizontal section (401), and the second vertical section (403) is arranged at a second end of the horizontal section (401), wherein the first vertical section (402) and the second vertical section (403) both extend downward.

6. The reciprocating robot according to claim 5, wherein A first photoelectric sensor (10) is also installed on the rack (1), which is arranged close to the end of the first vertical section (402) away from the horizontal section (401).

7. The reciprocating robot of claim 5, wherein, A second photoelectric sensor (11) is also installed on the rack (1), which is arranged close to the end of the second vertical section (403) away from the horizontal section (401).

8. The reciprocating robot of claim 1, wherein, The first rotation direction is clockwise.

9. The reciprocating robot of claim 1, wherein, The second rotation direction is counterclockwise.

10. A production apparatus characterized by comprising: A reciprocating robot comprising a robot arm according to any one of claims 1 to 9.

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