Lateral taking manipulator
By introducing the coordinated action of the first and second lifting components into the robotic arm, combined with linear motor drive and shock absorber design, the shortcomings of traditional robotic arms in terms of spatial height adjustment and stability are solved, achieving efficient and precise material handling, and improving production efficiency and equipment reliability.
Patent Information
- Application Number
- CN202423177034.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-20
- Publication Date
- 2025-11-07
- Estimated Expiration
- 2034-12-20
AI Technical Summary
Traditional robotic arms have limitations in spatial height adjustment, complex lifting structures leading to high failure rates, insufficient precision to meet the demands of high-precision production, inadequate stability and shock absorption, poor adaptability, and negatively impact production efficiency and product quality.
The first and second lifting components are arranged in parallel, and the connecting base plate is moved by a linear motor. Combined with the design of shock absorbers, deformation drive components and protective plates, it can achieve precise spatial height adjustment and stable operation.
It improves the accuracy and stability of material handling, reduces failure rate and maintenance costs, and ensures the success rate of high-precision production and the long life of equipment.
Smart Images
Figure CN223519674U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to automatic mechanical device technical field, in particular to a kind of side-taking manipulator. BACKGROUND
[0002] In modern industrial automation production, the application of manipulator is more and more widely. The traditional manipulator has some limitations in space height adjustment. The lifting structure of part manipulator is complex, which leads to high failure rate and high maintenance cost. The lifting precision of some manipulators is difficult to meet the high-precision production demand, and position deviation is prone to occur when grabbing and placing materials, which affects product quality and production efficiency. Moreover, the stability and shock-absorbing performance of the traditional manipulator are insufficient during operation, which is easily disturbed by external vibration or impact generated by its own movement, adversely affecting the service life of the manipulator and the safety of material handling. In addition, the adaptability of the traditional manipulator is poor in some special production environment or process requirements, and it is difficult to realize flexible and efficient material handling operation. Therefore, it is of great practical significance to develop a new type of side-taking manipulator. SUMMARY
[0003] The utility model aims at providing a kind of side-taking manipulator mainly applied to the grabbing, handling and other operations of material on industrial production line, which can effectively improve production efficiency, reduce labor cost and ensure the accuracy and stability of material handling process, to solve the above technical problems.
[0004] To achieve the above technical scheme, the technical scheme of the utility model is as follows: a kind of side-taking manipulator mainly consists of palm fixed seat, side-taking palm assembly, first lifting assembly and second lifting assembly. The palm fixed seat serves as the installation basis of the side-taking palm assembly and provides a stable connection platform for it. The side-taking palm assembly is detachably installed on the palm fixed seat, which facilitates the replacement of different types of palm according to different material grabbing requirements. The first lifting assembly is fixedly arranged on one side of the palm fixed seat and can drive the palm fixed seat to move back and forth, and the second lifting assembly is arranged in parallel with the first lifting assembly and can drive the first lifting assembly to move back and forth. Through the coordinated action of the first lifting assembly and the second lifting assembly, the side-taking palm assembly can be accurately adjusted in height to adapt to material handling tasks at different height positions.
[0005] Further, the first lifting assembly comprises a first lifting base which provides a stable support base for the entire assembly. A connecting base is movably arranged on the first lifting base, and a linear motor is arranged between the connecting base and the first lifting base. The linear motor serves as a power source and can provide precise and stable driving force for the movement of the connecting base. Symmetrically arranged on the connecting base are circular table-shaped shock-absorbing blocks which play an important role in shock absorption during the operation of the mechanical hand, effectively reducing the impact and vibration on the structure of the mechanical hand and the material caused by movement. For example, when the mechanical hand quickly grabs or places the material, it will inevitably generate a certain impact force. The shock-absorbing blocks can absorb and buffer these impact forces, protecting the precision components of the mechanical hand, while ensuring that the material will not be damaged by excessive impact.
[0006] Further, the first lifting base and the connecting base are connected through a wire rail sliding connection, which ensures the stability and linearity of the movement of the connecting base. The wire rail is symmetrically provided with deformation driving components at opposite ends, which include a first deformation layer, an insulating layer and a second deformation layer that are sequentially adhered. The first deformation layer and the second deformation layer are both long strip-shaped piezoelectric ceramics. Under the action of an external electric field, the first deformation layer and the second deformation layer both deform along the width direction. This deformation can generate a small pre-tightening force adjustment on the wire rail, effectively compensating for the changes in the gap between the wire rails caused by factors such as wear and temperature changes, and improving the guiding accuracy of the wire rail and the stability of the movement of the connecting base.
[0007] Further, the first lifting base is detachably provided with a first protective plate and a second protective plate. The first protective plate penetrates the connecting base, and the second protective plate is symmetrically arranged on both sides of the first protective plate. The arrangement of the protective plates can effectively prevent dust, debris and other foreign matter from entering the key component area of the wire rail and the motor, protect the normal operation of the components, and reduce the probability of failure caused by the invasion of foreign matter. The first lifting base is also provided with a magnetic scale which can accurately measure the movement position of the connecting base, provide feedback signals for the precise control of the first lifting assembly, and realize precise adjustment of the height position of the side-taking palm assembly.
[0008] Further, the connecting base is symmetrically provided with an L-shaped recessed wire passing groove. The design of the wire passing groove facilitates the arrangement and organization of the wire, allowing various electrical lines connected to the palm fixing seat, the side-taking palm assembly and the first lifting assembly to be arranged in an orderly manner, avoiding signal interference, wear and other problems caused by disorganized wire, and improving the reliability and safety of the mechanical hand as a whole.
[0009] Further, the second lifting assembly and the first lifting assembly are provided with consistent structures, and the structures and working principles thereof are similar to those of the first lifting assembly, and the second lifting assembly also has a lifting base, a movable connecting component, a power source (such as a linear motor), a damping structure, a wire rail and related auxiliary components (such as a protective plate, a magnetic scale and the like). The second lifting assembly indirectly realizes more flexible and accurate spatial height adjustment of the side-taking palm assembly by driving the lifting base of the first lifting assembly. For example, in some material handling tasks requiring large-range height adjustment and having high accuracy requirements, the second lifting assembly first lifts or lowers the first lifting assembly as a whole to a general height range, and then the first lifting assembly finely adjusts the height of the side-taking palm assembly, and the two are coordinated with each other, thereby greatly improving the flexibility and accuracy of the side-taking mechanical hand in spatial height adjustment.
[0010] Compared with the prior art, the utility model has the following beneficial effects:
[0011] 1) The utility model discloses a first lifting assembly and a second lifting assembly are arranged in parallel and act in concert, which greatly expands the adjustment range and accuracy of the side-taking palm assembly in the spatial height. The second lifting assembly can drive the first lifting assembly to move as a whole, realize large-amplitude height coarse adjustment, and quickly position the side-taking palm assembly to the target height. For example, when carrying articles on different height shelves, the second lifting assembly can quickly lift or lower the mechanical hand to a suitable general height layer. Then the first lifting assembly finely adjusts the height of the side-taking palm assembly, and ensures that it can accurately reach the accurate height position of the article, so as to carry out the grabbing operation. This combination of coarse adjustment and fine adjustment improves the height adjustment efficiency and guarantees the accuracy of the grabbing position, effectively reduces the situation of grabbing failure or article damage caused by inaccurate height positioning, and improves the success rate and stability of material handling on the production line.
[0012] 2) In the first lifting assembly, a linear motor is arranged between the connecting base plate and the first lifting base. The linear motor has the advantages of high accuracy, high response speed and good positioning performance. When driving the connecting base plate to move, the linear motor can accurately control the moving distance and speed according to the instruction of the control system, so that the height adjustment accuracy of the side-taking palm assembly can reach the order of millimeter or even smaller. This can ensure that the mechanical hand accurately and correctly grabs and places the material, avoids the adverse effects on product quality caused by height deviation, and improves the production qualification rate and stability of the production process.
[0013] 3)The circular table-shaped damping blocks symmetrically arranged on the connecting bottom plate play a key role in buffering and damping during the operation of the mechanical hand. When the mechanical hand performs rapid lifting movement or grasps and places materials, impact and vibration will inevitably occur. The damping blocks can effectively absorb and dissipate these impact energies, reducing the influence of vibration on the structure and internal precision components (such as linear motors, magnetic grating scales, etc.) of the mechanical hand. For example, in high-speed and frequent material handling operations, the damping blocks can prevent components from loosening and wear from long-term vibration, prolonging the service life of the mechanical hand and reducing the maintenance cost of the equipment. At the same time, the damping blocks can also reduce the influence of vibration on the materials, avoiding displacement, damage or affecting the subsequent processing, assembly and other process quality due to excessive vibration, ensuring the safety and stability of the material handling process.
[0014] 4)The deformation driving component symmetrically arranged at one end of the wire rail is composed of a first deformation layer, an insulation layer and a second deformation layer (all in the shape of a long strip of piezoelectric ceramic) connected in sequence. Under the action of an external electric field, the first deformation layer and the second deformation layer both deform along the width direction. This unique design can effectively compensate for the gap changes of the wire rail caused by factors such as wear and temperature changes. During long-term use, the wire rail will wear due to friction, and the gap will gradually increase, which will affect the precision and stability of the movement of the connecting bottom plate. The deformation driving component can produce a small deformation as needed, apply appropriate pre-tightening force on the wire rail, adjust the gap of the wire rail, and make the connecting bottom plate always move along the accurate trajectory, maintaining stable operation precision. For example, on a high-precision assembly production line, even after a long time of operation, the mechanical hand can still accurately grasp and place small parts thanks to the action of the deformation driving component, ensuring that the quality and efficiency of the assembly process are not affected.
[0015] 5)The first protective plate and the second protective plate detachably arranged on the first lifting base provide effective protection for the key components of the mechanical hand. The first protective plate penetrates the connecting bottom plate, and the second protective plate is symmetrically arranged on both sides of the first protective plate. In industrial production environments, there are often a lot of dust, debris and other foreign matters. If these foreign matters enter the areas of components such as wire rails and linear motors, they will cause components to wear out, run out of stock, or even fail. The protective plate can block the intrusion of these foreign matters, keep the working environment of the components clean, and reduce equipment failures caused by foreign matter pollution. For example, in a metal processing workshop, the protective plate can prevent metal debris from entering the interior of the mechanical hand, ensuring that the mechanical hand can still operate stably in harsh environments, improving the reliability and environmental adaptability of the equipment, reducing the production downtime caused by equipment downtime maintenance, and improving production efficiency.
[0016] 6)The utility model discloses the recessed L-shaped wire slot of symmetrical setting of connecting bottom plate provides great convenience for the arrangement and management of electrical circuit. In the operation process of the manipulator, the electrical circuit of connecting palm fixed seat, side taking palm subassembly, first elevating subassembly and control system is numerous and complex. The wire slot can make these circuits arrange orderly, avoid the mutual entanglement, pulling or exposure of circuit and be damaged. The circuit is well fixed and protected in the wire slot, reduces the abnormal situation of manipulator operation caused by circuit fault (such as open circuit, short circuit etc.). Meanwhile, when needing to check, maintain or replace the circuit, the design of wire slot makes the circuit clear and visible, easy to operate, and maintenance personnel can quickly locate and handle the circuit problem, reduces the maintenance difficulty and maintenance cost, improves the maintainability and maintenance efficiency of equipment. BRIEF DESCRIPTION OF DRAWINGS
[0017] To further illustrate the embodiments, the utility model provides the attached drawing. These attached drawings are part of the utility model disclosure, mainly used to illustrate the embodiment, and can cooperate with the relevant description of the specification to explain the operation principle of the embodiment. With reference to these contents, those skilled in the art should understand other possible implementation modes and the advantages of the utility model. The components in the drawing are not drawn according to scale, and similar component symbols are usually used to represent similar components.
[0018] Fig. 1 It is a partial explosion three-dimensional drawing of the side taking manipulator;
[0019] Fig. 2 It is a partial explosion drawing of the negative axis side of the side taking manipulator. DETAILED DESCRIPTION
[0020] The technical scheme in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.
[0021] In order to make those skilled in the art better understand the utility model scheme, the utility model will be further described in detail in combination with the drawings and specific embodiments.
[0022] Please refer to the attached Figs. 1-2 As shown in the figure: a side taking manipulator, including palm fixed seat 1 and the side taking palm subassembly 2 that can detachable installation on palm fixed seat 1, the side taking manipulator still includes:
[0023] A first lifting assembly 3 is fixed on one side of the palm fixing seat 1, and the first lifting assembly 3 can drive the palm fixing seat 1 to move back and forth.
[0024] A second lifting assembly 4 is arranged in parallel with the first lifting assembly 3, and the second lifting assembly 4 can drive the first lifting assembly 3 to move back and forth.
[0025] The first lifting assembly 3 and the second lifting assembly 4 drive the side-taking palm assembly 2 to complete the space height adjustment.
[0026] On the basis of the above embodiment, the first lifting assembly 3 and the second lifting assembly 4 are arranged in the same structure.
[0027] On the basis of the above embodiment, the first lifting assembly 3 includes a first lifting base 31, a connecting bottom plate 32 movably arranged on the first lifting base 31, a linear motor 33 arranged between the connecting bottom plate 32 and the first lifting base 31, and a circular truncated cone-shaped damping block 34 symmetrically arranged on the connecting bottom plate 32.
[0028] On the basis of the above embodiment, the first lifting base 31 and the connecting bottom plate 32 are connected through a wire rail sliding connection, and the wire rail is symmetrically provided with deformation driving components with opposite moving directions at one end.
[0029] The first lifting base 31 is detachably provided with a first protective plate 311 and a second protective plate 312, the first protective plate 311 penetrates the connecting bottom plate 32, and the second protective plate 312 is symmetrically arranged on both sides of the first protective plate 311.
[0030] The first lifting base 31 is provided with a magnetic scale.
[0031] On the basis of the above embodiment, the deformation driving component includes a first deformation layer, an insulation layer and a second deformation layer which are sequentially adhered, the first deformation layer and the second deformation layer are both strip-shaped piezoelectric ceramics, and under the action of an external electric field, the first deformation layer and the second deformation layer both deform along the width direction.
[0032] On the basis of the above embodiment, the wire rail is fixed on the first lifting base 31 through a wedge block and a wedge block, the wedge block is in surface contact with the wedge block, the wedge block is in surface contact with the wire rail, the wedge block and the wedge block are both provided with a matching extrusion surface, and the wedge block is provided with a through countersunk hole.
[0033] On the basis of the above embodiment, the connecting bottom plate 32 is symmetrically provided with an L-shaped wire groove.
[0034] In the use of the side-taking mechanical hand, first, according to the shape, size and handling requirements of the material, select the appropriate side-taking palm assembly and detachably install it on the palm fixing seat. Then, according to the height position information of the material on the production line, the control system sends instructions to the second lifting assembly, the second lifting assembly starts the linear motor to drive the first lifting assembly to rise or fall to the position close to the target height. Next, the linear motor of the first lifting assembly is started again to drive the connecting bottom plate to move along the line rail, so as to drive the palm fixing seat and the side-taking palm assembly to carry out accurate height fine adjustment. During the whole lifting process, the magnetic grating ruler monitors the position information of the connecting bottom plate in real time and transmits the feedback signal to the control system, and the control system adjusts the operation of the linear motor according to the feedback signal to ensure that the side-taking palm assembly can accurately reach the predetermined height position. When the side-taking palm assembly reaches the appropriate height, the material can be grabbed, and after the grabbing is completed, the first lifting assembly and the second lifting assembly are used to carry out the operation of the material to the designated position and put down.
[0035] The above is only the preferred embodiment of the present application, not any form of limitation on the present application, although the present application has been disclosed as above with the preferred embodiment, however, it is not intended to limit the present application. Any person skilled in the art, without departing from the scope of the present application, should be able to use the above disclosed technical content to make some changes or modifications to make equivalent embodiments of equivalent changes, but as long as it does not deviate from the technical solution of the present application, according to the technical essence of the present application, any brief introduction, modification, equivalent change and modification of the above embodiments, all still belong to the scope of the present application technical solution.
Claims
1. A side draw robot comprising a palm fixing base (1) and a side draw palm assembly (2) detachably mounted on the palm fixing base (1), characterized in that, The side taking manipulator further comprises: A first lifting assembly (3) fixed to one side of the palm fixing base (1), the first lifting assembly (3) being capable of driving the palm fixing base (1) to move back and forth; and A second lifting assembly (4) arranged in parallel with the first lifting assembly (3), the second lifting assembly (4) being capable of driving the first lifting assembly (3) to move back and forth; Wherein: the first lifting assembly (3) and the second lifting assembly (4) cooperatively drive the side taking palm assembly (2) to complete the space height adjustment.
2. The side draw robot of claim 1, wherein: The first lifting assembly (3) and the second lifting assembly (4) are arranged in a consistent structure.
3. The side draw robot of claim 2, wherein: The first lifting assembly (3) comprises a first lifting base (31), a connecting bottom plate (32) being movably arranged on the first lifting base (31), a linear motor (33) being arranged between the connecting bottom plate (32) and the first lifting base (31), and a circular truncated cone damping block (34) being symmetrically arranged on the connecting bottom plate (32).
4. The side draw robot of claim 3, wherein: The first lifting base (31) and the connecting bottom plate (32) are connected through a wire rail sliding connection, and the wire rail is symmetrically provided with deformation driving components (5) with opposite moving directions at one end. The first lifting base (31) is detachably provided with a first protective plate (311) and a second protective plate (312), the first protective plate (311) penetrating through the connecting bottom plate (32), and the second protective plate (312) being symmetrically arranged on both sides of the first protective plate (311). The first lifting base (31) is provided with a magnetic scale.
5. The side draw robot of claim 4, wherein: The deformation driving component comprises a first deformation layer, an insulation layer and a second deformation layer which are sequentially adhered, the first deformation layer and the second deformation layer are both long strip piezoelectric ceramics, and under the action of an external electric field, the first deformation layer and the second deformation layer both deform along the width direction.
6. The side draw robot of claim 4, wherein: The wire rail is fixed on the first lifting base (31) through a wedge block and a wedge block, the wedge block is in surface contact with the wedge block, the wedge block is in surface contact with the wire rail, the wedge block and the wedge block are both provided with a matching extrusion surface, and the wedge block is provided with a through countersunk hole.
7. The side draw robot of claim 3, wherein: The connecting bottom plate (32) is symmetrically provided with an L-shaped wire groove.