Carrying manipulator

Abstract

The utility model discloses a carrying manipulator which comprises a rotating base, a machine arm mechanism, a clamping mechanism and a translation mechanism, the rotating base is arranged on the translation mechanism, the machine arm mechanism is arranged on the rotating base, the clamping mechanism is arranged at the tail end of the machine arm mechanism, the translation mechanism comprises a sliding plate, a sliding rail, two sets of supporting rods, a driving motor and a synchronous belt, and the two sets of supporting rods are arranged in parallel. The two ends of the sliding rail are erected between the two sets of supporting rods respectively, the sliding rail is sleeved with the sliding plate in a sliding mode, the rotating base is fixedly arranged on the sliding plate, the driving motor is fixedly arranged on one supporting rod, a synchronous wheel is arranged on the other supporting rod, the synchronous belt is arranged on an output wheel of the driving motor and the synchronous wheel in a surrounding mode, and the middle of the synchronous belt is fixedly connected with the sliding plate. The synchronous belt is driven by the driving motor to rotate, so that the sliding plate is driven to move on the sliding rail, the machine arm mechanism and the clamping mechanism are further driven to move horizontally, cargoes are carried in a larger range, the application range is widened, and the carrying efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot equipment technical field, concretely relates to a carrying manipulator. BACKGROUND

[0002] With the high -speed development of information and intelligent technology, the carrying stacking robot is widely used in logistics, construction and manufacturing etc. industry, through the adoption stacking robot carries the stacking of article, can improve the stacking work efficiency and saves the manual work simultaneously, adopts the existing mechanical hand to carry out the carrying work, its carrying path can only carry in the range of around the mechanical hand base, the range of goods can carry the movement is narrow, this makes the application scope of the mechanical hand in the prior art lower, and the carrying efficiency is lower. CONTENT OF THE UTILITY MODEL

[0003] The utility model discloses a carrying manipulator which overcomes the defects in the above background technology.

[0004] To achieve the above object, the carrying manipulator provided by the utility model, including rotating base, arm mechanism, clamping mechanism and translation mechanism, the rotating base is arranged on the translation mechanism, the arm mechanism is arranged on the rotating base, the clamping mechanism is arranged at the end of the arm mechanism, the translation mechanism includes slide plate, slide rail, support rod, drive motor and synchronous belt, two groups of support rods are arranged in parallel, the slide rail is arranged between the two groups of support rods, the slide plate is slidably connected to the slide rail, the rotating base is fixedly arranged on the slide plate, the drive motor is fixedly arranged on one of the support rods, a synchronous wheel is arranged on the other support rod, the synchronous belt is arranged around the output wheel of the drive motor and the synchronous wheel, and the middle part of the synchronous belt is fixedly connected with the slide plate. Through the rotating base, the arm mechanism and the clamping mechanism can rotate as a whole; when the clamping mechanism clamps the goods, the slide plate is driven by the drive motor on the translation mechanism to translate along the slide rail, so that the goods can be carried in a larger range to improve the application range.

[0005] Further optimize the technical scheme, the support rod is provided with a C-shaped clamping groove, a guide rail fastener is arranged on the C-shaped clamping groove, and the slide rail is fixedly connected with the support rod through the guide rail fastener. By arranging the C-shaped clamping groove, the installation position of the guide rail fastener can be adjusted conveniently to adapt to the installation of slide plates of different sizes and improve the applicability.

[0006] Further optimize the technical scheme, the support rod is provided with a C-shaped clamping groove, a guide rail fastener is arranged on the C-shaped clamping groove, and the slide rail is fixedly connected with the support rod through the guide rail fastener. By arranging the C-shaped clamping groove, the installation position of the guide rail fastener can be adjusted conveniently to adapt to the installation of slide plates of different sizes and improve the applicability.

[0007] Further optimize the technical scheme, the rotating base comprises a fixed seat, a rotating seat, a first motor and a first gear, the fixed seat is fixedly arranged on the top surface of the sliding plate, the first gear is rotatably arranged on the top surface of the fixed seat, the rotating seat is fixedly arranged on the first gear, the first motor is fixedly arranged on the bottom of the sliding plate, a first driving gear meshed with the first gear is arranged on the output shaft of the first motor, and the arm mechanism is arranged on the rotating seat. The first motor drives the first gear to rotate, so that the horizontal rotation movement of the arm mechanism is realized.

[0008] Further optimize the technical scheme, the arm mechanism comprises a large arm, an upper arm, a second motor and a third motor, one end of the large arm is hingedly connected with the rotating seat, the other end of the large arm is hingedly connected with the upper arm, the clamping mechanism is arranged on the distal end of the upper arm, coaxial second gears and third gears are arranged on both sides of the hinged connection between the large arm and the rotating seat, the second motor and the third motor are fixedly arranged on the two outer sides of the rotating seat respectively, a second driving gear meshed with the second gear is arranged on the output shaft of the second motor, a third driving gear meshed with the third gear is arranged on the output shaft of the third motor, the second gear is fixedly connected with the large arm, the first connecting rod is fixedly connected coaxially on the third gear, the second connecting rod is hingedly connected to the free end of the first connecting rod, and one end of the second connecting rod is hingedly connected with one end of the upper arm. The vertical rotation and lifting of the large arm are controlled by the second motor, and the rotation of the upper arm is controlled by the third motor, so that the position of the clamping mechanism in the vertical plane is controlled.

[0009] Further optimize the technical scheme, the large arm is provided with an adjusting tripod, the lower end of the adjusting tripod is hingedly connected with the large arm, a third connecting rod is hingedly connected to the rotating seat, one end of the third connecting rod is hingedly connected with the rear end of the adjusting tripod, a fourth connecting rod is hingedly connected to the front end of the adjusting tripod, the clamping mechanism is connected with the upper arm through a wrist support, and the wrist support is hingedly connected with the upper arm and the fourth connecting rod. Through the cooperation of the adjusting tripod, the third connecting rod, the fourth connecting rod and the wrist support, the clamping mechanism is kept parallel to the ground at all times, and the goods are kept horizontal during clamping.

[0010] Further optimize the technical scheme, a stabilizing block is arranged on the rotating seat and horizontally fixed between the two side walls of the rotating seat. The rotating seat is reinforced by the stabilizing block to increase the stability.

[0011] Further optimize the technical scheme, a limiting switch is arranged on the rotating seat and between the two side walls at the back of the rotating seat. The limiting switch limits the rotation angle of the large arm to improve safety.

[0012] Further optimize technical scheme, the clamping mechanism includes end mounting plate, fourth motor and holder, the end mounting plate is fixedly connected on the wrist support, the fourth motor is fixed on the end mounting plate, and the output end of the fourth motor is connected with the holder. The fourth motor is rotated to the appropriate direction by controlling the holder, so as to grasp and carry goods.

[0013] Further optimize technical scheme, the holder includes connecting plate, clamping jaw and rudder machine, the connecting plate is connected with the output end of the fourth motor, the clamping jaw is rotatably connected on the connecting plate, and the output end of the rudder machine is connected with the clamping jaw. The opening and closing of the clamping jaw are brought to the rudder machine, so as to clamp goods for carrying.

[0014] The beneficial effects of the present application include: by placing the rotating base, the arm mechanism and the clamping mechanism on the translation mechanism, the arm mechanism can be horizontally rotated to the appropriate position through the rotating base, and then the arm mechanism moves vertically and horizontally in a plane to carry the clamping mechanism to the vicinity of the required carrying goods and clamps the goods for carrying. During carrying, the synchronous belt is driven to rotate by the driving motor, the synchronous belt drives the sliding plate to slide left and right along the slide rail when rotating, and then drives the arm mechanism and the clamping mechanism to translate, so as to realize carrying the goods in a larger range, and improve the application range and carrying efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 It is a three-dimensional schematic view of the carrying manipulator in the embodiment of the present application.

[0016] Fig. 2 It is a front view schematic view of the carrying manipulator in the embodiment of the present application.

[0017] Fig. 3 It is a side view schematic view of the carrying manipulator in the embodiment of the present application.

[0018] Fig. 4 It is a top view schematic view of the carrying manipulator in the embodiment of the present application.

[0019] Reference signs: 1 rotating base; 101 fixed seat; 102 rotating seat; 103 first motor; 104 first gear; 105 first drive gear; 2 arm mechanism; 201 large arm; 202 upper arm; 203 second motor; 204 third motor; 205 second gear; 206 third gear; 207 second drive gear; 208 third drive gear; 209 first connecting rod; 2010 second connecting rod; 2011 adjusting tripod; 2012 third connecting rod; 2013 wrist support; 2014 fourth connecting rod; 2015 stabilizing block; 2016 limit switch; 3 clamping mechanism; 301 end mounting plate; 302 fourth motor; 303 clamping device; 3031 connecting plate; 3032 clamping jaw; 3033 steering wheel; 4 translation mechanism; 401 sliding plate; 402 sliding rail; 403 support rod; 404 drive motor; 405 synchronous belt; 406 C-shaped clamping groove; 407 guide rail fastener; 408 track support leg; 409 synchronous wheel. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects of the embodiments of the utility model clearer, the utility model will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model and not to limit the utility model.

[0021] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be for fixing or for circuit communication.

[0022] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.

[0023] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the utility model, the meaning of "multiple" is two or more, unless otherwise explicitly specified.

[0024] Please refer to Figs. 1 to 4 In an embodiment, the disclosed handling robot includes a rotating base 1, an arm mechanism 2, a clamping mechanism 3, and a translation mechanism 4. The rotating base 1 is provided on the translation mechanism 4, the arm mechanism 2 is provided on the rotating base 1, the clamping mechanism 3 is provided on the end of the arm mechanism 2, and the translation mechanism 4 includes a sliding plate 401, sliding rails 402, support rods 403, a drive motor 404, and a synchronous belt 405. Two groups of support rods 403 are arranged in parallel, and two groups of sliding rails 402 are also provided. The two ends of the two groups of sliding rails 402 are respectively arranged between the two groups of support rods 403 and perpendicular to the support rods 403. The sliding plate 401 is slidably connected to the two sliding rails 402. The rotating base 1 is fixedly arranged on the sliding plate 401. The drive motor 404 is fixedly arranged on one of the support rods 403, and a synchronous wheel 409 is correspondingly arranged on the other support rod 403. The synchronous belt 405 is wrapped around the output wheel of the drive motor 404 and the synchronous wheel 409. The middle part of the synchronous belt 405 is fixedly connected to the sliding plate 401. Specifically, the drive motor 404 is a stepper motor or a servo motor, and is controlled based on Arduino to accurately control the rotation angle. Then, through the cooperation transmission mode of the synchronous belt 405 and the synchronous wheel 409, the sliding plate 401 can be accurately positioned by moving the position. The cost is also relatively low. Of course, a ball screw and screw pair cooperation mode can also be used for transmission, which will not be described here. In this embodiment, by placing the rotating base 1, the arm mechanism 2, and the clamping mechanism 3 on the translation mechanism 4, the arm mechanism 2 can be horizontally rotated to the appropriate position through the rotating base 1. Then, the arm mechanism 2 carries the clamping mechanism 3 to move to the vicinity of the required handling goods through the cooperation of vertical lifting and horizontal stretching movement, and clamps the goods to realize the handling of the goods. Manual handling is not required, and the handling efficiency is effectively improved. When handling the goods, the drive motor 404 drives the synchronous belt 405 to rotate. When the synchronous belt 405 rotates, it drives the sliding plate 401 to slide left and right along the sliding rails 402, and then drives the arm mechanism 2 and the clamping mechanism 3 to translate, so as to realize the handling of the goods in a larger range, thereby improving the application range.

[0025] In a preferred embodiment, a C-shaped clamping groove 406 is arranged on the support rod 403, and a guide rail fastener 407 is arranged on the C-shaped clamping groove 406. The sliding rail 402 is fixedly connected to the support rod 403 through the guide rail fastener 407. Specifically, the support rod 403 is in the shape of a rectangular long rod, and the C-shaped clamping groove 406 is arranged along the length direction of the support rod 403. The guide rail fastener 407 is detachably installed on the support rod 403 through the C-shaped clamping groove 406. By arranging the C-shaped clamping groove 406, the installation position of the guide rail fastener 407 can be adjusted, and the spacing between the sliding rails 402 can be adjusted, so as to adapt to the installation of sliding plates 401 of different sizes and improve the applicability.

[0026] In the preferred embodiment, track legs 408 are arranged at the bottom of both ends of the two support rods 403. The track legs 408 support the slide rails 402 from the ground, avoiding the ground debris from affecting the sliding of the skateboard 401, and providing sufficient installation space for the motor (the first motor 103) of the rotating base 1.

[0027] In a specific example, the rotating base 1 includes a fixed seat 101, a rotating seat 102, a first motor 103, and a first gear 104. The fixed seat 101 is fixedly arranged on the top surface of the skateboard 401. The first gear 104 is horizontally and rotatably arranged on the top surface of the fixed seat 101. The rotating seat 102 is fixedly arranged on the top side of the first gear 104 and can synchronously rotate horizontally with the first gear 104. The first motor 103 is fixedly arranged at the bottom of the skateboard 401. The output shaft of the first motor 103 extends vertically upward to the side of the first gear 104. A first drive gear 105 is arranged on the output shaft and is in meshing connection with the first gear 104. The number of teeth of the first drive gear 105 is less than that of the first gear 104. The robotic arm mechanism 2 is integrally arranged on the rotating seat 102. The first motor 103 preferably adopts a stepping motor or a servo motor. In this embodiment, the first motor 103 drives the first drive gear 105 to rotate, and then drives the first gear 104 to synchronously rotate, thereby realizing the horizontal rotation of the robotic arm mechanism 2, so as to facilitate the carrying of goods.

[0028] In a specific example, the arm mechanism 2 comprises a large arm 201, an upper arm 202, a second motor 203 and a third motor 204, the large arm 201 is hinged at one end to the rotating seat 102, the rotating seat 102 is in a U-shaped structure as a whole, the bottom end of the large arm 201 extends into the rotating seat 102 for hinging, the other end (top end) of the large arm 201 is hinged to the upper arm 202, the clamping mechanism 3 is arranged at the end of the upper arm 202, the second gear 205 and the third gear 206 are coaxially arranged at the two inner sides of the hinging position of the large arm 201 and the rotating seat 102, the second motor 203 and the third motor 204 are fixedly arranged at the two outer sides of the rotating seat 102 respectively, the output shaft of the second motor 203 penetrates through the side wall of the rotating seat 102, and a second driving gear 207 engagedly connected with the second gear 205 is arranged on the output shaft, similarly, the output shaft of the third motor 204 penetrates through the side wall of the rotating seat 102, and a third driving gear 208 engagedly connected with the third gear 206 is arranged on the output shaft, the second gear 205 is fixedly connected with the large arm 201, when the second gear 205 rotates, the large arm 201 can synchronously rotate, the first connecting rod 209 is fixedly connected coaxially on the third gear 206, when the third gear 206 rotates, the first connecting rod 209 synchronously rotates, the second connecting rod 2010 is hinged at the free end (upper end) of the first connecting rod 209, and one end (upper end) of the second connecting rod 2010 is hinged to the rear end of the upper arm 202. In this embodiment, the second motor 203 and the third motor 204 preferably adopt a stepping motor or a servo motor, the vertical rotation and lifting of the large arm 201 can be synchronously controlled by rotating the second gear 205 driven by the second motor 203, the third motor 204 drives the third gear 206 to rotate, the first connecting rod 209 synchronously rotates to drive the rotation of the upper arm 202, thereby controlling the position of the clamping mechanism 3 in the vertical plane; by forming a parallelogram linkage mechanism with the large arm 201, the upper arm 202, the first connecting rod 209 and the second connecting rod 2010, the stress of the arm mechanism 2 can be dispersed, the stiffness-to-mass ratio of the arm mechanism 2 body is indirectly improved, and the driving power is reduced.

[0029] In a specific example, the adjusting tripod 2011 is hingedly connected to the top end of the large arm 201, and a third connecting rod 2012 is hingedly connected to the rotating seat 102, one end (top end) of the third connecting rod 2012 is hingedly connected to the rear end of the adjusting tripod 2011, and a fourth connecting rod 2014 is hingedly connected to the front end of the adjusting tripod 2011. The clamping mechanism 3 is connected to the upper arm 202 through the wrist support 2013, and the wrist support 2013 is hingedly connected to the upper arm 202 and the fourth connecting rod 2014. Specifically, the wrist support 2013 is also provided in the form of a tripod structure, and the large arm 201, the adjusting tripod 2011, the third connecting rod 2012 and the rotating seat 102 form a parallelogram connecting rod mechanism, and the adjusting tripod 2011, the fourth connecting rod 2014, the wrist support 2013 and the upper arm 202 form a parallelogram connecting rod mechanism, which is used to keep the clamping mechanism 3 always parallel to the ground and ensure that the goods are kept horizontal during clamping.

[0030] In a preferred embodiment, a stabilizing block 2015 is arranged on the rotating seat 102, and the stabilizing block 2015 is transversely fixed between the two side walls of the rotating seat 102. The stabilizing block 2015 is used to reinforce the side walls of the rotating seat 102, thereby increasing the stability.

[0031] In a preferred embodiment, a limit switch 2016 is arranged on the rotating seat 102, and the limit switch 2016 is arranged between the two side walls at the back of the rotating seat 102. The limit switch 2016 is a contact type limit switch, which can automatically stop the backward rotation of the large arm 201 when the large arm 201 is pressed against the limit switch 2016, thereby improving safety.

[0032] In a specific example, the clamping mechanism 3 includes an end mounting plate 301, a fourth motor 302 and a gripper 303, the end mounting plate 301 is horizontally fixedly connected to the wrist support 2013, the fourth motor 302 is fixedly connected to the end mounting plate 301, and the output end of the fourth motor 302 is connected to the gripper 303. Similarly, the fourth motor 302 preferably adopts a stepping motor or a servo motor, which is used to control the overall rotation of the gripper 303 to adjust the grabbing direction or the stacking direction of the gripper 303, thereby facilitating the carrying of goods.

[0033] In a specific example, the gripper 303 includes a connecting plate 3031, a clamping jaw 3032 and a rudder 3033, the connecting plate 3031 is vertically connected to the output end of the fourth motor 302, the clamping jaw 3032 is rotatably connected to the side surface of the connecting plate 3031, and the output end of the rudder 3033 is connected to the clamping jaw 3032. The opening and closing of the clamping jaw 3032 is driven by the rudder 3033, thereby facilitating the clamping and carrying of goods.

[0034] The above is further detailed description of the utility model in combination with specific / preferred embodiments, which cannot be deemed as limiting the specific implementation of the utility model to these descriptions. For ordinary skilled in the art to which the utility model belongs, without departing from the concept of the utility model, they can make several substitutions or variations to the described embodiments, and these substitution or variation manners should be deemed as belonging to the protection scope of the utility model. In the description of the specification, the description of the reference terms "an embodiment", "some embodiments", "preferred embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are contained in at least one embodiment or example of the utility model. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In the case of not mutually contradictory, the skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of different embodiments or examples. Although the embodiments of the utility model and its advantages have been described in detail, it should be understood that various changes, substitutions and modifications can be made in this paper without departing from the protection scope of the patent application.

Claims

1. A handling robot, characterized in that: The utility model provides a kind of multi-rotary arm mechanism, including rotating base, machine arm mechanism, clamping mechanism and translation mechanism, the rotating base is equipped in the translation mechanism, the machine arm mechanism is equipped in the rotating base, the clamping mechanism is equipped in the end of the machine arm mechanism, the translation mechanism includes slide plate, slide rail, support rod, drive motor and synchronous belt, two groups of support rods are equipped in parallel, the slide rail both ends are respectively erected between two groups of the support rod, the slide plate is slidably sleeved on the slide rail, the rotating base is fixedly equipped on the slide plate, the drive motor is fixedly equipped on one of the support rod, synchronous wheel is equipped on another support rod, the synchronous belt is around equipped on the output wheel of the drive motor and the synchronous wheel, the middle part of the synchronous belt is fixedly connected with the slide plate.

2. The handling robot of claim 1, wherein: C-shaped clamping groove is equipped on the support rod, guide rail fastener is equipped on the C-shaped clamping groove, the slide rail is fixedly connected with the support rod by the guide rail fastener.

3. The handling robot of claim 2, wherein: Rail support leg is respectively equipped at the both ends of the support rod.

4. The handling robot according to any one of claims 1 to 3, characterized in that: The rotating base includes fixed seat, rotating seat, first motor and first gear, the fixed seat is fixedly equipped on the slide plate top surface, the first gear is rotatably equipped on the fixed seat top surface, the rotating seat is fixedly equipped on the first gear, the first motor is fixedly equipped on the slide plate bottom, the first motor is equipped with the first drive gear that is meshed with the first gear on the output shaft, and the machine arm mechanism is equipped on the rotating seat.

5. The handling robot of claim 4, wherein: The machine arm mechanism includes big arm, upper arm, second motor and third motor, one end of the big arm is hinged with the rotating seat, the other end of the big arm is hinged with the upper arm, the clamping mechanism is equipped on the end of the upper arm, coaxial second gear and third gear are equipped on both sides of the hinge between the big arm and the rotating seat, the second motor and the third motor are respectively fixedly equipped on both outer sides of the rotating seat, the output shaft of the second motor is equipped with the second drive gear that is meshed with the second gear, the output shaft of the third motor is equipped with the third drive gear that is meshed with the third gear, the second gear is fixedly connected with the big arm, the first connecting rod is fixedly connected with the third gear on the same shaft, the second connecting rod is hinged on the free end of the first connecting rod, and one end of the second connecting rod is hinged with one end of the upper arm.

6. The handling robot of claim 5, wherein Adjusting tripod is equipped on the big arm, the adjusting tripod is hinged with the big arm at lower end, the third connecting rod is hinged on the rotating seat, one end of the third connecting rod is hinged with the rear end of the adjusting tripod, the fourth connecting rod is hinged with the front end of the adjusting tripod, the clamping mechanism is connected with the upper arm through wrist support, and the wrist support is hinged with the upper arm and the fourth connecting rod.

7. The handling robot of claim 6, wherein Stabilizing block is equipped on the rotating seat, and the stabilizing block is fixedly arranged between the two side walls of the rotating seat.

8. The handling robot of claim 7, wherein: Limit switch is equipped on the rotating seat, and the limit switch is arranged between the two side walls of the back of the rotating seat.

9. The handling robot of claim 8, wherein: The clamping mechanism includes end mounting plate, fourth motor and gripper, the end mounting plate is fixedly connected on the wrist support, the fourth motor is fixed on the end mounting plate, and the output end of the fourth motor is connected with the gripper.

10. The handling robot of claim 9, wherein: The clamping device comprises a connecting plate, a clamping jaw and a steering engine, the connecting plate is connected with the output end of the fourth motor, the clamping jaw is rotatably connected on the connecting plate, and the output end of the steering engine is connected with the clamping jaw.

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