Transverse long-stroke manipulator

Abstract

The transverse long-stroke mechanical arm comprises a transverse mounting base, a fixed mounting base and a grabbing mechanism, a first sliding block is arranged on the fixed mounting base, a first transverse sliding rail is arranged on the back side face of the transverse mounting base, the first sliding block is in sliding connection with the first transverse sliding rail, and a rack is further arranged on the back side face of the transverse mounting base; the rack is parallel to the first transverse sliding rail, a gear is rotationally arranged on the fixed installation base and meshed with the rack, a first rotation driving piece is further arranged on the fixed installation base, the rotation driving piece is connected with the gear and used for driving the gear to rotate forwards and backwards, and a second transverse sliding rail parallel to the first transverse sliding rail is arranged on the front side face of the transverse installation base. The grabbing mechanism is slidably connected with the second transverse sliding rail, a driving assembly is arranged on the transverse mounting base, the driving assembly is connected with the grabbing mechanism and used for driving the grabbing mechanism to move in the length direction of the second transverse sliding rail in a reciprocating mode, and when multiple mechanical arms are arranged side by side to carry objects, space is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical automation, more particularly, it relates to a transverse long-stroke manipulator. BACKGROUND

[0002] A manipulator is an automatic operating device that can imitate the functions of human hands and arms to grab, carry objects or operate tools according to a fixed program. It has the characteristics of being able to complete various expected work through programming, and has the advantages of both human and mechanical devices. The manipulator is the earliest industrial robot and the earliest modern robot. It can replace human labor to realize production mechanization and automation, and can operate in a harmful environment to protect personal safety, so it is widely used in mechanical manufacturing, metallurgy, electronics, light industry and atomic energy departments.

[0003] In the related art, the manipulator realizes transverse movement to grab objects by setting a transverse sliding rail on a transverse mounting seat and connecting the grabbing mechanism with the transverse sliding rail, and then connecting the driving assembly provided on the transverse mounting seat with the grabbing mechanism to drive the grabbing mechanism to reciprocate along the length direction of the transverse sliding rail, so as to realize the transverse reciprocating movement of the grabbing mechanism. After the grabbing mechanism grabs the object, the object is carried to another position of the transverse line.

[0004] In the related art, the object carrying movement displacement is determined by the transverse sliding rail provided on the transverse mounting seat. When the distance between the two points of the object carrying is long, the length of the transverse sliding rail needs to be set long, so the transverse mounting seat needs to be set long, which occupies a lot of space when multiple manipulators are used in parallel in the transverse direction, and is not conducive to multi-point carrying of objects under the condition of narrow space. Practical new type content

[0005] In order to solve the problem that multiple manipulators occupy a lot of space when used in parallel in the transverse direction in the related art, which is not conducive to multi-point carrying of objects under the condition of narrow space, the present application provides a transverse long-stroke manipulator.

[0006] A kind of transverse long-stroke manipulator, including transverse mounting seat, fixed mounting seat, grabbing mechanism, the first slider is provided on the fixed mounting seat, the transverse mounting seat includes positive side and back side, the back side of the transverse mounting seat is provided with first transverse slide rail, the first slider is slidably connected with the first transverse slide rail, the back side of the transverse mounting seat is also provided with rack, the rack is parallel with the first transverse slide rail, gear is rotatably arranged on the fixed mounting seat, the gear is engaged with the rack, the fixed mounting seat is also provided with first rotary drive, the rotary drive is connected with the gear for driving the gear to rotate in opposite directions, the positive side of the transverse mounting seat is provided with second transverse slide rail parallel with the first transverse slide rail, the grabbing mechanism is slidably connected with the second transverse slide rail, the transverse mounting seat is provided with drive assembly, the drive assembly is connected with the grabbing mechanism for driving the grabbing mechanism to reciprocate along the length direction of the second transverse slide rail.

[0007] Preferably, the drive assembly includes transmission belt, belt pulley and second rotary drive, the number of the belt pulley is two, two the belt pulley is rotatably arranged in the two ends of the positive side of the transverse mounting seat, the line connecting the rotary center of two the belt pulley is parallel with the second transverse slide rail, the transmission belt is sleeved on two the belt pulley, the grabbing mechanism is connected and fixed with the transmission belt, the second rotary drive is fixed on the transverse mounting seat and is connected with one the belt pulley, and the second rotary drive is used to drive the belt pulley to rotate in opposite directions.

[0008] Preferably, the first rotary drive and the second rotary drive are both servo motors.

[0009] Preferably, the back side of the transverse mounting seat is provided with infrared distance measuring sensor at both ends, and the two infrared distance measuring sensors are aligned with the gear.

[0010] Preferably, the grabbing mechanism includes grabbing fixed frame and grabbing assembly, the second slider and clamping piece are arranged on the grabbing fixed frame, the second slider is slidably connected with the second transverse slide rail, the clamping piece clamps the transmission belt and fixes the transmission belt, and the grabbing assembly is installed on the grabbing fixed frame for clamping articles or releasing the clamping of articles.

[0011] Preferably, the grabbing assembly includes fixed pressing plate, movable pressing plate and air cylinder, the fixed pressing plate is fixed on the grabbing fixed frame, the air cylinder is connected and fixed with the grabbing fixed frame, the air cylinder is connected and fixed with the movable pressing plate, and the movable pressing plate is vertically arranged and aligned with the fixed pressing plate, and the air cylinder is used to drive the movable pressing plate to move towards the fixed pressing plate or away from the fixed pressing plate.

[0012] The beneficial technical effects of the present application are as follows: the first rotary driving member drives the gear to rotate forward and backward, so that the rack moves back and forth in the transverse direction, the rack drives the transverse mounting seat to move back and forth in the transverse direction, the transverse mounting seat drives the driving assembly and the grabbing mechanism to move back and forth in the transverse direction, the driving assembly drives the grabbing mechanism to move back and forth along the length direction of the second transverse slide rail, so that the grabbing mechanism moves back and forth in the transverse direction, the movement of the transverse mounting seat is the first stroke of the lateral movement of the grabbing mechanism, the movement of the grabbing mechanism on the transverse mounting seat is the second stroke, the first stroke and the second stroke are superimposed to realize a long total stroke of the lateral movement of the grabbing mechanism, so that the grabbing mechanism can still move to the two object placement points with a long connection length from the transverse mounting seat, in the process of parallel arrangement of multiple mechanical hands, the movement of the transverse mounting seat realizes mutual avoidance, the movement path of the transverse mounting seat can be overlapped, so that the space occupied in the transverse direction by the parallel arrangement of multiple mechanical hands is reduced, which is beneficial to the transportation of objects in a narrow space, and when the transverse mounting seat moves, the driving assembly drives the grabbing mechanism to move synchronously in the movement direction of the transverse mounting seat, so that the grabbing mechanism has high movement efficiency and the conveying efficiency of objects is improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a first angle schematic view of a transverse long-stroke mechanical hand of the present embodiment.

[0014] Figure 2 It is a second angle schematic view of a transverse long-stroke mechanical hand of the present embodiment.

[0015] The drawings show that: 1, transverse mounting seat; 11, first transverse slide rail; 12, rack; 13, second transverse slide rail; 14, driving assembly; 141, transmission belt; 142, pulley; 143, second rotary driving member; 15, infrared distance measuring sensor; 2, fixed mounting seat; 21, first sliding block; 22, gear; 23, first rotary driving member; 3, grabbing mechanism; 31, grabbing fixed frame; 311, second sliding block; 312, clamping piece; 32, grabbing assembly; 321, fixed pressing plate; 322, movable pressing plate; 323, air cylinder. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0017] Referring to Figure 1 A transverse long-stroke mechanical arm, comprising a transverse mounting base 1, a fixed mounting base 2, and a grabbing mechanism 3, the fixed mounting base 2 is provided with a first sliding block 21, the number of the first sliding blocks 21 is two, the two first sliding blocks 21 are symmetrically arranged up and down, the transverse mounting base 1 comprises a front side and a back side, the back side of the transverse mounting base 1 is provided with a first transverse sliding rail 11, the first transverse sliding rail 11 is symmetrically arranged up and down, one first transverse sliding rail 11 is in sliding connection with one first sliding block 21, and the other first transverse sliding rail 11 is in sliding connection with the other first sliding block 21, the back side of the transverse mounting base 1 is further provided with a rack 12, the rack 12 is between the two first transverse sliding rails 11 and parallel to the first transverse sliding rails 11, the fixed mounting base 2 is rotatably provided with a gear 22 between the two first sliding blocks 21, and the gear 22 is in engagement with the rack 12, the fixed mounting base 2 is further provided with a first rotary driving member 23, the first rotary driving member 23 is connected with the gear 22 for driving the gear 22 to rotate forward and backward, the gear 22 is driven to rotate forward and backward to realize reciprocating movement of the rack 12 in the transverse direction, thereby driving the transverse mounting base 1 to reciprocate in the transverse direction, and the first rotary driving member 23 is a servo motor, the servo motor is provided with an encoder, the servo motor is in signal connection with an external control system, and the stroke displacement of the transverse mounting base 1 is controlled.

[0018] Referring to Figure 2 The front side of the transverse mounting base 1 is provided with a second transverse sliding rail 13 parallel to the first transverse sliding rail 11, the grabbing mechanism 3 is in sliding connection with the second transverse sliding rail 13, the transverse mounting base 1 is provided with a driving assembly 14, the driving assembly 14 is connected with the grabbing mechanism 3 for driving the grabbing mechanism 3 to reciprocate in the length direction of the second transverse sliding rail 13, further, the driving assembly 14 comprises a transmission belt 141, a belt pulley 142 and a second rotary driving member 143, the number of the belt pulleys 142 is two, the two belt pulleys 142 are rotatably arranged at two ends of the front side of the transverse mounting base 1 respectively, the center lines of the two belt pulleys 142 are parallel to the second transverse sliding rail 13, the transmission belt 141 is sleeved on the two belt pulleys 142, the grabbing mechanism 3 is connected and fixed with the transmission belt 141, the second rotary driving member 143 (not shown in the figure) is fixed on the transverse mounting base 1 and connected with one belt pulley 142, the second rotary driving assembly 14 is used for driving the belt pulley 142 to rotate forward and backward, the belt pulley 142 is driven to rotate forward and backward to realize forward and reverse transmission of the transmission belt 141, the transmission belt 141 is driven to reciprocate in the length direction of the second transverse sliding rail 13 to drive the grabbing mechanism 3 to reciprocate in the length direction of the second transverse sliding rail 13, and the second rotary driving member 143 is a servo motor, the servo motor is provided with an encoder, the servo motor is in signal connection with an external control system, and the stroke displacement of the grabbing mechanism 3 is controlled.

[0019] The application drives the grabbing mechanism 3 to reciprocate along the length direction of the second transverse sliding rail 13 through the driving assembly 14, the movement of the transverse mounting seat 1 is the first stroke of the transverse movement of the grabbing mechanism 3, the movement of the grabbing mechanism 3 on the transverse mounting seat 1 is the second stroke, the first stroke and the second stroke are superimposed to realize that the total stroke of the transverse movement of the grabbing mechanism 3 is long, the grabbing mechanism 3 can still move to two object placing points with a connection length longer than the transverse mounting seat 1 under the condition that the transverse mounting seat 1 is short, in the process of parallel arrangement of multiple mechanical hands, the movement of the transverse mounting seat 1 realizes mutual avoidance, the movement path of the transverse mounting seat 1 can be overlapped, so that the space occupied in the transverse direction is reduced when multiple mechanical hands are arranged in parallel, which is beneficial to the transportation of objects under the condition of narrow space, and when the transverse mounting seat 1 moves, the driving assembly 14 drives the grabbing mechanism 3 to move synchronously in the movement direction of the transverse mounting seat 1, so that the moving efficiency of the grabbing mechanism 3 is high, and the conveying efficiency of the object is improved.

[0020] Referring to Figure 1 Further, the two ends of the back side of the transverse mounting seat 1 are provided with infrared distance sensors 15, both of which are positioning gears 22, and the infrared distance sensors 15 are signal connected with an external control system for measuring the distance between the gear 22 and the infrared distance sensor 15, so as to control the stroke end of the rack 12 to prevent the gear 22 from being separated from the rack 12, and avoid the condition that the gear 22 idles and cannot drive the transverse mounting seat 1 to move.

[0021] Referring to Figure 2 Further, the grabbing mechanism 3 comprises a grabbing fixed frame 31 and a grabbing assembly 32, the grabbing fixed frame 31 is provided with a second sliding block 311 and a clamping piece 312, the second sliding block 311 is slidingly connected with the second transverse sliding rail 13, the grabbing assembly 32 is installed on the grabbing fixed frame 31 to realize that the grabbing mechanism 3 as a whole is slidingly connected with the second transverse sliding rail 13, so that the grabbing mechanism 3 stably slides, the grabbing assembly 32 is used for clamping or releasing the clamping of the object, after the grabbing assembly 32 clamps the object, the object is conveyed to another position in the transverse direction through the movement of the transverse mounting seat 1 and the movement of the grabbing fixed frame 31 driven by the driving assembly 14, and the grabbing assembly 32 releases the clamping of the object, thereby completing the conveying of the object.

[0022] Referring to Figure 2 Further, the clamping piece 312 is composed of a fixed sheet fixedly connected with the grabbing fixed frame and a clamping sheet locked on the fixed sheet through a bolt, and the transmission belt 141 is clamped between the fixed sheet and the clamping sheet.

[0023] Referring to Figure 2Further, the grabbing fixing assembly comprises a fixed pressing plate 321, a movable pressing plate 322 and a cylinder 323. The fixed pressing plate 321 is vertically fixed on the grabbing fixing frame 31. The cylinder 323 is connected with the grabbing fixing frame 31. The cylinder 323 is connected with the movable pressing plate 322. The movable pressing plate 322 is vertically arranged and is oppositely fixed with the fixed pressing plate 321. The cylinder 323 is used to drive the movable pressing plate 322 to move towards or away from the fixed pressing plate 321. When the object is between the fixed pressing plate 321 and the movable pressing plate 322, the movable pressing plate 322 is driven by the cylinder 323 to move towards the fixed pressing plate 321, so that the object is clamped between the fixed pressing plate 321 and the movable pressing plate 322. The movable pressing plate 322 is driven by the cylinder 323 to move away from the fixed pressing plate 321, so that the clamping of the object is released.

[0024] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A transverse long-stroke robot, characterized by: The utility model provides a kind of horizontal installation seat, fixed mounting seat, grabbing mechanism, the first slider is provided on the fixed mounting seat, the horizontal installation seat includes positive side and back side, the back side of the horizontal installation seat is provided with first transverse slide rail, the first slider is slidably connected with the first transverse slide rail, the back side of the horizontal installation seat is also provided with rack, the rack is parallel with the first transverse slide rail, gear is rotatably arranged on the fixed mounting seat, the gear is engaged with the rack, the fixed mounting seat is also provided with first rotary drive, the rotary drive is connected with the gear for driving the gear forward and reverse rotation, the positive side of the horizontal installation seat is provided with second transverse slide rail parallel with the first transverse slide rail, the grabbing mechanism is slidably connected with the second transverse slide rail, the horizontal installation seat is provided with drive assembly, the drive assembly is connected with the grabbing mechanism for driving the grabbing mechanism reciprocating movement along the length direction of the second transverse slide rail.

2. The transverse long-stroke robot according to claim 1, characterized in that: The drive assembly includes transmission belt, pulley and second rotary drive, the number of pulley is two, two the pulley is rotatably arranged in the positive side of the horizontal installation seat two ends, the connecting line of the rotary center of two the pulley is parallel with the second transverse slide rail, the transmission belt is sleeved on two the pulley, the grabbing mechanism is connected and fixed with the transmission belt, the second rotary drive is fixed on the horizontal installation seat and is connected with one the pulley, and the second rotary drive is used to drive the pulley forward and reverse rotation.

3. A transverse long-stroke robot according to claim 2, characterized in that: The first rotary drive and the second rotary drive are both servo motors.

4. The transverse long-stroke robot according to claim 1, characterized in that: The back side of the horizontal installation seat is provided with infrared distance sensor in two ends, and two the infrared distance sensor is aligned with the gear.

5. The transverse long-stroke robot according to claim 2, characterized in that: The grabbing mechanism includes grabbing fixed frame and grabbing assembly, the second slider and clamping piece are arranged on the grabbing fixed frame, the second slider is slidably connected with the second transverse slide rail, the clamping piece clamps the transmission belt and fixes the transmission belt, and the grabbing assembly is installed on the grabbing fixed frame to clamp articles or release the clamping of articles.

6. A transverse long-stroke robot according to claim 5, characterized in that: The grabbing assembly includes fixed pressing plate, movable pressing plate and air cylinder, the fixed pressing plate is fixed on the grabbing fixed frame, the air cylinder is connected and fixed with the grabbing fixed frame, the air cylinder is connected and fixed with the movable pressing plate, and the movable pressing plate is vertically arranged and aligned with the fixed pressing plate, and the air cylinder is used to drive the movable pressing plate to move towards the fixed pressing plate or away from the fixed pressing plate.

Images