Three-dimensional manipulator

Abstract

The utility model discloses a three-dimensional mechanical arm, which belongs to the field of mechanical arms, and comprises a main machine assembly, the main machine assembly comprises four linear guide rails, and every two linear guide rails are connected. The air storage tank is matched with the air cylinder, so that the jacking effect can be assisted, the stability of the workpiece in the lifting process is further improved, the transmission mode design considers the factors of reducing friction resistance, improving transmission precision and rigidity, eliminating transmission gaps, reducing motion inertia and the like, the motion precision and stability are ensured, and the work efficiency is improved. The upper structure and the lower structure are additionally provided with air cylinders for assistance, when the upper structure and the lower structure move to the end position, the operation speed of the upper structure and the lower structure is rapidly reduced, end point buffering control is achieved, the impact effect is avoided, meanwhile, the workpiece feeding efficiency can be improved, all parts of the mechanical arm structure can be detached conveniently, and then the detaching and replacing convenience of a mechanical arm can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of mechanical hand, concretely is a three-dimensional mechanical hand. BACKGROUND

[0002] At present, domestic stamping processing industry mostly still adopts manual, semi-automatic mechanical hand etc. feeding mode, and there are potential safety hazard, inconvenient operation, low work efficiency and other problems, and although the imported equipment has the requirement of high precision, but its high price makes the majority of domestic customers difficult to bear, therefore, it is necessary to provide a three-dimensional working mode, cooperate with high automation and integration, can improve work efficiency and reduce operation risk, so as to facilitate effectively promoting the optimization and upgrading of production process, in addition, the existing mechanical hand structure is inconvenient to disassemble and separate, based on this, it is necessary to provide a mechanical hand structure convenient to disassemble. SUMMARY

[0003] The embodiment of the utility model provides a three-dimensional mechanical hand, aims at solving the problem that the feeding efficiency and range of the existing mechanical hand need to be improved, and inconvenient to disassemble

[0004] In order to achieve the above object, the utility model provides a three-dimensional mechanical hand, including host computer assembly,

[0005] Among them, the host computer assembly includes four linear guides connected in pairs, the upper end of the linear guide is provided with an oil receiving groove, the upper end of the oil receiving groove is connected with two upper and lower transition plates, one side of the two upper and lower transition plates is provided with a connecting plate, the surface of the connecting plate is provided with a square beam, the surface of the square beam is provided with a gas storage tank, one side of the upper and lower transition plates is provided with a speed reducer motor set, the surface of the two upper and lower transition plates is respectively provided with a first sealing plate and a second sealing plate, the inside of the upper and lower transition plates is slidably connected with a toothed plate, and the upper end of the upper and lower transition plates is provided with a hydraulic cylinder.

[0006] The speed reducer motor set includes a speed reducer motor body, a connecting shaft is connected to the output end of the speed reducer motor body, a gear is installed at the front end of the connecting shaft, a positioning ring is installed on the surface of the gear, the gear and the toothed plate are engagedly connected, and a first machine seat, a second machine seat and a fixed plate are respectively installed at the front end of the speed reducer motor body.

[0007] As a preferred scheme of the utility model, the upper end of the two upper and lower transition plates is respectively provided with a first mounting plate and a second mounting plate, and the hydraulic cylinder and the gas storage tank are respectively installed at the upper end of the first mounting plate and the second mounting plate.

[0008] As a preferred scheme of the utility model, the upper end of the linear guide is provided with a material accumulation rack.

[0009] As a preferred scheme of the utility model, the upper end of the first mounting plate is respectively provided with a first drag chain plate machine and a second drag chain plate and a heavy load navigation plug.

[0010] As a preferred scheme of the utility model, the opposite faces of the two linear guides are respectively connected with a butt female head and a butt male head, and the butt female head and the butt male head are buckled to each other.

[0011] As a preferred scheme of the utility model, the opposite faces of the butt female head and the butt male head are respectively provided with a positioning plate, and the upper end of the positioning plate is clamped with a positioning block.

[0012] Compared with the prior art, the utility model has the beneficial effects that:

[0013] 1. In use, the gear transmission is driven by the drive mode of the connecting shaft and the motor core of the speed reducer motor body in the main machine assembly and the auxiliary machine assembly of the symmetrical structure, so that the tooth plate can be lifted along the upper and lower transition plates to adjust the workpiece feeding height on the surface of the material rack, the linear guide is assisted by PLC control, the upper and lower transition plates and the components on the surface thereof can reciprocate along the linear guide to perform linear motion in three directions, so that the workpiece can be moved in three directions, and the existence of the gas cylinder and the gas tank can assist the jacking effect, further improving the stability during workpiece lifting, the transmission mode considers reducing friction resistance, improving transmission precision and rigidity, eliminating transmission clearance and reducing motion inertia and other factors, ensuring the precision and stability of motion, and the upper and lower structures are additionally assisted by the cylinder, that is, when moving to the end position, the running speed is rapidly reduced to realize end buffer control and avoid impact, and the workpiece feeding efficiency can be improved.

[0014] 2. When disassembling, the upper and lower transition plates on the upper end of the linear guide are pulled out, the cylinder and the gas tank on the upper end of the first mounting plate and the second mounting plate are removed, the positioning plate and the positioning block are removed, the butt female head and the butt male head are disassembled, and then the linear guide can be disassembled. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a whole structure schematic view of the utility model;

[0016] Figure 2 It is a main machine assembly structure exploded view of the utility model;

[0017] Figure 3 It is a speed reducer motor assembly structure exploded view of the utility model;

[0018] Figure 4 The structure of the utility model A place amplification view.

[0019] In the figure: 100, main machine assembly; 200, vice machine assembly; 101, linear guide rail; 102, speed reducer motor set; 103, up and down transition plate; 104, connecting plate; 105, first mounting plate; 106, second mounting plate; 107, first sealing plate; 108, material accumulation frame; 109, gas storage tank; 110, square beam; 120, oil receiving groove; 130, toothed plate; 140, second sealing plate; 150, first drag chain sheet metal; 160, second drag chain sheet metal; 170, heavy load plug; 180, hydraulic cylinder; 1031, connecting shaft; 1032, speed reducer motor body; 1033, first machine base; 1034, second machine base; 1035, positioning ring; 1036, gear; 1037, fixed plate; 1038, motor core; 1039, butt joint female head; 1040, butt joint male head; 1041, positioning plate; 1042, positioning block. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the utility model will be apparently and completely described in connection with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0021] Please refer to Figures 1-3 The utility model provides a kind of three-dimensional mechanical hand, including main machine assembly 100, vice machine assembly 200;

[0022] Among them, main machine assembly 100, vice machine assembly 200 include four linear guide rails 101 that are connected two by two, the upper end of linear guide rail 101 is equipped with oil receiving groove 120, the upper end of oil receiving groove 120 is connected with two up and down transition plates 103, the side of two up and down transition plates 103 is equipped with connecting plate 104, the surface of connecting plate 104 is equipped with square beam 110, the surface of square beam 110 is equipped with gas storage tank 109, the side of up and down transition plate 103 is equipped with speed reducer motor set 102, the surface of two up and down transition plates 103 is equipped with first sealing plate 107 and second sealing plate 140 respectively, up and down transition plate 103 is slidably connected with toothed plate 130 in the inside, the upper end of up and down transition plate 103 is equipped with hydraulic cylinder 180;

[0023] The speed reduction motor set 102 comprises a speed reduction motor body 1032, the output end of the speed reduction motor body 1032 is connected with a connecting shaft 1031, the front end of the connecting shaft 1031 is installed with a gear 1036, the surface of the gear 1036 is installed with a positioning ring 1035, the gear 1036 is in meshing connection with a toothed plate 130, and the front end of the speed reduction motor body 1032 is respectively installed with a first machine base 1033, a second machine base 1034 and a fixing plate 1037.

[0024] In a specific embodiment, the main assembly 100 and the auxiliary assembly 200 are arranged, so that the workpiece can be moved in three directions, the gas tank 109 and the cylinder can assist in jacking, further improving the stability of the workpiece during lifting, the transmission mode is designed to reduce friction resistance, improve transmission accuracy and rigidity, eliminate transmission clearance and reduce motion inertia, and ensure the accuracy and stability of the motion, the cylinder is additionally arranged in the upper and lower structure, so that when the workpiece reaches the end position, the running speed is rapidly reduced to realize end buffer control and avoid impact, the workpiece feeding efficiency is improved, and the mechanical hand structure can be disassembled, so that the disassembly and replacement convenience of the mechanical hand is improved. During use, the speed reduction motor body 1032 drives the gear 1036 to rotate through the driving mode of the connecting shaft 1031 and the motor core 1038, so that the toothed plate 130 can be lifted along the upper and lower transition plates 103, the feeding height of the workpiece on the material accumulation rack 108 is adjusted, the upper and lower transition plates 103 and the components on the surface thereof can move along the linear guide rail 101 to realize linear motion in three directions, and the feeding range and efficiency of the workpiece are improved.

[0025] Please refer to Figures 2-4 The upper ends of the two upper and lower transition plates 103 are respectively installed with a first mounting plate 105 and a second mounting plate 106, and the hydraulic cylinder 180 and the gas tank 109 are respectively installed at the upper ends of the first mounting plate 105 and the second mounting plate 106.

[0026] In a specific embodiment, the first mounting plate 105 and the second mounting plate 106 can improve the disassembly and assembly convenience of the hydraulic cylinder 180 and the gas tank 109.

[0027] Please refer to Figures 2-4 The upper end of the linear guide rail 101 is installed with a material accumulation rack 108.

[0028] In a specific embodiment, the material accumulation rack 108 can improve the stability of the workpiece.

[0029] Please refer to Figures 2-4The upper end of the first mounting plate 105 is respectively provided with a first drag chain metal plate 150, a second drag chain metal plate 160 and a heavy load connector 170.

[0030] In a specific embodiment, the first drag chain metal plate 150 cooperates with the second drag chain metal plate 160 to further improve the stability of the mechanical arm during feeding.

[0031] Please refer to Figures 2-4 The opposite faces of the two linear guides 101 are respectively connected with a female connector 1039 and a male connector 1040, and the female connector 1039 and the male connector 1040 are buckled to each other.

[0032] In a specific embodiment, the female connector 1039 cooperates with the male connector 1040 to improve the disassembly and assembly convenience of the linear guide 101.

[0033] Please refer to Figures 2-4 The opposite faces of the female connector 1039 and the male connector 1040 are respectively provided with a positioning plate 1041, and the upper end of the positioning plate 1041 is clamped with a positioning block 1042.

[0034] In a specific embodiment, the positioning block 1042 cooperates with the positioning plate 1041 to improve the connection stability between the female connector 1039, the male connector 1040 and the linear guide 101.

[0035] Working principle: in use, first start the deceleration motor body 1032 cooperates with the connecting shaft 1031 and the driving mode of the motor core 1038 to drive the gear 1036 transmission, that is, the tooth plate 130 can be controlled to rise and fall along the upper and lower transition plate 103, so as to adjust the feeding height of the workpiece on the surface of the material rack 108, and the linear guide 101 can assist the PLC control to facilitate the horizontal reciprocating motion of the upper and lower transition plate 103 and the components on its surface along the linear guide 101 to realize linear motion in three directions, thereby improving the feeding range and efficiency of the workpiece.

[0036] It should be noted that in this paper, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0037] 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 these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A three-dimensional robotic hand, characterized in that, include: The main unit (100) and the auxiliary unit (200) are provided. The main unit (100) and (200) include four linear guide rails (101) connected in pairs. An oil receiving groove (120) is installed on the upper end of each linear guide rail (101). Two upper and lower transition plates (103) are connected to the upper end of each oil receiving groove (120). A connecting plate (104) is installed on one side of each of the two upper and lower transition plates (103). A square tube is installed on the surface of the connecting plate (104). A beam (110) is provided with an air tank (109) installed on its surface. A geared motor unit (102) is installed on one side of the upper and lower transition plates (103). A first sealing plate (107) and a second sealing plate (140) are respectively installed on the surfaces of the two upper and lower transition plates (103). A toothed plate (130) is slidably connected inside the upper and lower transition plates (103). A hydraulic cylinder (180) is installed at the upper end of the upper and lower transition plates (103). A geared motor assembly (102) includes a geared motor body (1032), the output end of which is connected to a connecting shaft (1031), a gear (1036) is mounted on the front end of the connecting shaft (1031), a positioning ring (1035) is mounted on the surface of the gear (1036), and the gear (1036) is meshed with a gear plate (130). A first base (1033), a second base (1034), and a fixing plate (1037) are respectively mounted on the front end of the geared motor body (1032).

2. The three-dimensional robotic arm according to claim 1, characterized in that: The upper ends of the two upper and lower transition plates (103) are respectively equipped with a first mounting plate (105) and a second mounting plate (106), and the hydraulic cylinder (180) and the air tank (109) are respectively installed on the upper ends of the first mounting plate (105) and the second mounting plate (106).

3. A three-dimensional robotic arm according to claim 1, characterized in that: A material collection rack (108) is installed at the upper end of the linear guide rail (101).

4. A three-dimensional robotic arm according to claim 2, characterized in that: The upper end of the first mounting plate (105) is respectively equipped with a first drag chain sheet metal (150), a second drag chain sheet metal (160), and a heavy-duty aviation plug (170).

5. A three-dimensional robotic arm according to claim 1, characterized in that: Each of the two linear guides (101) has a female connector (1039) and a male connector (1040) connected to its opposite face, and the female connector (1039) and the male connector (1040) are interlocked.

6. A three-dimensional robotic arm according to claim 5, characterized in that: Positioning plates (1041) are installed on the opposite sides of both the female connector (1039) and the male connector (1040), and a positioning block (1042) is engaged at the upper end of the positioning plate (1041).

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