Track embedded type single-shaft mechanical arm capable of being produced in standardized and large-scale mode

Abstract

The utility model discloses a track embedded type single-shaft manipulator capable of realizing standardized large-scale production, and relates to the technical field of manipulators, the track embedded type single-shaft manipulator comprises a connecting frame, clamping plates are arranged on the left side and the right side of the lower part of the connecting frame, and air grooves are formed in the opposite sides of the outer surfaces of the clamping plates; suction cups are fixedly installed on the opposite sides of the outer surfaces of the clamping plates, cavities are formed in the middles of the inner walls of the clamping plates, air pumps are fixedly installed on the inner surfaces of the cavities, the air grooves communicate with the interiors of the cavities, and the air inlet ends of the air pumps penetrate through the clamping plates through pipelines to communicate with the middles of the suction cups. Compared with an existing common manipulator, the track embedded type single-shaft manipulator capable of being produced in a standardized and large-scale mode has the advantages that the clamping stability of the manipulator on a workpiece can be greatly improved through the opposite clamping extrusion force of the whole clamping plate and the adsorption force of the suction cup, and the workpiece is fully and effectively prevented from being damaged due to the influence of shaking or other factors when being clamped and conveyed; and loosening and falling are prevented.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field, concretely is a track embedded formula's standardization scale production's single -shaft manipulator. BACKGROUND

[0002] Manipulator is also called mechanical gripper, and it is an important equipment in modern industrial production, which plays an important role in capturing, grabbing and manipulating objects. The design and function of manipulator gripper are constantly innovated to meet the needs of various industrial applications.

[0003] As the disclosure document with application No. 202120006261.X, a manipulator is disclosed. The utility model adjusts the position of multiple grippers to make the center line of the shaft section held by different grippers and the center line of the containing channel of the corresponding gripper collinear, thereby making the gripping of the shaft by the manipulator more secure and avoiding the shaft from falling off. However, when the intelligent mechanical gripper performs gripping work, it only relies on the convergence of the two side grippers to provide lateral extrusion gripping force to grab the workpiece. When encountering a smooth workpiece, it is difficult to ensure the stability of the workpiece during conveying by relying solely on extrusion gripping force. Any shaking or shaking may cause the workpiece to slip. In order to increase stability, the extrusion force can only be increased. Excessive extrusion using the hard contact of the gripper with the workpiece may also cause the workpiece to wear or deform, thereby being not conducive to use.

[0004] Therefore, in view of the above, the existing structure is improved, and a track embedded type single-shaft manipulator capable of standardized and scaled production is provided. UTILITY MODEL CONTENTS

[0005] The utility model aims to provide a track embedded type single-shaft manipulator capable of standardized and scaled production to solve the problems raised in the background art.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a track embedded type single-shaft manipulator capable of standardized and scaled production, comprising a connecting frame, a clamping plate is arranged on the lower left side of the connecting frame, a gas groove is formed on the opposite side of the outer surface of the clamping plate, a suction cup is fixedly installed on the opposite side of the outer surface of the clamping plate, a cavity is formed in the inner wall of the clamping plate, and a gas pump is fixedly installed on the inner surface of the cavity.

[0007] Preferably, the gas groove and the cavity are in internal communication, and the gas inlet end of the gas pump is in communication with the middle part of the clamping plate and the suction cup through a pipeline.

[0008] Preferably, a bidirectional screw is rotatably installed in the middle part of the inner surface of the connecting frame, and a through cavity is formed on the lower left side of the inner surface of the connecting frame.

[0009] Preferably, the right end of the bidirectional screw rod is provided with a driving motor penetratingly connected with the connecting frame, and the driving motor is fixedly connected with the outer surface of the connecting frame.

[0010] Preferably, the left and right sides of the surface of the bidirectional screw rod are provided with propelling seats which are threadedly connected with the bidirectional screw rod, and the lower end of each propelling seat is slidingly penetrated through the through cavity and fixedly connected with the clamping plate.

[0011] Preferably, the outer surface of the connecting frame is fixedly provided with an air cylinder, and the upper end of the air cylinder is provided with an electromagnetic sliding part.

[0012] Preferably, the electromagnetic sliding part is composed of an electromagnetic sliding rail and an electromagnetic sliding block, the electromagnetic sliding rail part of the electromagnetic sliding part is fixedly installed in the inside of the horizontal frame above the working area, the electromagnetic sliding block of the electromagnetic sliding part is slidingly embedded in the inside of the electromagnetic sliding rail, and the electromagnetic sliding part is fixedly connected with the air cylinder by the electromagnetic sliding block.

[0013] Compared with the prior art, the utility model has the advantages that:

[0014] 1. The clamping plate, air groove, suction cup, cavity and air pump are arranged, the workpiece is clamped by the opposite movement of the clamping plate, the suction cup contacts the workpiece first during clamping, the soft suction cup can prevent the clamping plate from being in hard contact with the workpiece and causing extrusion and abrasion, the workpiece can be fully clamped and protected, the workpiece is extruded to discharge the internal air, the suction cup is firmly adsorbed on the surface of the workpiece, the friction is increased, the air pump uses the pipeline to extract the residual gas in the internal area of the contact surface of the suction cup and the workpiece, the residual gas is discharged through the air groove, the adsorption force of the suction cup can be further improved, the clamping stability of the mechanical hand to the workpiece can be greatly improved, and the workpiece can be fully and effectively placed during clamping and conveying.

[0015] 2. The bidirectional screw rod, through cavity, driving motor and propelling seat are arranged, the driving motor drives the bidirectional screw rod to rotate, the propelling seat moves oppositely under the limitation of the through cavity, the clamping plate moves oppositely, and the opposite extrusion force is applied to the workpiece in the middle, so that the clamping plate can press and clamp the workpiece. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 It is a whole three-dimensional structure schematic view of the utility model;

[0017] Fig. 2 It is a connecting frame cross-section structure schematic view of the utility model;

[0018] Fig. 3 It is a clamping plate cross-section structure schematic view of the utility model.

[0019] In the diagram: 1. Connecting frame; 2. Clamping plate; 3. Air groove; 4. Suction cup; 5. Cavity; 6. Air pump; 7. Two-way lead screw; 8. Through cavity; 9. Drive motor; 10. Push seat; 11. Cylinder; 12. Electromagnetic sliding component. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] like Figs. 1-3 As shown, a single-axis manipulator with a track-embedded design that can be standardized and mass-produced includes a connecting frame 1. The connecting frame 1 has clamping plates 2 on both the left and right sides below it. The outer surfaces of the clamping plates 2 are provided with air grooves 3 on opposite sides. The outer surfaces of the clamping plates 2 are fixedly installed with suction cups 4 on the opposite sides. The inner walls of the clamping plates 2 are provided with cavities 5 in the middle. An air pump 6 is fixedly installed on the inner surface of the cavity 5.

[0022] The air groove 3 is connected to the interior of the cavity 5, and the air inlet of the air pump 6 is connected to the middle of the suction cup 4 via a pipe that passes through the clamp 2.

[0023] By adopting the above technical solution, the clamping plates 2 move in opposite directions to clamp the workpiece. During clamping, the suction cup 4 contacts the workpiece first. The soft suction cup 4 can prevent the clamping plates 2 from making hard contact with the workpiece, which would cause squeezing and wear. It can fully clamp and protect the workpiece. The workpiece will squeeze the suction cup 4 to expel the internal air, so that the suction cup 4 is firmly attached to the surface of the workpiece, increasing the friction. The air pump 6 uses a pipe to extract the remaining gas in the internal area of ​​the contact surface between the suction cup 4 and the workpiece, and discharges it through the air groove 3, which can further enhance the suction force of the suction cup 4. The opposing clamping and squeezing force of the entire clamping plates 2 plus the suction force of the suction cup 4 can greatly improve the clamping stability of the robot arm on the workpiece.

[0024] Furthermore, a bidirectional lead screw 7 is rotatably installed in the middle of the inner surface of the connecting frame 1, and through cavities 8 are provided on both the left and right sides below the inner surface of the connecting frame 1.

[0025] The right end of the bidirectional lead screw 7 is connected to the connecting frame 1 and a drive motor 9 is installed thereon. The drive motor 9 is fixedly connected to the outer surface of the connecting frame 1.

[0026] By adopting the above technical solution, the drive motor 9 provides rotational power for the entire bidirectional lead screw 7.

[0027] Further, the left and right sides of the surface of the bidirectional screw 7 are threadedly connected with a pushing seat 10, and the lower end of the pushing seat 10 is slidingly penetrated through the through cavity 8 and fixedly connected with the clamping plate 2.

[0028] By adopting the above technical scheme, the through cavity 8 can limit the pushing seat 10 forward and backward, so that the pushing seat 10 can be stably moved by the threaded pushing force when the bidirectional screw 7 rotates, instead of rotating synchronously with the bidirectional screw 7.

[0029] The movement of the pushing seat 10 will drive the clamping plate 2 to move oppositely, so that the two clamping plates 2 generate a pushing and extruding force to the middle part.

[0030] Further, the outer surface of the connecting frame 1 is fixedly provided with a gas cylinder 11, and the upper end of the gas cylinder 11 is installed with an electromagnetic sliding part 12.

[0031] The electromagnetic sliding part 12 is composed of an electromagnetic sliding rail and an electromagnetic sliding block, the electromagnetic sliding rail part of the electromagnetic sliding part 12 is fixedly installed above the working area inside the horizontal frame, the electromagnetic sliding block of the electromagnetic sliding part 12 is slidingly embedded in the inner side of the electromagnetic sliding rail, and the electromagnetic sliding part 12 is fixedly connected with the gas cylinder 11 by the electromagnetic sliding block.

[0032] By adopting the above technical scheme, the electromagnetic sliding part 12 can drive the entire mechanical hand below to move and change position by the gas cylinder 11, so as to transport the clamped workpiece.

[0033] The gas cylinder 11 can push the entire mechanical hand to move downward, so as to extend and clamp the workpiece placed below.

[0034] Working principle: when using the track embedded standardization scale production of single-axis manipulator, first, electromagnetic slide 12 through the cylinder 11 drive the whole manipulator to the workpiece to be clamped above, then the cylinder 11 push manipulator down, drive motor 9 drive the bidirectional screw 7 rotation, under the limit of cavity 8 to push seat 10, make push seat 10 to move, drive the clamp plate 2 to move, to the middle workpiece to apply the opposite extrusion force, so that the clamp plate 2 can workpiece pressure clamping fixed, clamp plate 2 to move will workpiece clamping, in clamping, by the suction cup 4 preferential contact workpiece, soft suction cup 4 can prevent clamp plate 2 and workpiece hard contact caused by extrusion wear, can fully clamp workpiece protection, and workpiece will extrude suction cup 4 discharge internal air, make suction cup 4 firmly adsorbed in workpiece surface, increase friction, air pump 6 use pipeline to extract the remaining gas in the suction cup 4 and workpiece contact surface internal area, through the air tank 3 discharge, can further improve the adsorption of suction cup 4, the whole clamp plate 2 opposite clamping extrusion force plus suction cup 4 adsorption, in turn, can greatly improve the stability of manipulator clamping workpiece, workpiece clamping, cylinder 11 upshift contraction, again through the electromagnetic slide 12 transport workpiece, this is the track embedded standardization scale production of single-axis manipulator working principle.

Claims

1. A single-axis robot of in-track embedded type, of standardizable mass production, comprising a connecting frame (1), characterized in that, The lower left and right sides of the connecting frame (1) are provided with clamping plates (2), the outer surface of the clamping plate (2) is provided with a gas groove (3) on the opposite side, the outer surface of the clamping plate (2) is fixedly installed with a suction cup (4) on the opposite side, the inner wall of the clamping plate (2) is provided with a cavity (5) in the middle, and the inner surface of the cavity (5) is fixedly installed with a gas pump (6).

2. The in-track, single-axis robot of claim 1, wherein, The gas groove (3) and the cavity (5) are in communication, and the air inlet end of the gas pump (6) is communicated with the middle of the suction cup (4) through the clamping plate (2) by a pipeline.

3. The in-track, single-axis robot of claim 1, wherein: The inner surface of the connecting frame (1) is rotatably installed with a bidirectional screw (7) in the middle, and the lower left and right sides of the inner surface of the connecting frame (1) are provided with a through cavity (8).

4. The in-track, single-axis robot of claim 3, wherein: The right end of the bidirectional screw (7) is provided with a driving motor (9) penetrating through the connecting frame (1), and the driving motor (9) is fixedly connected with the outer surface of the connecting frame (1).

5. The in-track, single-axis robot of claim 3, wherein: The surface of the bidirectional screw (7) is provided with a propelling seat (10) on the left and right sides, and the lower end of the propelling seat (10) is fixedly connected with the clamping plate (2) by sliding through the through cavity (8).

6. The in-track, single-axis robot of claim 1, wherein: The outer surface of the connecting frame (1) is fixedly provided with a gas cylinder (11) on the upper side, and the upper end of the gas cylinder (11) is provided with an electromagnetic sliding piece (12).

7. The in-track, single-axis robot of claim 6, wherein: The electromagnetic sliding piece (12) is composed of an electromagnetic sliding rail and an electromagnetic sliding block, the electromagnetic sliding rail part of the electromagnetic sliding piece (12) is fixedly installed on the inside of the upper horizontal frame of the working area, the electromagnetic sliding block of the electromagnetic sliding piece (12) is slidingly embedded in the inner side of the electromagnetic sliding rail, and the electromagnetic sliding piece (12) is fixedly connected with the gas cylinder (11) by the electromagnetic sliding block.

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