Manipulator mechanism for grabbing oil pressing disc

Abstract

The utility model relates to a mechanical arm mechanism for grabbing an oil pressing disc, the mechanical arm mechanism is used for grabbing and moving the oil pressing disc, and the mechanical arm mechanism comprises a mounting frame, a first sliding rail, a second sliding rail and a third sliding rail, a sliding box is hung on the first sliding rail in a sliding mode, a second sliding rail is installed in the sliding box, and the second sliding rail is perpendicular to the first sliding rail. The inner bracket is slidably mounted on the second sliding rail; the mechanical arm assemblies are movably installed on the inner bracket, part of the mechanical arm assemblies penetrate out of the inner bracket, and the mechanical arm assemblies are used for being oppositely folded or unfolded. The power assembly comprises a first driving part, a second driving part and a third driving part, the first driving part is connected with the mounting frame and the sliding box, the second driving part is connected with the sliding box and the inner bracket, and the third driving part is connected with the manipulator assembly. The first sliding rail and the second sliding rail can guide the mechanical arm assembly to move front and back and ascend and descend, and therefore the oil pressing disc can move front and back and ascend and descend.

Description

TECHNICAL FIELD

[0001] The utility model relates to oil pressing technical field especially relates to a kind of mechanical hand mechanism of oil pressing disc grabbing. BACKGROUND

[0002] Oil pressing disc is moved to the processing area where oil pressing equipment is located after being filled with oil, and the oil pressing disc is usually loaded and unloaded by mechanical hand mechanism, so as to realize the continuous feeding and discharging processing of the oil pressing equipment. The document with publication number CN114806705A discloses a clamping assembly for feeding and discharging oil pressing disc.

[0003] However, the existing feeding and discharging mechanism of oil pressing disc can only move in a plane, and needs to be used in cooperation with other lifting mechanisms to realize the lifting and translation movement of the oil pressing disc. The whole mechanism is complex, and the corresponding supporting mechanism is also complex, so it needs to be improved. UTILITY MODEL CONTENT

[0004] To overcome the problems in the related art, the utility model embodiment provides a kind of mechanical hand mechanism of oil pressing disc grabbing to solve the technical problem that the mechanism required for moving oil pressing disc is complex.

[0005] According to the first aspect of the utility model embodiment, a kind of mechanical hand mechanism of oil pressing disc grabbing is provided for grabbing and moving oil pressing disc, and the mechanical hand mechanism includes:

[0006] The mounting bracket includes two parallel first sliding rails;

[0007] The sliding box is hung and slides on the first sliding rail, and the second sliding rail is installed in the sliding box, and the second sliding rail is perpendicular to the first sliding rail;

[0008] The inner bracket is slidingly installed on the second sliding rail;

[0009] The mechanical hand assembly is movably installed on the inner bracket, and part of the mechanical hand assembly penetrates out of the inner bracket, and the mechanical hand assembly is used to be relatively folded or unfolded;

[0010] The power assembly includes a first drive, a second drive and a third drive, the first drive is connected to the mounting bracket and the sliding box, the second drive is connected to the sliding box and the inner bracket, and the third drive is connected to the mechanical hand assembly.

[0011] In an embodiment, the mechanical hand assembly includes a left mechanical arm and a right mechanical arm sliding on the inner bracket, and the third drive drives the left mechanical arm and the right mechanical arm to slide, respectively, to fold or release the oil pressing disc.

[0012] In an embodiment, the left mechanical arm and the right mechanical arm are symmetrically arranged, the left mechanical arm comprises an arc-shaped groove and a stepped groove, the stepped groove is recessed from the upper surface of the left mechanical arm and intersects with the arc-shaped groove.

[0013] In an embodiment, the inner bracket comprises a base frame, two side frames and at least two rows of third sliding rails mounted on the base frame, the left mechanical arm and the right mechanical arm are slidingly connected with the third sliding rails, one group of third driving members is mounted on each of the side frames, one of the third driving members is connected with the left mechanical arm and the other third driving member is connected with the right mechanical arm.

[0014] In an embodiment, the sliding box has a sliding distance greater than the diameter of the oil pressing disc along the first sliding rails.

[0015] In an embodiment, the sliding box comprises an upper cross beam and a reinforcing frame fixedly connected with the upper cross beam, the upper cross beam and the reinforcing frame form a mounting space.

[0016] The upper cross beam is arranged on the first sliding rails, the reinforcing frame is located between the two first sliding rails, and the second driving members are mounted on the upper cross beam and connected with the inner bracket located in the mounting space.

[0017] In an embodiment, the sliding box comprises a front baffle, the front baffle is provided with at least one movable hole penetrating through, and the mechanical hand assembly passes out of the front baffle.

[0018] In an embodiment, the mechanical hand assembly comprises a protective cover mounted on the mounting frame, the protective cover is provided with a long-hole-shaped clearance hole, and part of the second driving members pass out along the clearance hole.

[0019] In an embodiment, the first driving member is configured as a screw-nut pair, and the second driving member is configured as a lifting cylinder or a lifting hydraulic cylinder.

[0020] In an embodiment, the first driving member and the sliding box are connected by an adjusting member.

[0021] The technical scheme provided by the embodiment of the utility model can have the following beneficial effects: the first sliding rail and the second sliding rail can guide the mechanical hand assembly to move forward and backward and to perform lifting movement, so as to realize the forward and backward movement and the lifting movement of the oil pressing disc. The mechanical hand assembly relatively folds to clamp or loosen the oil pressing disc, thereby improving the grabbing efficiency of the oil pressing disc. The sliding box has a box structure, the overall structure is stable, the inner bracket moves in the sliding box, the mechanical hand assembly moves forward and backward and performs lifting movement with the inner bracket, the moving range is controllable, and the overall stability is high. BRIEF DESCRIPTION OF DRAWINGS

[0022] The drawings incorporated into the specification and constituting a part of the specification show embodiments consistent with the present application and, together with the specification, serve to explain the principles of the present application.

[0023] Figure 1 is a structural schematic diagram of a mechanical hand mechanism according to an embodiment.

[0024] Figure 2 is a sectional structural schematic diagram of a mechanical hand mechanism according to an embodiment.

[0025] Figure 3 is a structural schematic diagram of a mechanical hand mechanism according to an embodiment.

[0026] Figure 4 is a structural schematic diagram of a mechanical hand mechanism according to an embodiment.

[0027] Figure 5 is a structural schematic diagram of a mechanical hand mechanism according to an embodiment.

[0028] In the drawings, mounting frame 10; first slide rail 11; sliding box 20; upper cross beam 21; reinforcing frame 22; second slide rail 23; front baffle 24; movable hole 241; power assembly 30; first driving member 31; second driving member 32; third driving member 33; adjusting member 34; protective cover 40; air clearance hole 41; mechanical hand assembly 50; left mechanical arm 51; arc-shaped recess 511; stepped groove 512; right mechanical arm 52; inner bracket 60; third slide rail 61; base frame 62; side frame 63. DETAILED DESCRIPTION

[0029] In the drawings of the embodiments of the present application, the same or similar reference numerals correspond to the same or similar components; in the description of the present application, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationship in the drawings are only used for exemplary illustration, and cannot be understood as a limitation on the present application, for those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0030] As shown in Figures 1 to 3 The present application provides a mechanical hand mechanism for grabbing an oil pressing disc, which is used for grabbing and moving the oil pressing disc, and the mechanical hand mechanism comprises a mounting frame 10, a sliding box 20, an inner bracket 60, a mechanical hand assembly 50 and a power assembly 30. The oil pressing disc is in a disc shape, and a feeding step is arranged on the outer peripheral wall of the oil pressing disc.

[0031] The mounting rack 10 is a frame structure, preferably a rectangular frame structure, and two first sliding rails 11 are installed on opposite sides of the mounting rack 10. The center of the mounting rack 10 is hollowed out to allow the sliding box 20 and the manipulator assembly 50 to move.

[0032] The two sides of the sliding box 20 are supported by sliding blocks on the second sliding rail 23, and the main body of the sliding box 20 protrudes from the center of the mounting rack 10 to allow the sliding box 20 to hang and slide on the first sliding rail 11. The second sliding rail 23 is installed in the sliding box 20, the inner bracket 60 is slidingly installed on the second sliding rail 23, and the manipulator assembly 50 is movably installed on the inner bracket 60. The second sliding rail 23 is perpendicular to the first sliding rail 11.

[0033] In this structure, the mounting rack 10 is located in the upper region, the manipulator assembly 50 is connected to the inner bracket 60, and part of the manipulator assembly 50 protrudes out of the inner bracket 60 to be in the lower region of the mounting rack 10. The first sliding rail 11 moves horizontally forward and backward, and the second sliding rail 23 moves vertically up and down. When the manipulator assembly 50 clamps the oil press disc, it can move forward and backward along the first sliding rail 11 to move the oil press disc to different positions. When the manipulator assembly 50 clamps the oil press disc, it can move up and down along the second sliding rail 23 to lift or gently place the oil press disc. The combination of the movement of the sliding box 20 on the first sliding rail 11 and the second sliding rail 23 can realize the automatic feeding and discharging of the oil press disc.

[0034] The manipulator assembly 50 is relatively folded or unfolded to move the oil press disc. The inner bracket 60 moves down along the second sliding rail 23 to below the feeding step of the oil press disc, and the manipulator assembly 50 clamps the oil press disc. The inner bracket 60 moves up along the second sliding rail 23 to lift the oil press disc, and the sliding box 20 moves the manipulator assembly 50 and the oil press disc as a whole along the first sliding rail 11. Then, the inner bracket 60 moves down along the second sliding rail 23 to release the oil press disc, and the manipulator assembly 50 unfolds to complete the movement of the oil press disc.

[0035] The sliding box 20 is a box structure, which is stable in structure. The inner bracket 60 moves in the sliding box 20, and the manipulator assembly 50 moves forward and backward and up and down with the inner bracket 60. The movement range is controllable, and the overall stability is high.

[0036] The power assembly 30 is the power output part of the manipulator structure. The power assembly 30 includes a first driving member 31, a second driving member 32, and a third driving member 33. The first driving member 31 is connected to the mounting rack 10 and the sliding box 20 to move the sliding box 20 forward and backward along the first sliding rail 11. Optionally, the first driving member 31 can be a hydraulic cylinder, a telescopic air cylinder, a screw nut pair, or a gear and rack mechanism. Further preferably, the first driving member 31 adopts a screw nut pair to improve the movement precision and the control flexibility of the stopping position.

[0037] The second driving member 32 connects the sliding box 20 and the inner bracket 60, and is used to drive the inner bracket 60 to move up and down along the second sliding rail 23. As a preferred embodiment, the second driving member 32 can be a hydraulic cylinder or a telescopic cylinder, so as to realize fixed-point lifting control.

[0038] The third driving member 33 is connected to the mechanical arm assembly 50, and is used to control the mechanical arm assembly 50 to fold or unfold, so as to grab the oil press plate. The mechanical arm assembly 50 relatively folds or unfolds to hold or release the oil press plate, thereby improving the grabbing efficiency of the oil press plate.

[0039] As a preferred embodiment, a sensor assembly is arranged on the mechanical arm assembly, and is used to control the automatic in-place detection of the mechanical arm assembly, so as to control the automatic telescopic movement of the power assembly 30, thereby realizing the intelligent requirements of automatic grabbing and automatic movement. For example, the first driving member 31 is a screw-nut pair, and a code sensor, a grating sensor or a rotation speed sensor is arranged in the driving motor of the screw-nut pair, so as to accurately control the start-stop position of the sliding box 20.

[0040] A travel switch is arranged on the sliding box 20 and the inner bracket 60, and the second driving member 32 and the third driving member 33 automatically reciprocate after touching the travel switch, thereby realizing automatic travel control and high intelligent degree.

[0041] In an embodiment, the mechanical arm assembly 50 includes a left mechanical arm 51 and a right mechanical arm 52 which slide on the inner bracket 60, and the left mechanical arm 51 and the right mechanical arm 52 independently move or are controlled in linkage, and are respectively connected to the second sliding rail 23 on both sides of the inner bracket 60.

[0042] The third driving member 33 drives the left mechanical arm 51 and the right mechanical arm 52 to slide, so as to fold or unfold the oil press plate. In an alternative embodiment, the left mechanical arm 51 and the right mechanical arm 52 are partially connected in linkage, and the third driving member 33 is arranged one and drives the linkage part to rotate, so as to realize the relative rotation holding of the left mechanical arm 51 and the right mechanical arm 52. In another alternative embodiment, one of the left mechanical arm 51 and the right mechanical arm 52 moves, and the other one is stationary, and the third driving member 33 drives the moving part to realize the folding or unfolding movement.

[0043] In yet another alternative embodiment, the left mechanical arm 51 and the right mechanical arm 52 independently move, and the third driving member 33 includes two, one of which is connected to the left mechanical arm 51, and the other one is connected to the right mechanical arm 52. The third driving member 33 telescopes to drive the left mechanical arm 51 and the right mechanical arm 52 to fold or unfold.

[0044] Further, the left mechanical arm 51 and the right mechanical arm 52 are symmetrically arranged, and can balance the pressing disc and have high positional consistency.

[0045] As shown in Figures 2 to 5 The left mechanical arm 51 includes an arc-shaped groove 511 and a stepped groove 512. The stepped groove 512 is recessed from the upper surface of the left mechanical arm 51 and intersects the arc-shaped groove 511. The arc-shaped groove 511 is adapted to the outer peripheral wall of the pressing disc, and the stepped groove 512 can accommodate the loading step of the pressing disc, thereby improving the circumferential limitation of the pressing disc. Further, the left mechanical arm 51 and the right mechanical arm 52 can be folded to keep the center of the pressing disc substantially coincident with the center of the arc-shaped groove 511, thereby improving the placement accuracy of the pressing disc during the grabbing and placing process.

[0046] The mechanical hand assembly 50 is installed on the inner bracket 60 and moves up and down with the inner bracket 60. The inner bracket 60 is approximately in the shape of a U. The inner bracket 60 includes a base frame 62 and two side frames 63. The two side frames 63 are connected to the second sliding rail 23 through sliding blocks.

[0047] At least two third sliding rails 61 are installed on the base frame 62 and located between the two side frames 63. Each side frame 63 is installed with a group of third driving members 33. The left mechanical arm 51 and the right mechanical arm 52 are connected to the third sliding rail 61. One of the third driving members 33 is connected to the left mechanical arm 51, and the other third driving member 33 is connected to the right mechanical arm 52. The third driving members 33 are extended and retracted to drive the left mechanical arm 51 and the right mechanical arm 52 to fold or unfold.

[0048] In an embodiment, the first sliding rail 11 is located on the top surface of the mounting frame 10. The mechanical hand assembly includes a protective cover 40 mounted on the mounting frame 10. The protective cover 40 is provided with a long-hole-shaped clearance hole 41. Part of the second driving member 32 passes through the clearance hole 41.

[0049] The protective cover 40 covers the top of the mechanical hand assembly to protect the internal mechanism. The clearance hole 41 is a linear long hole, which can guide the shell part of the second driving member 32 to pass through, thereby reducing the exposed space at the top of the mechanical hand assembly.

[0050] Further, the sliding distance of the sliding box 20 on the first sliding rail 11 is greater than the diameter of the pressing disc. The movement range of the sliding box 20 is the movement range of the pressing disc. The sliding box 20 can send the pressing disc out of the protection area of the protective cover 40, so that the pressing disc enters the space of the oil pressing equipment, thereby expanding the loading and unloading range.

[0051] As shown in Figures 2 to 4As shown, in an embodiment, the sliding box 20 comprises an upper beam 21 and a reinforcing frame 22 fixed to the upper beam 21, and the upper beam 21 and the reinforcing frame 22 form a mounting space. The width of the upper beam 21 is greater than the width of the reinforcing frame 22, and the two sides of the upper beam 21 slide on the first slide rail 11 through a sliding block.

[0052] The reinforcing frame 22 and the upper beam 21 form a rectangular mounting space, and the reinforcing frame 22 is located between the two first slide rails 11 and extends downward, so that the manipulator assembly 50 moves in the area below the upper beam 21.

[0053] The second driving member 32 is installed on the upper beam 21, and the telescopic end of the second driving member 32 is connected to the inner bracket 60 located in the mounting space. During the telescopic movement of the second driving member 32, the inner bracket 60 can be driven to move up and down. As a preferred, the second driving member 32 is centrally connected to the inner bracket 60 to keep balance on both sides.

[0054] Further, the sliding box 20 comprises a front baffle 24 and a rear baffle, which close the front and rear openings of the reinforcing frame 22, and improve the working environment of the internal space of the sliding box 20.

[0055] The front baffle 24 is provided with at least one movable hole 241 penetrating through, and the manipulator assembly 50 passes out of the front baffle 24. The movable hole 241 is configured as an elongated hole or a rectangular hole to meet the space movement requirements.

[0056] The first driving member 31 adopts a screw-nut pair, wherein the sliding box 20 is connected to the nut part of the first driving member 31 through an adjusting member 34, and the first driving member 31 drives the sliding box 20 to move with high precision and start and stop during movement. The adjusting member 34 connects the sliding box 20 and the first driving member 31, can adjust the height and driving position, and improves the flexibility of assembly and the controllability of driving stress range.

[0057] It should be understood that the present application is not limited to the precise construction which has been described above and illustrated in the accompanying drawings, and that various modifications and changes can be made without departing from the scope thereof. It is intended that the scope of the application should only be limited by the appended claims.

Claims

1. A robotic arm mechanism for gripping an oil pressing disc, used for gripping and moving the oil pressing disc, characterized in that, The mechanical arm mechanism comprises: a mounting frame comprising two parallel first sliding rails; a sliding box hung and slid on the first sliding rails, wherein a second sliding rail is installed in the sliding box and is perpendicular to the first sliding rails; an inner bracket slidably installed on the second sliding rail; a mechanical arm assembly movably installed on the inner bracket, and part of the mechanical arm assembly extends out of the inner bracket, wherein the mechanical arm assembly is used to fold or unfold; a power assembly comprising a first driving member, a second driving member and a third driving member, wherein the first driving member is connected to the mounting frame and the sliding box, the second driving member is connected to the sliding box and the inner bracket, and the third driving member is connected to the mechanical arm assembly.

2. The robotic hand mechanism of claim 1, wherein, The mechanical arm assembly comprises a left mechanical arm and a right mechanical arm which slide on the inner bracket, and the third driving member drives the left mechanical arm and the right mechanical arm to slide to fold or unfold the oil pressing disc.

3. The robotic hand mechanism of claim 2, wherein, The left mechanical arm and the right mechanical arm are symmetrically arranged, the left mechanical arm comprises an arc-shaped groove and a stepped groove, and the stepped groove is recessed from the upper surface of the left mechanical arm and intersects with the arc-shaped groove.

4. The robotic hand mechanism of claim 2, wherein, The inner bracket comprises a bottom frame, two side frames and at least two rows of third sliding rails installed on the bottom frame, and the left mechanical arm and the right mechanical arm are slidably connected with the third sliding rails, and each side frame is installed with a group of third driving members, wherein one of the third driving members is connected to the left mechanical arm, and the other third driving member is connected to the right mechanical arm.

5. The robotic hand mechanism of claim 1, wherein, The sliding distance of the sliding box on the first sliding rail is greater than the diameter of the oil pressing disc.

6. The robotic hand mechanism of claim 1, wherein, The sliding box comprises an upper cross beam and a reinforcing frame fixed to the upper cross beam, and the upper cross beam and the reinforcing frame form a mounting space; The upper cross beam is arranged on the first sliding rail, the reinforcing frame is located between the two first sliding rails, and the second driving member is installed on the upper cross beam and connected to the inner bracket located in the mounting space.

7. The robotic hand mechanism of claim 6, wherein, The sliding box comprises a front baffle, and the front baffle is provided with at least one movable hole penetrating through, and the mechanical arm assembly extends out of the front baffle.

8. The robotic hand mechanism of claim 1, wherein, The mechanical arm mechanism comprises a protective cover arranged on the mounting frame, and the protective cover is provided with a long-hole-shaped clearance hole, and part of the second driving member extends out along the clearance hole.

9. The robotic hand mechanism of claim 1, wherein, The first driving member is configured as a screw-nut pair, and the second driving member is configured as a lifting cylinder or a lifting hydraulic cylinder.

10. The robotic hand mechanism of claim 9, wherein, The first driving member and the sliding box are connected by an adjusting member.

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