Double-position translation manipulator

Abstract

The utility model relates to the field of material transportation equipment, in particular to a double-position translation manipulator, which comprises a mounting plate, a screw rod and a rotating motor, at least two lug plates are arranged on the rear end face of the mounting plate, the lug plates are mounted at the left end and the right end of the mounting plate, lug holes for mounting the screw rod are formed in the lug plates, and the screw rod is rotatably connected with the lug holes. The output end of the rotating motor is connected with one end of the lead screw and used for driving the lead screw to rotate, at least two grabbing modules are arranged on the lead screw, each grabbing module comprises a first sliding block, a first electric air cylinder, a material platform and a grabbing hand, and a threaded hole is formed in each first sliding block and used for being installed on the lead screw in a sliding mode. A first electric air cylinder is detachably installed on the rear end face of the first sliding block, a material platform is installed at the output end of the first electric air cylinder, the material platform is detachably connected with grabbing hands, multiple sets of grabbing hands are arranged, multiple batches of materials can be grabbed in the same plane at the same time for transportation, the grabbing hands can be adjusted according to the product size in the production process, and the production efficiency is improved. And synchronous transportation of the materials is ensured.

Description

Technical Field

[0001] This utility model relates to the field of material handling equipment, and in particular to a two-position translational manipulator. Background Technology

[0002] Chinese utility model patent (authorization announcement number: CN218701001U) discloses an automatic switching transmission direction gripping device. The device includes a slide table; a gripping plate located above the slide table; a power component whose output end is connected to the gripping plate, and a connecting plate for connecting a robot arm is fixedly installed on the upper end of the power component; and a gripping structure fixedly installed on the lower end of the gripping plate. At least one set of gripping structures is provided. By installing gripping structures on the output end of the robot arm, products facing direction A are first moved to the slide table, and then products facing direction B are rotated to be placed on the slide table facing direction A, thereby enabling all products to be packaged in the same direction.

[0003] However, in actual use, the device can only grab one batch of materials at a time, and cannot grab multiple batches of materials on the same plane at the same time, resulting in low grabbing efficiency. Utility Model Content

[0004] To overcome the shortcomings mentioned above, this utility model aims to provide a technical solution that can solve the above problems.

[0005] A dual-position translational manipulator includes a mounting plate, a lead screw, and a rotary motor. The rear end face of the mounting plate is provided with at least two ear plates, which are installed at the left and right ends of the mounting plate. The ear plates have ear holes for installing the lead screw, which is rotatably connected to the ear holes. The output end of the rotary motor is connected to one end of the lead screw to drive the lead screw to rotate.

[0006] The lead screw is provided with at least two sets of gripping modules. Each gripping module includes a first slider, a first electric cylinder, a material platform, and a gripper. The first slider has a threaded hole for sliding on the lead screw. The first electric cylinder is detachably mounted on the rear end face of the first slider. The material platform is mounted on the output end of the first electric cylinder. The material platform is detachably connected to the gripper.

[0007] Furthermore, the end face of the material platform is provided with several through holes, and the grippers are respectively installed in the through holes.

[0008] Furthermore, the gripper includes an adjusting rod, a spring, and an electromagnetic chuck. The adjusting rod is detachably mounted on the through hole so that its lower end extends out of the through hole. The electromagnetic chuck is mounted on the lower end of the adjusting rod, and the spring is installed between the electromagnetic chuck and the material platform.

[0009] Furthermore, the lower end of the adjusting rod is provided with an abutment block, and the upper end of the electromagnetic chuck is provided with a sleeve. The abutment block is movably installed inside the sleeve to restrict the longitudinal movement of the electromagnetic chuck.

[0010] Furthermore, the material platform includes a fixed plate, a connecting block, and an abutment plate. The lower end face of the fixed plate is connected to the upper end face of the connecting block, and the lower end face of the connecting block is connected to the upper end face of the abutment plate to form a double-layer plate structure. The fixed plate is provided with a first connecting hole for installing the upper end of the gripper, and the abutment plate is provided with a second connecting hole for installing the lower end of the gripper.

[0011] Furthermore, the gripper includes a second electric cylinder, a guide sleeve, and an electromagnetic block. The output port of the second electric cylinder is inserted into the first connecting hole. The guide sleeve is detachably installed on the lower end face of the abutment plate. The sleeve hole of the guide sleeve corresponds to the second connecting hole. The electromagnetic block extends from the lower end of the guide sleeve through the second connecting hole. The output end of the second electric cylinder is connected to the upper end of the electromagnetic block to drive the electromagnetic block to move within the sleeve hole.

[0012] Furthermore, the rear end face of the mounting plate is provided with at least one slide rail, and the front end face of the first slider is provided with at least one groove for slidingly mounting on the slide rail.

[0013] Furthermore, a material platform is provided at the lower end of the gripper, and a third electric cylinder is provided at the lower end of the material platform. The output end of the third electric cylinder is connected to the lower end face of the material platform to drive the material platform to move longitudinally.

[0014] Furthermore, the front end of the material platform is provided with a mounting base, and the upper and lower ends of the mounting base are respectively provided with induction switches to obtain the position of the material platform.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] 1. By setting two sets of gripping modules at the lead screw, the spacing between the gripping modules can be adjusted to grip materials of different sizes. Multiple grippers are also set up to simultaneously grip and transport multiple batches of materials on the same plane. Furthermore, the grippers can be adjusted according to the product size during production to ensure synchronous transportation of materials.

[0017] 2. By setting grippers according to the material of the material, electromagnetic chucks or electromagnetic blocks can be set for gripping, which helps the robot to adapt to the gripping and transportation of different products. At the same time, adjusting the distance between the two grippers can ensure good gripping effect when gripping materials of different sizes.

[0018] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the material platform structure of this utility model.

[0021] Figure 2 This is a cross-sectional view of the adjusting rod of this utility model.

[0022] Figure 3 This is a schematic diagram of the fixing plate structure of this utility model.

[0023] Figure 4 This is a cross-sectional schematic diagram of the electromagnetic block of this utility model.

[0024] Figure 5 This is a schematic diagram of the slide rail structure of this utility model.

[0025] Figure 6 This is a schematic diagram of the material platform structure of this utility model.

[0026] Figure 7 This is a schematic diagram of the mounting plate structure of this utility model.

[0027] Figure 8 This is a schematic diagram of the structure of the first electric cylinder of this utility model.

[0028] Figure 9 yes Figure 8 Sectional view at point AA.

[0029] In the diagram: 1-Mounting plate, 2-Lead screw, 51-First slider, 4-Rotating motor, 11-Ear plate, 111-Ear hole, 52a, 52b-First electric cylinder, 53-Material platform, 541-Adjusting rod, 542-Spring, 543-Electromagnetic chuck, 5411-Abutting block, 5431-Sleeve, 531-Fixing plate, 532-Connecting block, 533-Abutting plate, 5311-First connecting hole, 5331-Second connecting hole, 544-Second electric cylinder, 545-Guide sleeve, 546-Electromagnetic block, 12-Slide rail, 511-Slide groove, 6-Material platform, 7-Third electric cylinder, 8-Mounting base, 9-Induction switch. Detailed Implementation

[0030] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0031] Please see Figure 1 In this embodiment of the utility model, a dual-position translational manipulator is provided. The manipulator includes a mounting plate 1, a lead screw 2, and a rotary motor 4. The rear end face of the mounting plate 1 is provided with at least two ear plates 11. The ear plates 11 are installed at the left and right ends of the mounting plate 1. The ear plates 11 are provided with ear holes 111 for mounting the lead screw 2. The lead screw 2 is rotatably connected to the ear holes 111. The output end of the rotary motor 4 is connected to one end of the lead screw 2 for driving the lead screw 2 to rotate.

[0032] The lead screw 2 is equipped with at least two sets of gripping modules. The gripping modules include a first slider 51, a first electric cylinder 52a, 52b, a material platform 53, and a gripper. The first slider 51 has a threaded hole for sliding installation on the lead screw 2. The first electric cylinder 52a, 52b are detachably installed on the rear end face of the first slider 51. The material platform 53 is installed on the output end of the first electric cylinder 52a, 52b. The gripper is detachably connected to the material platform 53. Several through holes are provided on the end face of the material platform 53, and the gripper is installed in each of the through holes.

[0033] The working principle of this embodiment is as follows: In actual production and processing, the operator can use this robotic arm to simultaneously grab and transport two batches of materials on the same plane. The robotic arm is installed above the materials to be grabbed. The operator powers on the rotating motor 4 to make the drive screw 2 rotate, which drives the first slider 51 to move on the screw 2, thereby adjusting the position of the gripper so that the gripper can be in a suitable gripping position. Furthermore, the two sets of gripping modules can realize the simultaneous gripping of two batches of materials on the same plane. The first electric cylinders 52a and 52b can adjust the longitudinal position of the gripper so that the gripper can be raised or lowered during gripping. Moreover, the two sets of gripping modules can move synchronously at the screw 2, ensuring that the gripping frequency of materials is consistent and improving production efficiency.

[0034] Further as Figures 1-2As shown, in this embodiment of the utility model, the gripper includes an adjusting rod 541, a spring 542, and an electromagnetic chuck 543. The adjusting rod 541 is detachably installed in the through hole so that the lower end of the adjusting rod 541 extends out of the through hole. The electromagnetic chuck 543 is installed at the lower end of the adjusting rod 541. The spring 542 is installed between the electromagnetic chuck 543 and the material platform 53. The lower end of the adjusting rod 541 is provided with an abutment block 5411. The upper end of the electromagnetic chuck 543 is provided with a sleeve 5431. The abutment block 5411 is movably installed in the sleeve 5431 to restrict the longitudinal movement of the electromagnetic chuck 543.

[0035] The working principle of this embodiment is as follows: During the material gripping process, the output end of the first electric cylinder 52a drives the gripper to extend or retract, thereby gripping the material. The gripper can use an electromagnetic chuck 543 to grip the material, which is suitable for products with smooth surfaces. When the operator uses the electromagnetic chuck 543 to grip the material, the operator first powers on the rotary motor 4 to drive the lead screw 2 to rotate, thereby adjusting the electromagnetic chuck 543 to move to a suitable gripping position. The electromagnetic chuck 543 can be moved directly above the material to be gripped, which can ensure a good gripping effect.

[0036] Specifically, the abutment block 5411 is installed inside the sleeve 5431, such as... Figure 2 As shown, the electromagnetic chuck 543 can extend or retract on the adjusting rod 541. The lower end of the spring 542 abuts against the upper end face of the sleeve 5431, and the upper end of the spring 542 abuts against the lower end face of the material platform 53. When the chuck contacts the material, the reaction force of the material causes it to move a certain distance toward the adjusting rod 541. At this time, the spring 542 is compressed by the pressure at the end of the chuck. When the chuck is restricted from moving by the reaction force of the spring 542, a pre-pressure is generated between the chuck and the material to be grasped, and the chuck begins to pick up the material. The spring 542 provides a buffer effect when the chuck grasps the material, preventing the first cylinder from extending too much and causing excessive pressure on the chuck when grasping the material, thus improving the durability of the chuck.

[0037] Further as Figures 3-7As shown in this embodiment of the present invention, the material platform 53 includes a fixing plate 531, a connecting block 532, and an abutment plate 533. The lower end face of the fixing plate 531 is connected to the upper end face of the connecting block 532, and the lower end face of the connecting block 532 is connected to the upper end face of the abutment plate 533 to form a double-layer plate structure. The fixing plate 531 is provided with a first connecting hole 5311 for installing the upper end of the gripper, and the abutment plate 533 is provided with a second connecting hole 5331 for installing the lower end of the gripper. The first connecting hole 5311 and the second connecting hole 5331 are located at... On the same axis, the gripper includes a second electric cylinder 544, a guide sleeve 545, and an electromagnetic block 546. The output port of the second electric cylinder is inserted into a first connecting hole 5311. The guide sleeve 545 is detachably installed on the lower end face of the abutment plate 533. The sleeve hole of the guide sleeve 545 corresponds to the second connecting hole 5331. The electromagnetic block 546 extends from the lower end of the guide sleeve 545 through the second connecting hole 5331. The output end of the second electric cylinder 544 is connected to the upper end of the electromagnetic block 546 to drive the electromagnetic block 546 to move within the sleeve hole.

[0038] The working principle of this embodiment is as follows: During the material gripping process, the gripper can use an electromagnetic block 546 to grip the material. It is applicable to magnetic products and materials. When the operator uses the electromagnetic block 546 to grip the material, the operator first energizes the rotating motor 4 to drive the lead screw 2 to rotate, thereby adjusting the electromagnetic block 546 to move to a suitable gripping position.

[0039] Specifically, when gripping materials, the output end of the second electric cylinder 544 can extend from the first connecting hole 5311. The output end drives the electromagnetic block 546 through the second connecting hole 5331 and extend from the lower opening of the guide sleeve 545 to grip the materials. After gripping the materials, the rotating motor 4 drives the lead screw 2 to rotate, thereby driving the first slider 51 to move to complete the transportation of the materials. When the materials are transported to the designated dropping position, the output end of the second electric cylinder 544 retracts, causing the electromagnetic block 546 to retract into the guide sleeve 545. The materials are held by the guide sleeve 545 and fall off the electromagnetic block 546, thereby completing the dropping of the products.

[0040] Further as Figures 5-7 As shown in this embodiment of the utility model, the rear end face of the mounting plate 1 is provided with at least one slide rail 12, and the front end face of the first slider 51 is provided with at least one slide groove 511 for sliding installation on the slide rail 12.

[0041] The working principle of this embodiment is as follows: When the first slider 51 slides on the lead screw 2, the slide rail 12 can provide guidance for the first slider 51. The number of slide grooves 511 corresponds to the number of slide rails 12. Specifically, two sets of slide rails 12 can be set on the rear end face of the mounting plate 1, and two slide grooves 511 are provided on the front end face of the first slider 51 to ensure the stability of the first slider 51 when sliding, thereby reducing the shaking when transporting materials.

[0042] Further as Figures 6-7 As shown in this embodiment of the utility model, a material platform 6 is provided at the lower end of the gripper, and a third electric cylinder 7 is provided at the lower end of the material platform 6. The output end of the third electric cylinder 7 is connected to the lower end surface of the material platform 6 to drive the material platform 6 to move longitudinally. A mounting base 8 is provided at the front end of the material platform 6, and induction switches 9 are respectively provided at the upper and lower ends of the mounting base 8 to obtain the position of the material platform 6.

[0043] The working principle of this embodiment is as follows: The material platform 6 can adjust the gripping height according to the size of the material to facilitate the gripper's gripping of the material. When the material to be gripped is placed on the material platform 6, the third electric cylinder 7 is energized, causing the output end to push the material platform 6 in the extension direction of the third electric cylinder 7, so that the material platform 6 is raised or lowered longitudinally. The induction switch 9 of the mounting base 8 is used to sense the position of the material platform 6. When the material platform 6 is raised, the induction switch 9 at the upper end of the mounting base 8 detects the material platform 6 and can transmit an electrical signal to the third electric cylinder 7, so that the output end of the third electric cylinder 7 stops extending. At this time, the material platform 6 stops at a certain height, and then the material on the material platform 6 is gripped.

[0044] When reloading is required, the third electric cylinder 7 retracts, causing the material platform 6 to descend. When the induction switch 9 at the lower end of the mounting base 8 detects the material platform 6, it transmits an electrical signal to the third electric cylinder 7, and the output end of the third electric cylinder 7 stops retracting. At this time, the material platform 6 descends to the appropriate loading position.

[0045] Further as Figure 1 and Figures 8-9 As shown in the embodiment of this utility model, the first electric cylinders 52a and 52b are installed in two ways to control the raising and lowering of the gripper. The first electric cylinder 52a is installed in one way, with its output end facing downwards. When extended, it lowers the gripper; when retracted, it raises the gripper. The first electric cylinder 52b is installed in another way, with its output end facing upwards. When extended, it raises the gripper; when retracted, it lowers the gripper.

[0046] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention.

Claims

1. A dual-position translational manipulator, characterized in that, The robotic arm includes a mounting plate (1), a lead screw (2), and a rotary motor (4). The rear end face of the mounting plate (1) is provided with at least two ear plates (11). The ear plates (11) are installed at the left and right ends of the mounting plate (1). The ear plates (11) have ear holes (111) for installing the lead screw (2). The lead screw (2) is rotatably connected to the ear holes (111). The output end of the rotary motor (4) is connected to one end of the lead screw (2) to drive the lead screw (2) to rotate. At least two gripping modules are provided on the lead screw (2). The gripping module includes a first slider (51), a first electric cylinder (52a, 52b), a material platform (53), and a gripper. The first slider (51) has a threaded hole for sliding on the lead screw (2). The first electric cylinder (52a, 52b) is detachably mounted on the rear end face of the first slider (51). The material platform (53) is mounted on the output end of the first electric cylinder (52a, 52b). The material platform (53) is detachably connected to the gripper. The material platform (53) is provided with several through holes on its end face, and the grippers are respectively installed in the through holes; The gripper includes an adjusting rod (541), a spring (542), and an electromagnetic chuck (543). The adjusting rod (541) is detachably installed in the through hole so that the lower end of the adjusting rod (541) extends out of the through hole. The electromagnetic chuck (543) is installed at the lower end of the adjusting rod (541). The spring (542) is installed between the electromagnetic chuck (543) and the material platform (53).

2. The dual-position translational manipulator according to claim 1, characterized in that, The lower end of the adjusting rod (541) is provided with an abutment block (5411), and the upper end of the electromagnetic chuck (543) is provided with a sleeve (5431). The abutment block (5411) is movably installed in the sleeve (5431) to restrict the longitudinal movement of the electromagnetic chuck (543).

3. The dual-position translational manipulator according to claim 1, characterized in that, The material platform (53) includes a fixing plate (531), a connecting block (532), and an abutment plate (533). The lower end face of the fixing plate (531) is connected to the upper end face of the connecting block (532), and the lower end face of the connecting block (532) is connected to the upper end face of the abutment plate (533) to form a double-layer plate structure. The fixing plate (531) is provided with a first connecting hole (5311) for installing the upper end of the gripper, and the abutment plate (533) is provided with a second connecting hole (5331) for installing the lower end of the gripper.

4. The dual-position translational manipulator according to claim 3, characterized in that, The gripper includes a second electric cylinder (544), a guide sleeve (545), and an electromagnetic block (546). The output port of the second electric cylinder (544) is inserted into the first connecting hole (5311). The guide sleeve (545) is detachably installed on the lower end face of the abutment plate (533). The sleeve hole of the guide sleeve (545) corresponds to the second connecting hole (5331). The electromagnetic block (546) extends from the lower end of the guide sleeve (545) through the second connecting hole (5331). The output end of the second electric cylinder (544) is connected to the upper end of the electromagnetic block (546) to drive the electromagnetic block (546) to move within the sleeve hole.

5. The dual-position translational manipulator according to claim 1, characterized in that, The rear end face of the mounting plate (1) is provided with at least one slide rail (12), and the front end face of the first slider (51) is provided with at least one slide groove (511) for sliding installation on the slide rail (12).

6. The dual-position translational manipulator according to claim 1, characterized in that, The lower end of the gripper is provided with a material platform (6), and the lower end of the material platform (6) is provided with a third electric cylinder (7). The output end of the third electric cylinder (7) is connected to the lower end face of the material platform (6) to drive the material platform (6) to move longitudinally.

7. The dual-position translational manipulator according to claim 6, characterized in that, The front end of the material platform (6) is provided with a mounting base (8), and the upper and lower ends of the mounting base (8) are respectively provided with induction switches (9) to obtain the position of the material platform (6).

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