CN215789966U

CN215789966U - Swing arm of manipulator

Info

Publication number: CN215789966U
Application number: CN202122097726.XU
Authority: CN
Inventors: 俞中景
Original assignee: Yongkang Zhongjing Metal Products Co ltd
Current assignee: Yongkang Zhongjing Metal Products Co ltd
Priority date: 2021-09-01
Filing date: 2021-09-01
Publication date: 2022-02-11
Anticipated expiration: 2031-09-01

Abstract

The present invention relates to a manipulator swing arm, comprising: the first end of the basic arm is connected with the second end of the third driving piece through a guide rail sliding block, the second end of the basic arm is fixedly connected with a manipulator, and the third driving piece drives the basic arm to linearly reciprocate along the guide rail sliding block towards the manipulator; wherein the first driving member reciprocates the base arm upward or downward in a vertical direction by driving the second driving member and the third driving member; the second driving element drives the rotating shaft to enable the third driving element and the basic arm to rotate on a horizontal plane to control the manipulator to move back and forth between at least two operation points. The utility model controls the basic arm to move between different operating points on the same workbench through different driving parts, thereby improving the working efficiency of the manipulator and simplifying the assembly structure of the manipulator.

Description

Swing arm of manipulator

Technical Field

The utility model relates to the technical field of automatic material processing equipment, in particular to a manipulator swing arm.

Background

The stainless steel metal ring is a hardware fitting widely used in production and life, such as a fitting used for kitchen ware (strainer, basin, bowl, etc.), and also can be used for ornaments of clothes or bags. The ring generally need be tailor respectively through different operation points and draw the processing procedures such as the cyclization in process of production, the extrusion turn-up, hollow ring extrusion, each processing procedure all needs independent operation mould to process alone, the material circulates between different moulds and needs manipulator auxiliary operation, though all processing procedures can be concentrated on same workstation, but still need the manipulator to come auxiliary transmission material between the operation point, current manipulator is the single equipment usually, move between different operation points through extension arm, occupy great factory space on the one hand in this kind of design, on the other hand, the mechanical arm overlength can cause the potential safety hazard in the production process. In order to solve the problems, the mechanical arm needs to be improved, and the working efficiency and the production safety are improved.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a swing arm of a manipulator, aiming at the defects of the prior art, the swing arm of the manipulator controls a basic arm to move between different operating points on the same workbench through different driving parts, so that the working efficiency of the manipulator is improved, and the assembly structure of the manipulator is simplified.

In order to achieve the purpose, the utility model adopts the technical scheme that: a manipulator swing arm comprising: the first driving piece is fixedly arranged on the workbench; the first end of the second driving piece is connected with the first driving piece; the first end of the third driving piece is connected with the second end of the second driving piece through a rotating shaft; the first end of the basic arm is connected with the second end of the third driving piece through a guide rail sliding block, the second end of the basic arm is fixedly connected with a manipulator, and the third driving piece drives the basic arm to linearly reciprocate along the guide rail sliding block towards the manipulator; wherein the first driving member reciprocates the base arm upward or downward in a vertical direction by driving the second driving member and the third driving member; the second driving element drives the rotating shaft to enable the third driving element and the basic arm to rotate on a horizontal plane to control the manipulator to move back and forth between at least two operation points.

Preferably, the first end and the second end of the basic arm extend in the same direction to form a first fixing plate and a second fixing plate respectively, the guide rail sliding block is fixed on the first fixing plate, and the manipulator is fixed on the second fixing plate.

Preferably, a relief opening is formed on the base arm between the first end and the second end of the base arm, and the opening direction of the relief opening is the same as the extending direction of the first fixing plate and the second fixing plate.

Preferably, the first drive member comprises: scalable carrier, fix servo motor and derailleur in the scalable carrier, scalable carrier's one end fixed mounting is on the workstation, and the other end is fixed the second driving piece to flexible removal in vertical direction.

Preferably, the second drive member comprises: vertical support, fix servo motor and derailleur in the vertical support, first end in the vertical support is fixed scalable carrier, second end in the vertical support is equipped with the perforation, the rotation axis runs through this perforation, and one end is connected servo motor and derailleur in the vertical support, the other end with third driving piece fixed connection.

Preferably, the third drive member comprises: and one end of the propulsion cylinder is fixedly provided with an upper mounting seat, the upper mounting seat faces one surface of the second driving piece to fix the rotating shaft, the other end of the propulsion cylinder is fixedly provided with a lower mounting seat, and the lower mounting seat is fixedly connected with the guide rail sliding block.

Preferably, the propulsion cylinder includes a pull block, the propulsion cylinder linearly propels or retracts the pull block from a first end of the base arm in the direction of the manipulator, and one end of the pull block is fixed to a surface of the base arm facing the propulsion cylinder.

Preferably, the base arm is provided with a slot, and the pull block is inserted and fixed in the slot.

Preferably, the guide rail sliding block comprises a fixed block and a sliding block, the fixed block is fixedly connected with the lower mounting seat, the sliding block is fixed on one surface, facing the propulsion cylinder, of the basic arm, two sliding rails are arranged on the sliding block in parallel, and the fixed block is inserted into the sliding rails, so that the fixed block and the sliding block slide relatively.

Preferably, the third driving member further comprises a cushion block, a threading hole is formed in the cushion block, one end of the cushion block is fixedly connected with the upper mounting seat, the other end of the cushion block is fixedly connected with the lower mounting seat, and the cushion block is arranged at two opposite ends of the propulsion cylinder in pairs.

The utility model has the advantages that:

by applying the technical scheme of the utility model, when the automatic material processing is carried out, the manipulator can be controlled to respectively carry out linear movement, rotary movement or propulsion on the operation point mould in the vertical direction and the horizontal direction, so that the precision control on the movement track of the manipulator is improved, the working efficiency of the manipulator is improved, and the occupied space of the manipulator driving equipment is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the technical solutions related to the embodiments are briefly described below with reference to the accompanying drawings, and it is apparent that the drawings described in the present specification are only some possible embodiments of the present invention, and it is obvious for a person skilled in the art to obtain other drawings identical or similar to the technical solutions of the present invention based on the following drawings without any inventive work.

FIG. 1 is a schematic structural view of a swing arm of a manipulator according to the present invention;

FIG. 2 is an exploded view of the swing arm structure of the manipulator of the present invention;

FIG. 3 is a schematic diagram of the basic arm structure of the swing arm of the manipulator of the present invention;

FIG. 4 is a schematic structural view of a second driving member of the swing arm of the manipulator of the present invention;

FIG. 5 is a schematic structural view of a third driving member of the swing arm of the manipulator of the present invention;

FIG. 6 is a schematic structural diagram of a guide rail slide block of the swing arm of the manipulator.

The reference numerals and components referred to in the drawings are as follows:

1. the mechanical arm comprises a first driving piece, a second driving piece, a rotating shaft, a through hole, a rotating shaft, a through hole, a third driving piece, a pushing cylinder, a pulling block, a cushion block, an upper mounting seat, a lower mounting seat, a basic arm, a first fixing plate, a second fixing plate, a position-giving opening, a slot, a guide rail sliding block and a manipulator, wherein the first driving piece, the second driving piece, the rotating shaft, the guide rail sliding block and the manipulator are arranged in a sliding block mode that the first driving piece, the first driving piece 31, the second driving piece, the pulling block, the second driving block, the.

Detailed Description

The technical solutions described in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the embodiments described in this specification are only a part of possible technical solutions of the present invention, and other embodiments obtained by a person of ordinary skill in the art without any creative work based on the embodiments of the present invention should be considered as falling within the protection scope of the present invention.

It should be noted that the descriptions of "first", "second", etc. used in the embodiments of the present invention are used for descriptive purposes only and should not be interpreted as indicating or implying any limitation to the number of technical features, and therefore, the features defined as "first", "second", etc. in the embodiments of the present invention may indicate that at least one of the defined technical features is included.

Technical solutions between the embodiments of the present invention described in the present specification may be combined with each other, but it is necessary for those skilled in the art to realize the technical solutions.

The manipulator swing arm is applied to a material processing production line and is mainly used for driving and controlling the manipulator to move among different operating points so as to realize material transmission. In the using process, the swing arm of the manipulator is fixedly arranged on a workbench of material processing equipment. The working platform includes, but is not limited to, a manual operation platform for controlling the movement of the manipulator, and a working platform on which the manipulator is located, for example, when the manipulator runs back and forth between two working modules, the manipulator swing arm of the utility model may be fixed on the frame of any one working module, or may be fixed on the frame common to the two working modules.

Referring to the structure schematic diagrams of the swing arm of the manipulator of the utility model shown in fig. 1-2, the swing arm of the manipulator provided by the utility model comprises a first driving element 1, a second driving element 2, a third driving element 3 and a basic arm 4, wherein the basic arm 4 is fixedly assembled with the manipulator 6 for conveying materials, and the manipulator 6 can reach a stationary operation point through the movement of the basic arm 4 and stop or grab the materials at the corresponding operation point. Specifically, the first driving member 1 is fixedly arranged on a workbench (not shown in the figure); the first end of the second driving piece 2 is connected with the first driving piece 1; the first end of the third driving element 3 is connected with the second end of the second driving element 2 through a rotating shaft 21; a first end of the basic arm 4 is connected with a second end of the third driving element 3 through a guide rail slide block 5, the second end of the basic arm 4 is fixedly connected with a manipulator 6, and the third driving element 3 drives the basic arm 4 to linearly reciprocate along the guide rail slide block 5 towards the manipulator 6. Wherein the first driving member 1 reciprocates the base arm 4 upward or downward in the vertical direction by driving the second driving member 2 and the third driving member 3; the second driving member 2 controls the robot arm 6 to reciprocate between at least two operation points by driving the rotary shaft 21 to rotate the third driving member 3 and the base arm 4 on a horizontal plane. It should be noted that the manipulator 6 shown in the present embodiment and the drawings is one of the types of manipulators used in actual production, and the manipulator 6 does not belong to the technical features of the manipulator swing arm of the present invention, and in actual application, the manipulator 6 may adopt a structural form different from the type shown in the drawings of the present embodiment according to the change of a use scene, and more than one manipulator may be fixedly mounted on the manipulator swing arm of the present invention, however, no matter how the form or the mounting manner of the manipulator 6 is changed, the protection range of the manipulator swing arm of the present invention should not be affected.

Through the technical scheme described in the embodiment, the manipulator fixed on the workbench does not need independent driving equipment or control equipment, and only needs to assemble the first driving part 1, the second driving part 2, the third driving part 3 and the basic arm 4 on the processing operation platform of the material to be grabbed according to the embodiment, and set the motion track of the manipulator and the staying time of the manipulator at each operation point through the programming of the PLC control system, so that the operation of the manipulator can be controlled automatically. And through setting up the first driving piece 1 that gives drive power in the vertical direction, give the second driving piece 2 of the rotatory power of horizontal direction top spin to make basic arm 4 can be in three-dimensional space along X axle direction, Y axle direction, Z axle direction respectively, along the accurate removal of set orbit to can control it and stop at an accurate coordinate point, further, through setting up third driving piece 3 drive basic arm 4 to manipulator 6 direction straight reciprocating motion can drive the board of grabbing on the manipulator 6 and open or gather together, control manipulator 6 and accomplish the action of grabbing or throwing in the material.

In practical application, the basic arm 4 of the manipulator swing arm can be set to be a linear plate-shaped structure, and can also be set to be a sector annular plate-shaped structure or a semicircular annular plate-shaped structure with radian, and no matter what structure is set, the basic arm 4 comprises two opposite end parts which are respectively connected with the driving system and the manipulator. In a preferred embodiment, referring to fig. 2 and 3, the first end and the second end of the basic arm 4 of the swing arm of the robot arm of the present invention extend to the same direction to form a first fixing plate 41 and a second fixing plate 42, respectively, and preferably, the extending direction is any direction perpendicular to the axis of the basic arm 4 on the horizontal plane, for example, the vertical direction is defined as Z-axis, the direction of the slide rail of the guide rail slider 5 (i.e. the axis direction of the basic arm 4) is defined as Y-axis, and then, the extending direction forming the first fixing plate 41 and the second fixing plate 42 here is defined as X-axis. The guide rail sliding block 5 is fixed on the first fixing plate 41, and the manipulator 6 is fixed on the second fixing plate 42. Through the technical scheme, the basic arm 4 can be controlled to move along a standard track in a three-dimensional space, and the manipulator 6 can be accurately positioned.

Further, as shown in fig. 3, a relief opening 43 is formed on the base arm 4 between the first end and the second end of the base arm 4, and the opening direction of the relief opening 43 is the same as the extending direction of the first fixing plate 41 and the second fixing plate 42. Let a mouthful 43 through the setting, can guarantee that basic arm 4 has bigger swing space in the course of working, avoid basic arm and other equipment on the workstation to produce collision or friction, and then cause the wearing and tearing of equipment or influence the manipulator and snatch the stability of material. It should be noted that, the yielding port 43 shown in the drawings of the present embodiment is square, and is set according to the device shape of the corresponding operation point, in practice, according to the device shape that needs to be yielded, the shape of the yielding port 43 may be set as: circular, arcuate, polygonal, etc.

Referring to fig. 1 and 2, a first driving member 1 of a swing arm of a robot arm according to the present invention includes: the telescopic bearing piece, the servo motor and the transmission (not shown in the figure) are fixed in the telescopic bearing piece, one end of the telescopic bearing piece is fixedly assembled on the workbench, and the other end of the telescopic bearing piece is fixed with the second driving piece 2 and can move in a telescopic mode in the vertical direction.

Referring to fig. 1, 2 and 4, the second driving member 2 of the swing arm of the robot arm of the present invention includes: the servo motor and the derailleur (not shown in the figure) in the vertical stand are fixed to vertical stand, first end in the vertical stand is fixed scalable the carrier, second end in the vertical stand is equipped with perforation 22, rotation axis 21 runs through this perforation 22, servo motor and the derailleur in the vertical stand are connected to the one end of rotation axis 21, the other end with third driving piece 3 fixed connection. In the working process, a servo motor and a transmission in the vertical support drive the rotating shaft 21 to rotate along a preset angle range, so that the basic arm 4 is controlled to rotate and swing in a preset angle, and the manipulator 6 is moved to different operation points.

Referring to fig. 2 and 5, the third driving member 3 of the swing arm of the robot arm of the present invention includes: and the propulsion cylinder 31 is fixed with an upper mounting seat 33 at one end of the propulsion cylinder 31, the rotating shaft 21 is fixed on one surface of the upper mounting seat 33 facing the second driving piece 2, and a lower mounting seat 34 is fixed at the other end of the propulsion cylinder 31, and the guide rail sliding block 5 is fixedly connected through the lower mounting seat 34. In this embodiment, through fixing the upper mounting seat 33 and the lower mounting seat 34 at the two ends of the propulsion cylinder 31, the propulsion cylinder 31 is prevented from being directly connected with the rotating shaft 21 and the guide rail sliding block 5, so that the propulsion cylinder 31 is prevented from being damaged when the accessories move relatively, the safety of the propulsion cylinder 31 is protected, and the stability of the mounting structure between the three driving pieces is enhanced.

In a preferred embodiment, as shown in fig. 5, the propulsion cylinder 31 includes a pulling block 311, the pulling block 311 is directly connected to a piston rod of the propulsion cylinder 31, and the pulling block 311 is pushed out or retracted by the piston rod. Specifically, the pushing cylinder 31 linearly pushes or pulls the pulling block 311 from the first end of the base arm 4 toward the robot arm 6, and one end of the pulling block 311 is fixed to a surface of the base arm 4 facing the pushing cylinder 31. Preferably, as shown in fig. 4, the base arm 4 is provided with a slot 44, and the pulling block 311 is inserted and fixed in the slot 44. This embodiment can guarantee that basic arm 4 provides flexible power for manipulator 6 under the effect of third driving piece 3, makes the tongs of manipulator 6 can open or gather together, realizes snatching and throwing in the material. Further, the third driving member 3 further includes a cushion block 32, a threading hole is formed in the cushion block 32, one end of the cushion block 32 is fixedly connected to the upper mounting seat 33, the other end of the cushion block 32 is fixedly connected to the lower mounting seat 34, and the cushion block 32 is respectively disposed at two opposite ends of the propulsion cylinder 31 in pairs. Through setting up cushion 32, can form a frame that can protect and fix propulsion cylinder 31 with upper and lower mount pad cooperation installation on the one hand, on the other hand, can set up different shapes, not equidimension through wires hole on the cushion 32 for accomodate and guide the trachea, the electric wire etc. of propulsion cylinder 31 and pass, prevent that pipeline, circuit in the equipment are mixed and disorderly to cause the potential safety hazard or influence pleasing to the eye.

In a preferred embodiment, as shown in fig. 6, the guide rail slide block 5 of the swing arm of the manipulator according to the present invention includes a fixed block 51 and a slide block 52, the fixed block 51 is fixedly connected to the lower mounting seat 34, the slide block 52 is fixed to a surface of the base arm 4 facing the propulsion cylinder 31, two slide rails are arranged in parallel on the slide block 52, and the fixed block 51 is inserted into the slide rails, so that the fixed block 51 and the slide block 52 slide relatively. In this embodiment, through set up the slide rail on slider 51, can avoid leading to the stability of whole manipulator swing arm to the fixed block 51 motion of connecting with the driving piece to weaken, be difficult to the movement track of accurate location basic arm 4.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and additions can be made without departing from the principle of the present invention, and these should also be considered as the protection scope of the present invention.

Claims

1. A manipulator swing arm, comprising:

the first driving piece is fixedly arranged on the workbench;

the first end of the second driving piece is connected with the first driving piece;

the first end of the third driving piece is connected with the second end of the second driving piece through a rotating shaft;

the first end of the basic arm is connected with the second end of the third driving piece through a guide rail sliding block, the second end of the basic arm is fixedly connected with a manipulator, and the third driving piece drives the basic arm to linearly reciprocate along the guide rail sliding block towards the manipulator;

wherein the first driving member reciprocates the base arm upward or downward in a vertical direction by driving the second driving member and the third driving member; the second driving element drives the rotating shaft to enable the third driving element and the basic arm to rotate on a horizontal plane, and the manipulator is controlled to move back and forth between at least two operating points.

2. The swing arm of the manipulator according to claim 1, wherein the first end and the second end of the basic arm extend in the same direction to form a first fixing plate and a second fixing plate respectively, the guide rail slider is fixed on the first fixing plate, and the manipulator is fixed on the second fixing plate.

3. The swing arm according to claim 2, wherein a relief opening is formed in the base arm between the first end and the second end of the base arm, and the relief opening has the same opening direction as the first fixing plate and the second fixing plate.

4. The manipulator swing arm according to any one of claims 1-3, wherein the first drive comprises: scalable carrier, fix servo motor and derailleur in the scalable carrier, scalable carrier's one end fixed mounting is on the workstation, and the other end is fixed the second driving piece to flexible removal in vertical direction.

5. The robot arm swing of claim 4, wherein the second drive comprises: vertical support, fix servo motor and derailleur in the vertical support, first end in the vertical support is fixed scalable carrier, second end in the vertical support is equipped with the perforation, the rotation axis runs through this perforation, and one end is connected servo motor and derailleur in the vertical support, the other end with third driving piece fixed connection.

6. The robot arm swing of claim 5, wherein the third drive comprises: and one end of the propulsion cylinder is fixedly provided with an upper mounting seat, the upper mounting seat faces one surface of the second driving piece to fix the rotating shaft, the other end of the propulsion cylinder is fixedly provided with a lower mounting seat, and the lower mounting seat is fixedly connected with the guide rail sliding block.

7. The manipulator swing arm according to claim 6, wherein the propulsion cylinder comprises a pull block, the propulsion cylinder linearly pushes or pulls the pull block from the first end of the base arm in the manipulator direction, and one end of the pull block is fixed to a surface of the base arm facing the propulsion cylinder.

8. The swing arm of the robot hand of claim 7, wherein the base arm is formed with a slot into which the pull block is inserted and fixed.

9. The manipulator swing arm according to claim 8, wherein the rail slider comprises a fixed block and a slider, the fixed block is fixedly connected with the lower mounting seat, the slider is fixed on one surface of the basic arm facing the propulsion cylinder, two sliding rails are arranged on the slider in parallel, and the fixed block is inserted into the sliding rails, so that the fixed block and the slider slide relatively.

10. The swing arm of the robot hand of claim 7, wherein the third driving member further comprises a pad block, the pad block is provided with a threading hole, one end of the pad block is fixedly connected with the upper mounting seat, the other end of the pad block is fixedly connected with the lower mounting seat, and the pad blocks are respectively arranged at two opposite ends of the propulsion cylinder in pairs.