CN219404310U - Manipulator and automation equipment - Google Patents

Abstract

The application relates to a manipulator and automation equipment, wherein, the manipulator includes: the mounting seat assembly is provided with a mounting part; get and put the subassembly, get and put the subassembly and include drive structure and multiunit clamping structure, drive structure fixed mounting is on the mount pad subassembly, and each group clamping structure sets up in the one side of keeping away from the installation department of mount pad subassembly to link to each other with drive structure, each group clamping structure is being close to the installation department to keeping away from the direction of installation department and setting gradually. The technical scheme of the application effectively solves the problem of poor universality of the manipulator in the prior art.

Description

Manipulator and automation equipment

Technical Field

The application relates to the technical field of manipulators, in particular to a manipulator and automation equipment.

Background

In the field of automation, automation equipment such as testing or manufacturing by clamping a workpiece by using a manipulator is increasingly used. Generally, a manipulator arm has a corresponding clamping jaw to clamp a workpiece, and a manipulator arm at the end of the manipulator arm is designed to clamp a corresponding product. Because of the automated machine, there may be more than one product assembled, and there may be differences in size and shape between different products, so that different robots or mechanisms are required for different products. And this needs more robotic arms or designs corresponding mechanism and corresponds, will lead to design cost and manufacturing cost to improve greatly like this, and the structure sets up complicacy, and the process procedure of product is more, is unfavorable for improving equipment machining efficiency, and the commonality is poor.

Disclosure of Invention

The application provides a manipulator and automation equipment to solve the relatively poor problem of manipulator commonality among the prior art.

According to the manipulator that this application provided, include: the mounting seat assembly is provided with a mounting part; get and put the subassembly, get and put the subassembly and include drive structure and multiunit clamping structure, drive structure fixed mounting is on the mount pad subassembly, and each group clamping structure sets up in the one side of keeping away from the installation department of mount pad subassembly to link to each other with drive structure, each group clamping structure is being close to the installation department to keeping away from the direction of installation department and setting gradually.

Further, the multiunit clamp structure includes first group clamp structure and second group clamp structure, and first group clamp structure includes relative first clamp arm and the second clamp arm that sets up, and second group clamp structure includes relative third clamp arm and the fourth clamp arm that sets up, and first clamp arm and third clamp arm are integrated into one piece structure, and second clamp arm and fourth clamp arm are integrated into one piece structure.

Further, the clamping structures and the driving structures of the multiple groups are provided with matched sliding rail structures.

Further, the driving structure is an electric push rod structure.

Further, the manipulator further comprises a sucker assembly, and the sucker assembly is arranged on the mounting seat assembly.

Further, the suction cup assembly comprises a first group of suction cups and a second group of suction cups, the first group of suction cups are located on the first side face of the mounting seat assembly, and the second group of suction cups are located on the second side face of the mounting seat assembly.

Further, the manipulator also comprises an information acquisition component, and the information acquisition component is arranged on the mounting seat component.

Further, the manipulator further comprises an air knife assembly, and the air knife assembly is arranged on the mounting seat assembly.

Further, the air knife assembly comprises a first air knife arm and a second air knife arm, the first air knife arm is arranged on the first side face of the installation seat assembly, the second air knife arm is arranged on the second side face of the installation seat assembly, a first air outlet is formed in the first air knife arm, a second air outlet is formed in the second air knife arm, the first air outlet faces away from the second air knife arm, and the second air outlet faces away from the first air knife arm.

According to another aspect of the present application, there is also provided an automation device, wherein the automation device includes an automation device body and a manipulator disposed on the automation device body, and the manipulator is any one of the above manipulators.

By means of the technical scheme, the manipulator is provided with the multiple groups of clamping structures, so that a plurality of different objects can be clamped, and the manipulator corresponding to the object does not need to be replaced when different objects are grabbed. Therefore, the time for replacing the manipulator can be saved, the operation efficiency is improved, and the equipment cost is reduced. The technical scheme of the application effectively solves the problem of poor universality of the manipulator in the prior art.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.

Fig. 1 shows a schematic view of an operation perspective structure of a manipulator according to an embodiment of the present application;

FIG. 2 is a schematic perspective view showing a non-operating state of the manipulator of FIG. 1;

FIG. 3 shows a schematic perspective view of the manipulator of FIG. 2 at another angle;

fig. 4 shows an enlarged schematic view of a first wind blade arm of the manipulator of fig. 2.

Wherein the above figures include the following reference numerals:

10. a mounting base assembly; 11. a mounting part; 20. a pick-and-place assembly; 21. a driving structure; 22. a clamping structure; 221. a first set of clamping structures; 222. a second set of clamping structures; 30. a suction cup assembly; 31. a first set of suction cups; 32. a second set of suction cups; 33. a vacuum pump; 40. an information acquisition component; 50. an air knife assembly; 51. a first wind knife arm; 511. a first air outlet; 52. a second wind knife arm; 521. a second air outlet; 100. a workpiece to be machined; 200. a processed member; 300. a material tray; 400. and a cover plate.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be oriented 90 degrees or at other orientations and the spatially relative descriptors used herein interpreted accordingly.

As shown in fig. 1 to 3, the manipulator of the present embodiment includes: mount assembly 10 and pick-and-place assembly 20. Mount assembly 10 has a mounting portion 11. The pick-and-place assembly 20 comprises a driving structure 21 and a plurality of groups of clamping structures 22, wherein the driving structure 21 is fixedly arranged on the mounting seat assembly 10, each group of clamping structures is arranged on one side, far away from the mounting part 11, of the mounting seat assembly 10 and is connected with the driving structure 21, and each group of clamping structures is sequentially arranged along the direction from the direction close to the mounting part 11 to the direction far away from the mounting part 11.

By applying the technical scheme of the embodiment, the manipulator is provided with a plurality of groups of clamping structures 22, so that a plurality of different objects can be clamped, and the manipulator corresponding to the object does not need to be replaced when different objects are grabbed. Therefore, the time for replacing the manipulator can be saved, the operation efficiency is improved, and the equipment cost is reduced. The technical scheme of the embodiment effectively solves the problem of poor universality of the manipulator in the prior art.

It should be noted that, in the technical solution of this embodiment, the plurality of groups of clamping structures 22 are two groups, as shown in fig. 1, the manipulator adsorbs the workpiece 100 to be processed, the processed workpiece 200, and the pick-and-place assembly 20 clamps the tray 300 and the cover plate 400.

As shown in fig. 2 and 3, in the technical solution of the present embodiment, the multiple sets of clamping structures 22 include a first set of clamping structures 221 and a second set of clamping structures 222, the first set of clamping structures 221 includes a first clamping arm and a second clamping arm that are oppositely disposed, the second set of clamping structures 222 includes a third clamping arm and a fourth clamping arm that are oppositely disposed, and the first clamping arm and the third clamping arm are an integral structure, and the second clamping arm and the fourth clamping arm are an integral structure. The structure has the advantages of low processing cost, fewer vulnerable parts and convenient operation. It should be noted that, the first clamping arm and the third clamping arm are integrally formed, and the second clamping arm and the fourth clamping arm are integrally formed, so that the tray 300 or the cover plate 400 is generally clamped separately. The first clamping arm is provided with a first long groove at one side far away from the second clamping arm, the second clamping arm is provided with a second long groove at one side far away from the first clamping arm, and the extending directions of the first long groove and the second long groove are consistent, so that the object to be held is not easy to be separated from the picking and placing assembly 20. The picking and placing assembly 20 can be arranged in a matched mode according to the structural characteristics of the object to be held. In the technical solution of this embodiment, the distance of the first clamping arm away from the mounting portion 11 is the same as the distance of the second clamping arm away from the mounting portion 11, and the distance of the third clamping arm away from the mounting portion 11 is the same as the distance of the fourth clamping arm away from the mounting portion 11.

As shown in fig. 2, in the technical solution of the present embodiment, the plurality of groups of clamping structures 22 and the driving structure 21 have a sliding rail structure adapted to each other. Such a configuration allows for smoother and more accurate movement of each set of gripping structures 22. It should be noted that, the driving structure 21 is provided with a sliding slot, and the multiple groups of clamping structures 22 are provided with sliding rails adapted to the sliding slot. The extending direction of the sliding groove and the sliding rail is the X-axis direction, the extending direction of the first long groove is the Y-axis direction, the first clamping arm and the second clamping arm can be close to or far away from each other in the X-axis direction, and the object can be clamped or put down through the close or far away of the first clamping arm and the second clamping arm in the X-axis direction. The driving structure 21 is provided with a sliding rail, and the multiple groups of clamping structures 22 are also provided with sliding grooves matched with the sliding rail.

As shown in fig. 2, in the technical solution of the present embodiment, the driving structure 21 is an electric push rod structure. The structure is compact and occupies small space. In the technical solution of the present embodiment, the first clamping arm and the third clamping arm pass through one electric push rod, and the second clamping arm and the fourth clamping arm pass through the other electric push rod. When the electric push rod is used, the two electric push rods can synchronously move at the same time, and each electric push rod can also be independently controlled. In the embodiment, the method that two electric push rods synchronously move simultaneously is adopted, so that the manufacturing cost of the structure is low, and the requirement can be met.

As shown in fig. 1 to 3, in the technical solution of the present embodiment, the manipulator further includes a suction cup assembly 30, and the suction cup assembly 30 is disposed on the mounting seat assembly 10. Therefore, the universality of the manipulator is improved, and the application of the manipulator is improved.

As shown in fig. 2, in the technical solution of the present embodiment, the suction cup assembly 30 includes a first set of suction cups 31 and a second set of suction cups 32, where the first set of suction cups 31 is located on a first side of the mounting seat assembly 10, and the second set of suction cups 32 is located on a second side of the mounting seat assembly 10. Therefore, the space of the manipulator can be utilized to the greatest extent, and when the first group of suckers 31 and the second group of suckers 32 work, the two groups of suckers are complementarily influenced and do not interfere with each other. The first side of the mount assembly 10 and the second side of the mount assembly 10 are opposite sides.

The first side and the second side refer to two opposite sides of the four sides of the mount assembly 10, and one end having the mounting portion 11 and one end far from the mounting portion 11 are end surfaces. Specifically, the two side surfaces in the Y-axis direction are arranged in such a way that the opening of the first long groove faces away from the opening of the second long groove, the opening of the first long groove faces the third side surface, and the opening of the second long groove faces the fourth side surface.

As shown in fig. 2, in the technical solution of the present embodiment, the manipulator further includes an information collecting assembly 40, and the information collecting assembly 40 is disposed on the mount assembly 10. The arrangement of the information acquisition assembly 40 improves the accuracy of the grabbing of the manipulator and improves the automation degree of the manipulator. It should be noted that, the information collecting component 40 is an image collector, and the image collector includes a camera. In operation, the manipulator moves to the area to be processed, the information acquisition component 40 shoots and guides the product to be processed (the workpiece to be processed), the manipulator moves to a proper position, the vacuum pump 33 provides vacuum pressure, and then the first group of suckers 31 or the second group of suckers 32 suck objects. The first set of suction cups 31 or the second set of suction cups 32 each have four suction cups located at four corners of the corresponding side of the mount assembly 10. As other embodiments, the number of suction cups of the first group of suction cups 31 and the second group of suction cups 32 may be different, and the pressure of suction negative pressure of the vacuum pump 33 and the air amount may be adjusted and controlled as required.

As shown in fig. 2 and 3, in the technical solution of the present embodiment, the manipulator further includes an air knife assembly 50, and the air knife assembly 50 is disposed on the mount assembly 10. The provision of the air knife assembly 50 ensures that there is a need for product cleaning. The air knife assembly 50 is located at an end remote from the mounting portion 11. The air knife assembly 50 can be used for introducing air source outside the manipulator, or can be provided with a compressor on the manipulator to provide air, which is not described herein.

As shown in fig. 2 to 4, in the technical solution of the present embodiment, the air knife assembly 50 includes a first air knife arm 51 and a second air knife arm 52, the first air knife arm 51 is disposed on a first side surface of the mount assembly 10, the second air knife arm 52 is disposed on a second side surface of the mount assembly 10, a first air outlet 511 is disposed on the first air knife arm 51, a second air outlet 521 is disposed on the second air knife arm 52, the first air outlet 511 faces away from the second air knife arm 52, and the second air outlet 521 faces away from the first air knife arm 51. Thus, the cleaning requirements can be met by arranging two air knife arms, and the sweeping area is larger due to the deviating arrangement of the first air knife arm 51 and the second air knife arm 52. The first air outlet 511 and the second air outlet 521 each include a plurality of air outlet holes disposed along the X direction, and the air outlet holes are disposed at intervals. The first air outlet 511 and the second air outlet 521 are both inclined downward, i.e., the first air outlet is inclined in a direction away from the mounting portion 11, and similarly, the second air outlet 521 is inclined in a direction away from the mounting portion 11. In order to facilitate the installation of the first air outlet 511 and the second air outlet 521, the first air knife arm 51 is provided with a first inclined surface, the inclined direction is 45 ° to the first side surface, the side of the first inclined surface away from the mounting portion 11 approaches in the direction of approaching the second air knife arm 52, each first air outlet 511 is provided on the first inclined surface, the second air knife arm 52 is provided with a second inclined surface, the inclined direction is 45 ° to the second side surface, the side of the second inclined surface away from the mounting portion 11 approaches in the direction of approaching the first air knife arm 51, and each second air outlet 521 is provided on the second inclined surface. The first blade arm 51 may be formed in one or more stages, and the second blade arm 52 may be formed in one or more stages. As another embodiment, the first air outlet hole may be an air outlet long hole, and the air outlet long hole extends along the X direction. The inclination angles of the air outlet holes on the same air knife arm can be different or the same.

It can be seen from the foregoing that, the manipulator of this embodiment provides independent air pressure and the mechanical arm to realize precision adjustment through the electric suction cup (suction cup assembly 30), the suction cup assembly 30 is utilized to realize the suction and replacement of products in the movement of the equipment, saving the time for changing the materials, and the air knife mechanism (air knife assembly 50) is utilized to clean the products, so as to prevent the damage to the products, and the electric clamping jaw (picking and placing assembly 20) is utilized to guide and grasp the material tray 300 and the cover plate 400, and because the position precision and the overlapping of the two clamping jaws (the first group of clamping structures 221 and the second group of clamping structures 222) are fixed up and down, the two clamping jaws can be driven to move to clamp the products, so that the cost is saved (the two clamping jaws can clamp the two products simultaneously and can be used separately), and the utility is strong. The mechanical arm is simple and compact, simple in action, stable and reliable in operation, convenient to adjust and maintain, capable of guiding, grabbing and reloading products, free of mutual interference, high in working efficiency, suitable for being applied to automatic equipment, high in practicality and high in universality.

The application also provides an automation device. The automation equipment comprises an automation equipment body and a manipulator arranged on the automation equipment body, wherein the manipulator is the manipulator. It should be noted that the automation device may be a robot, a mechanical arm, or an intelligent tool. The automation equipment of this application commonality is stronger, does not need often to change the manipulator.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be capable of being practiced otherwise than as specifically illustrated and described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The foregoing is merely a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and variations may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (10)

1. A manipulator, comprising:

a mount assembly (10), the mount assembly (10) having a mounting portion (11);

get and put subassembly (20), get and put subassembly (20) include drive structure (21) and multiunit clamping structure (22), drive structure (21) fixed mounting is in on mount pad subassembly (10), each group clamping structure (22) set up mount pad subassembly (10) keep away from one side of installation department (11), and with drive structure (21) link to each other, each group clamping structure (22) are being close to installation department (11) to keep away from in proper order in the direction of installation department (11).

2. The manipulator of claim 1, wherein the plurality of sets of gripping structures (22) comprises a first set of gripping structures (221) and a second set of gripping structures (222), the first set of gripping structures (221) comprising oppositely disposed first and second gripping arms, the second set of gripping structures (222) comprising oppositely disposed third and fourth gripping arms, the first and third gripping arms being of unitary construction, the second gripping arm being of unitary construction with the fourth gripping arm.

3. The manipulator according to claim 1, characterized in that the sets of gripping structures (22) and the driving structure (21) have a suitable sliding track structure.

4. Manipulator according to claim 1, characterized in that the drive structure (21) is an electric push rod structure.

5. The manipulator according to claim 1, further comprising a suction cup assembly (30), the suction cup assembly (30) being disposed on the mount assembly (10).

6. The manipulator of claim 5, wherein the suction cup assembly (30) comprises a first set of suction cups (31) and a second set of suction cups (32), the first set of suction cups (31) being located on a first side of the mount assembly (10) and the second set of suction cups (32) being located on a second side of the mount assembly (10).

7. The manipulator according to claim 1, further comprising an information acquisition assembly (40), the information acquisition assembly (40) being disposed on the mount assembly (10).

8. The manipulator according to any of claims 1-7, further comprising an air knife assembly (50), the air knife assembly (50) being arranged on the mount assembly (10).

9. The manipulator of claim 8, wherein the air knife assembly (50) comprises a first air knife arm (51) and a second air knife arm (52), the first air knife arm (51) is disposed on a first side of the mount assembly (10), the second air knife arm (52) is disposed on a second side of the mount assembly (10), a first air outlet (511) is disposed on the first air knife arm (51), a second air outlet (512) is disposed on the second air knife arm (52), the first air outlet (511) faces away from the second air knife arm (52), and the second air outlet (512) faces away from the first air knife arm (51).

10. An automation device, characterized in that it comprises an automation device body and a manipulator provided on the automation device body, the manipulator being a manipulator according to any one of claims 1 to 9.