CN104015192B - Inertia is relied on automatically to put the manipulator of thing - Google Patents
Inertia is relied on automatically to put the manipulator of thing Download PDFInfo
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- CN104015192B CN104015192B CN201410234125.0A CN201410234125A CN104015192B CN 104015192 B CN104015192 B CN 104015192B CN 201410234125 A CN201410234125 A CN 201410234125A CN 104015192 B CN104015192 B CN 104015192B
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- thing
- landing
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- placeed
- picked
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Abstract
Rely on inertia automatically to put a manipulator for thing, it is characterized in that, this manipulator comprises placement platform, positioner and sensing unit, and placement platform is for placing object, and as card, it has and relies on inertia and landing to the landing inclined-plane of corresponding retracting groove for object; Positioner is movably connected on placement platform, and for stoping object dependence inertia before object landing, landing extremely retracts in groove for it, and makes object that inertia landing can be relied on to retracing in groove when object needs landing; Sensing unit is located on placement platform, and is connected with positioner, and it puts into placement platform for responding to card, linkage positioner action and stop object landing or object landing is retractd in groove to corresponding.The present invention relies on principle of inertia to carry out vibrational power flow, and make object can rely on effect of inertia and free landing, it not only can facilitate manipulator accurately to place object, and can simplify manipulator structural design, make manipulator place object more simply, more laborsaving.
Description
[technical field]
The present invention relates to manipulator, particularly a kind of manipulator relying on inertia automatically to put thing.
[background technology]
Manipulator is the Common Component in automation equipment or automatic machinery, and it is mainly used in automatic clamping and placing product and substitutes manual operation.In the sorting placement process of product, often need to utilize manipulator automatically object to be put into corresponding position.Existing manipulator, is all utilize the structure of vacuum slot class first thing vacuum to be picked and placeed to be held or caught usually, unclamps again, object is fallen in corresponding collecting device after then moving to the position that need place.In addition, also have by the mode such as roller, conveyer belt conveying object and object is put into corresponding position.For utilizing vacuum slot to pick and place object, it is usually only applicable to flat making even and puts, and can not be suitable for all occasions.And for being transmitted object by the mode such as roller, conveyer belt, it is slow that it deposits speed, and system bulk is large, and cost is higher.In the production procedure of card, now using more is utilize manipulator automatically card to be put into corresponding draw-in groove one by one.Existing this manipulator is when placing card, and often can not be put into by card quickly and accurately and retract groove, its operating efficiency is lower, to be improved.
[summary of the invention]
The present invention is intended to solve the problem, and provides a kind of novel, and the dependence inertia that can increase work efficiency puts the manipulator of thing automatically.
For achieving the above object, the invention provides a kind of manipulator relying on inertia automatically to put thing, it is characterized in that, this manipulator comprises placement platform, positioner and sensing unit, described placement platform is for placing thing to be picked and placeed, and it has and relies on inertia and landing to the landing inclined-plane of corresponding retracting groove for thing to be picked and placeed; Described positioner is movably connected on placement platform, and for stoping thing to be picked and placeed dependence inertia before thing landing to be picked and placeed, landing extremely retracts in groove for it, and makes thing to be picked and placeed that inertia landing can be relied on to retracing in groove wait picking and placeing when thing needs landing; Described sensing unit is located on placement platform, and is connected with described positioner, and it puts into placement platform for responding to thing to be picked and placeed, positioner action described in linkage and stop thing landing to be picked and placeed or thing landing to be picked and placeed is retractd in groove to corresponding.
Described placement platform comprises mounting seat, place the placement pedestal of thing to be picked and placeed and drive the motor driver of described placement base motion, the fixing dress of described motor driver is with in described mounting seat, and described placement pedestal is connected on described motor driver.
Described mounting seat is formed by connecting by the base fixing plate mutually tilted and motor fixing plate, described base fixing plate is used for vertical fixing, described motor driver is fixed on described motor fixing plate, described placement pedestal and motor fixing plate are fixed on the top of described motor driver with paralleling, and described placement pedestal and described base fixing plate are tilted.
Described positioner comprises electromagnet, electromagnet holder, limits the clamp of thing landing to be picked and placeed, described electromagnet holder is fixed on described placement pedestal, this electromagnet holder is spaced and parallel with the holding plane described placement pedestal being placed thing to be picked and placeed, described electromagnet is fixed on described electromagnet holder, and be electrically connected with described sensing unit, described clamp activity is located between described holding plane and electromagnet holder, and it controls the landing of thing to be picked and placeed under sensing unit and magnet control.
Between described clamp and described electromagnet holder, be connected with spring carrier arm, the two ends of described spring carrier arm are connected with described clamp and electromagnet holder respectively.
Described motor driver comprises drive motors, gear, tooth bar, connecting plate, described drive motors is fixed on described motor fixing plate, the output of described drive motors is connected with gear, one end and the described placement pedestal of described connecting plate are affixed, its other end is connected with tooth bar, and this tooth bar is meshed with described gear.
Described motor driver also comprises motor fixing seat, sliding track holder and slide rail, described motor fixing seat is in being vertically fixed on described motor fixing plate, described drive motors is fixed on the sidewall of this motor fixing seat, described sliding track holder is fixed on the top of described motor fixing seat, and parallel with described motor fixing plate, described slide rail is fixed on the upper surface of described sliding track holder, described slide rail is provided with the slide block that can move around along slide rail, and the bottom of this slide block and described placement pedestal is affixed.
Described sensing unit comprises to be responded to thing to be picked and placeed and puts into the first optoelectronic switch and the second optoelectronic switch that pedestal situation of movement is placed in sensing chip, the induction of placing pedestal, described sensing chip is located at the bottom surface of described placement pedestal, described first optoelectronic switch and the second optoelectronic switch are individually fixed on the sidewall of sliding track holder, its position is corresponding with the position at described slide rail two ends respectively, and it is for wait picking and placeing the described positioner action and make thing to be picked and placeed can rely on inertia and landing of linking when thing needs landing.
Described clamp and electromagnet holder are provided with the corresponding through hole in position, and in described through hole, be respectively equipped with the Spring hanging rod axially perpendicular with described through hole, the two ends of described spring carrier arm are each passed through described through hole and are mounted on described Spring hanging rod.
Favorable attributes of the present invention is, it efficiently solves the problems referred to above.The invention provides a kind of novel robot manipulator structure.The present invention is by arranging the landing inclined-plane tilted with horizontal plane, and by arranging the positioner stopping the free landing of thing to be picked and placeed, make to be stopped by positioner when thing puts into manipulator and cannot free landing wait picking and placeing, and positioner just can unclamp after navigating to corresponding retracting groove, thus make thing to be picked and placeed that inertia and free skating can be relied on to drop down onto to retract in groove.The present invention relies on principle of inertia and arranges, and it not only can facilitate manipulator accurately to place thing to be picked and placeed, and can simplify manipulator structural design, make manipulator place thing to be picked and placeed more simply, more laborsaving, thus greatly can provide the operating efficiency of manipulator.The present invention has novel structure, convenient and practical, operating efficiency high, should widely popularize.
[accompanying drawing explanation]
Fig. 1 is structural representation of the present invention.
Fig. 2 is the structural representation of another angle of the present invention.
Fig. 3 is parts decomposition texture schematic diagram of the present invention.
Fig. 4 is using state side schematic view of the present invention.
Fig. 5 is using state perspective view of the present invention.
Fig. 6 is the using state perspective view of another angle of the present invention.
Wherein, placement platform 10, mounting seat 11, base fixing plate 111, motor fixing plate 112, placement pedestal 12, placement plate 121, limiting plate 122, motor driver 13, drive motors 131, gear 132, tooth bar 133, connecting plate 134, motor fixing seat 135, sliding track holder 136, slide rail 137, slide block 138, positioner 20, electromagnet 21, holder 22, clamp 23, spring carrier arm 24, Spring hanging rod 25, thing to be picked and placeed 30, sensing chip 41, first optoelectronic switch 42, second optoelectronic switch 43, retracting groove 50.
[detailed description of the invention]
The following example is to further explanation of the present invention and supplements, and does not constitute any limitation the present invention.
As shown in Fig. 1 ~ Fig. 6, dependence inertia of the present invention puts the manipulator of thing automatically for automatically thing 30 to be picked and placeed being put into corresponding retracting groove 50, its broad outlines is, by arranging landing inclined-plane and positioner 20, make thing 30 to be picked and placeed can rely on inertia and free landing, thus simplify the structure of manipulator, thing 30 to be picked and placeed is thrown in more simply, more laborsaving.
Particularly, as shown in Fig. 1 ~ Fig. 6, the manipulator that dependence inertia of the present invention puts thing automatically comprises placement platform 10, positioner 20 and sensing unit.Present embodiment illustrates it for placing the concrete structure of the manipulator of card.In the present embodiment, described in thing 30 to be picked and placeed refer to the card that needs to place, as cards such as the ID card, work cards, in other embodiments, it also can be arbitrarily, and other can the object of landing.Described placement platform 10 is for placing thing 30 to be picked and placeed---and card, it has the landing inclined-plane tilted with horizontal plane, thus can make card dependence inertia and free landing.Described positioner 20, for stopping the free landing of card when card does not need landing, is removed barrier effect when card needs landing and makes card free skating can drop down onto corresponding retracting groove 50.Described sensing unit for responding to putting into of card, linkage positioner 20 action and stop card landing or make card landing.
As shown in Figure 1, Figure 2, Figure 3 shows, described placement platform 10 comprises mounting seat 11, places pedestal 12 and motor driver 13.
As shown in Figure 3, described mounting seat 11 is for being fixed on use equipment or using machine by manipulator.This mounting seat 11 is integrally formed by connecting by base fixing plate 111 and motor fixing plate 112.In the present embodiment, described base fixing plate 111 tilts with described motor fixing plate 112, and its angle is 120 degree.Described base fixing plate 111 and motor fixing plate 112 are respectively equipped with several screw holes, for achieving a fixed connection.Described motor fixing plate 112 is provided with motor driver 13.
As shown in Figure 2 and Figure 3, described motor driver 13 comprises drive motors 131, gear 132, tooth bar 133, connecting plate 134, motor fixing seat 135, slide rail 137 holder 136 and slide rail 137.Described motor fixing seat 135 is plate body, and it is in being vertically installed on described motor fixing plate 112.Described drive motors 131 is supported on described motor fixing plate 112, and is fixedly installed in described motor fixing seat 135.Central authorities in described motor fixing seat 135 are provided with axis hole, and the output of described drive motors 131 extend out to the opposite side of motor fixing seat 135 through this axis hole.The output of described drive motors 131 is equipped with gear 132.Slide rail 137 holder 136 is connected with at the top of described motor fixing seat 135.This slide rail 137 holder 136 is plate body, and it parallels with described motor fixing plate 112.Slide rail 137 is fixed with at the uper side surface of this slide rail 137 holder 136.Described slide rail 137 is perpendicular with the axis of described drive motors 131, which is provided with the slide block 138 that can move around along slide rail 137.The bottom Joint of described slide block 138 and described placement pedestal 12.One end of described connecting plate 134 is fixed on the sidewall of described placement pedestal 12, and its other end is connected with tooth bar 133.This tooth bar 133 parallels with described slide rail 137, and is meshed with described gear 132.When drive motors 131 works, ordered about by gear 132 and tooth bar 133 and place pedestal 12 and move along with tooth bar 133 parallel direction.
As shown in Figure 3, described placement pedestal 12 is formed by connecting by placement plate 121 and limiting plate 122.Described limiting plate 122 is vertically connected at the relative both sides of the edge of described placement plate 121.In the present embodiment, described limiting plate 122 is for being provided with the flat board of step, and described step is for installing described positioner 20.Described limiting plate 122 is respectively equipped with shaft hole, in these two shaft holes, is connected with rotating shaft.Be provided with screw hole at the sidewall of described limiting plate 122, described connecting plate 134 is fixing with on the sidewall of this limiting plate 122 by screw.
As shown in Fig. 1 ~ Fig. 6, described positioner 20 comprises electromagnet 21, electromagnet holder 22, clamp 23, spring carrier arm 24, Spring hanging rod 25.Described electromagnet holder 22 is plate body, and it is screwed the step place in described limiting plate 122.This electromagnet holder 22 is parallel to each other with described placement plate 121, and spaced.Described electromagnet 21 is fixed on the uper side surface of described electromagnet holder 22, and is electrically connected with described sensing unit.Described electromagnet holder 22 is provided with through hole, the upper surface corresponding with through hole is also provided with strip groove, in this strip groove, be equiped with Spring hanging rod 25.Described Spring hanging rod 25 is for mounting spring carrier arm 24.Described clamp 23 is for stopping the free landing of card, and its activity is located at and is placed between plate 121 and electromagnet holder 22.In the present embodiment, described clamp 23 is made up of iron material.Described clamp 23 is provided with through hole, and this lead to the hole site is corresponding with the lead to the hole site on described electromagnet holder 22.The downside surface corresponding with described clamp 23 through hole is provided with strip groove, in this strip groove, is equiped with Spring hanging rod 25.The hook at described spring carrier arm 24 two ends is mounted on described Spring hanging rod 25 respectively, and when electromagnet 21 is not energized, described clamp 23 fits with described placement plate 121 under the spring-force driven dual of spring carrier arm 24, plays the effect stoping the free landing of card.When electromagnet 21 is energized, described clamp 23 is drawn to the downside surface of electromagnet holder 22 under the attraction effect of electromagnet 21, make clamp 23 and place the passage formed between plate 121 for card landing, releasing interception and make card can free landing.
As shown in Figure 3, described sensing unit comprises sensing chip 41, first optoelectronic switch 42 and the second optoelectronic switch 43.Described sensing chip 41 is located at the downside surface of described placement plate 121, and it is for responding to putting into of card.This sensing chip 41 is electrically connected with described electromagnet 21.Described first optoelectronic switch 42 and the second optoelectronic switch 43 are fixed on the sidewall of described slide rail 137 holder 136, and its position is corresponding with the position at slide rail 137 two ends respectively.This first optoelectronic switch 42 is electrically connected with described electromagnet 21 respectively with the second optoelectronic switch 43.
By this, the manipulator that dependence inertia of the present invention puts thing automatically is just defined.When sensing chip 41 has detected that placement pedestal 12 put into by card, its described positioner 20 that links has stoped the free landing of card.Thereafter manipulator navigate to according to the operating instruction of equipment or machine corresponding retract groove 50 position after, described optoelectronic switch links the action of described positioner 20, make electromagnet 21 electric and clamp 23 is unclamped, thus card just can rely on inertia and free skating drops down onto corresponding retracting in groove 50.Dependence inertia of the present invention puts the manipulator of thing automatically according to principle of inertia, an installed surface with angle of inclination is provided by mounting seat 11, thus card fixed pedestal and horizontal plane are tilted and produces the landing inclined-plane that can make the free landing of card, make card rely on inertia and landing.
Although by above embodiment to invention has been announcement, scope of the present invention is not limited thereto, and under the condition not departing from the present invention's design, above each component can be replaced with the similar or equivalent element that art personnel understand.Such as, in the present embodiment, described positioner 20 is electromagnet 21 device, during electromagnet 21 no power, clamp 23 stops card landing, when electromagnet 21 is energized, rely on the attraction of electromagnet 21 and clamp 23 is unclamped, thus realize screens effect, and in other embodiments, the retaining structure of same principle or different principle can be set according to the function that will realize.In addition, in the present embodiment, the reason forming landing inclined-plane is because the base fixing plate 111 of mounting seat 11 tilts with motor fixing plate 112, thus make place pedestal 12 can with horizontal plane certain angle, in other embodiments, landing inclined-plane also can be formed by other structures, and base fixing plate 111 and motor fixing plate 112 as mounting seat 11 are perpendicular, and place the placement plate 121 of pedestal 12 for clapboard, it can make card rely on inertia and free landing equally.Cardinal principle of the present invention relies on inertia and makes the free landing of thing to be picked and placeed, and on this concept, can arrange multiple detailed description of the invention, it is not limited to the concrete structure shown in the present embodiment.
Claims (7)
1. the manipulator relying on inertia automatically to put thing, comprise the placement platform (10) for placing thing to be picked and placeed (30), this placement platform (10) has and relies on inertia and landing to the landing inclined-plane of corresponding retracting groove (50) for thing to be picked and placeed (30), it is characterized in that, described placement platform (10) comprises mounting seat (11), the placement pedestal (12) placing thing to be picked and placeed (30) and the motor driver (13) driving described placement pedestal (12) to move, described placement pedestal (12) is connected on described motor driver (13), described mounting seat (11) is formed by connecting by the base fixing plate mutually tilted (111) and motor fixing plate (112), described base fixing plate (111) is for vertically fixing, described motor driver (13) is fixed on described motor fixing plate (112), described placement pedestal (12) and motor fixing plate (112) are fixed on the top of described motor driver (13) with paralleling, described placement pedestal (12) and described base fixing plate (111) are tilted, this manipulator also comprises positioner (20) and sensing unit, described positioner (20) is movably connected on placement platform (10), it relies on inertia and landing to retracing in groove (50) for stoping thing to be picked and placeed before thing landing to be picked and placeed, and makes thing to be picked and placeed (30) that inertia landing can be relied on to retracing in groove (50) wait picking and placeing when thing (30) needs landing, described sensing unit is located on placement platform (10), and be connected with described positioner (20), it puts into placement platform (10) for responding to thing to be picked and placeed (30), (20) action of positioner described in linkage and stop thing to be picked and placeed (30) landing or make thing to be picked and placeed (30) landing to retracing in groove (50) accordingly.
2. the manipulator relying on inertia automatically to put thing as claimed in claim 1, it is characterized in that, described positioner (20) comprises electromagnet (21), electromagnet holder (22), limit the clamp (23) of thing to be picked and placeed (30) landing, described electromagnet holder (22) is fixed on described placement pedestal (12), this electromagnet holder (22) is spaced and parallel with the holding plane described placement pedestal (12) being placed thing to be picked and placeed (30), described electromagnet (21) is fixed on described electromagnet holder (22), and be electrically connected with described sensing unit, described clamp (23) activity is located between described holding plane and electromagnet holder (22), it controls the landing of thing to be picked and placeed (30) under sensing unit and electromagnet (21) control.
3. the manipulator relying on inertia automatically to put thing as claimed in claim 2, it is characterized in that, between described clamp (23) and described electromagnet holder (22), be connected with spring carrier arm (24), the two ends of described spring carrier arm (24) are connected with described clamp (23) and electromagnet holder (22) respectively.
4. the manipulator relying on inertia automatically to put thing as claimed in claim 3, it is characterized in that, described motor driver (13) comprises drive motors (131), gear (132), tooth bar (133), connecting plate (134), described drive motors (131) is fixed on described motor fixing plate (112), the output of described drive motors (131) is connected with gear (132), one end and the described placement pedestal (12) of described connecting plate (134) are affixed, its other end is connected with tooth bar (133), this tooth bar (133) is meshed with described gear (132).
5. the manipulator relying on inertia automatically to put thing as claimed in claim 4, it is characterized in that, described motor driver (13) also comprises motor fixing seat (135), slide rail (137) holder (136) and slide rail (137), described motor fixing seat (135) is in being vertically fixed on described motor fixing plate (112), described drive motors (131) is fixed on the sidewall of this motor fixing seat (135), described slide rail (137) holder (136) is fixed on the top of described motor fixing seat (135), and parallel with described motor fixing plate (112), described slide rail (137) is fixed on the upper surface of described slide rail (137) holder (136), described slide rail (137) is provided with the slide block (138) that can move around along slide rail (137), this slide block (138) is affixed with the bottom of described placement pedestal (12).
6. the manipulator relying on inertia automatically to put thing as claimed in claim 5, it is characterized in that, described sensing unit comprises responds to the sensing chip (41) that thing to be picked and placeed (30) puts into placement pedestal (12), the first optoelectronic switch (42) and second optoelectronic switch (43) of pedestal (12) situation of movement are placed in induction, described sensing chip (41) is located at the bottom surface of described placement pedestal (12), described first optoelectronic switch (42) and the second optoelectronic switch (43) are individually fixed on the sidewall of slide rail (137) holder (136), its position is corresponding with the position at described slide rail (137) two ends respectively, it is for needing to link during landing described positioner (20) action and make thing to be picked and placeed (30) can rely on inertia and landing wait picking and placeing thing (30).
7. the manipulator relying on inertia automatically to put thing as claimed in claim 6, it is characterized in that, described clamp (23) and electromagnet holder (22) are provided with the corresponding through hole in position, in described through hole, be respectively equipped with the Spring hanging rod (25) axially perpendicular with described through hole, the two ends of described spring carrier arm (24) are each passed through described through hole and are mounted on described Spring hanging rod (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410234125.0A CN104015192B (en) | 2014-05-29 | 2014-05-29 | Inertia is relied on automatically to put the manipulator of thing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410234125.0A CN104015192B (en) | 2014-05-29 | 2014-05-29 | Inertia is relied on automatically to put the manipulator of thing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104015192A CN104015192A (en) | 2014-09-03 |
| CN104015192B true CN104015192B (en) | 2016-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410234125.0A Expired - Fee Related CN104015192B (en) | 2014-05-29 | 2014-05-29 | Inertia is relied on automatically to put the manipulator of thing |
Country Status (1)
| Country | Link |
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| CN (1) | CN104015192B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514635B (en) * | 2016-11-17 | 2019-03-01 | 同济大学 | A kind of intelligent 3D printing mechanical arm using 3D printing pen |
| CN108147193B (en) * | 2018-01-20 | 2024-05-03 | 梵利特智能科技（苏州）有限公司 | Card stacking mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4993587A (en) * | 1988-05-09 | 1991-02-19 | Asahi Seiko Kabushiki Kaisha | Card dispensing apparatus for card vending machine |
| CN1215023A (en) * | 1997-10-08 | 1999-04-28 | 旭精工株式会社 | Apparatus for discharging card bodies |
| JP3083812B1 (en) * | 1999-03-02 | 2000-09-04 | 信越化学工業株式会社 | Work suction suspension |
| US6345760B1 (en) * | 1998-05-28 | 2002-02-12 | Asahi Seiko., Ltd. | Machine for process for IC cards and apparatus for issuing IC cards |
| CN1383099A (en) * | 2001-04-24 | 2002-12-04 | 旭精工株式会社 | Automatic card issuing device with indicating function |
| CN1547164A (en) * | 2003-12-09 | 2004-11-17 | 上海华铭智能终端设备有限公司 | Round counter ticket sending device |
| CN204160482U (en) * | 2014-05-29 | 2015-02-18 | 深圳市亚特安科技有限公司 | Inertia is relied on automatically to put the manipulator of thing |
-
2014
- 2014-05-29 CN CN201410234125.0A patent/CN104015192B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4993587A (en) * | 1988-05-09 | 1991-02-19 | Asahi Seiko Kabushiki Kaisha | Card dispensing apparatus for card vending machine |
| CN1215023A (en) * | 1997-10-08 | 1999-04-28 | 旭精工株式会社 | Apparatus for discharging card bodies |
| US6345760B1 (en) * | 1998-05-28 | 2002-02-12 | Asahi Seiko., Ltd. | Machine for process for IC cards and apparatus for issuing IC cards |
| JP3083812B1 (en) * | 1999-03-02 | 2000-09-04 | 信越化学工業株式会社 | Work suction suspension |
| CN1383099A (en) * | 2001-04-24 | 2002-12-04 | 旭精工株式会社 | Automatic card issuing device with indicating function |
| CN1547164A (en) * | 2003-12-09 | 2004-11-17 | 上海华铭智能终端设备有限公司 | Round counter ticket sending device |
| CN204160482U (en) * | 2014-05-29 | 2015-02-18 | 深圳市亚特安科技有限公司 | Inertia is relied on automatically to put the manipulator of thing |
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| CN104015192A (en) | 2014-09-03 |
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Granted publication date: 20160413 |