CN108927821A - A kind of manipulator mechanism and robot - Google Patents
A kind of manipulator mechanism and robot Download PDFInfo
- Publication number
- CN108927821A CN108927821A CN201811204048.9A CN201811204048A CN108927821A CN 108927821 A CN108927821 A CN 108927821A CN 201811204048 A CN201811204048 A CN 201811204048A CN 108927821 A CN108927821 A CN 108927821A
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- China
- Prior art keywords
- mounting plate
- main body
- manipulator mechanism
- connecting plate
- fork body
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- 230000007246 mechanism Effects 0.000 title claims abstract description 54
- 230000005540 biological transmission Effects 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 17
- 230000013011 mating Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 125
- 238000000034 method Methods 0.000 abstract description 13
- 230000008569 process Effects 0.000 abstract description 12
- 230000000903 blocking effect Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 8
- 230000005484 gravity Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 239000011295 pitch Substances 0.000 description 5
- 230000032258 transport Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- RKTYLMNFRDHKIL-UHFFFAOYSA-N copper;5,10,15,20-tetraphenylporphyrin-22,24-diide Chemical compound [Cu+2].C1=CC(C(=C2C=CC([N-]2)=C(C=2C=CC=CC=2)C=2C=CC(N=2)=C(C=2C=CC=CC=2)C2=CC=C3[N-]2)C=2C=CC=CC=2)=NC1=C3C1=CC=CC=C1 RKTYLMNFRDHKIL-UHFFFAOYSA-N 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
Abstract
The invention proposes a kind of manipulator mechanism and robots, and wherein manipulator mechanism includes: main body；Suction cup assembly is set in the main body；Connecting plate is set in the main body, and the connecting plate is located at the two sides of the main body with the Suction cup assembly；Body component is pitched, is set on the connecting plate, the fork body in the fork body component can move back and forth between initial position and operating position.Manipulator mechanism provided by the invention, only need a side, material can be completed to fix, it is applicable to the working environment for having top cover and/or two sides to have blocking above material target position, and material top state is not required, the scope of application greatly increases, while fixed material, controllable fork body is forward extended out, by the way of revealing all the details, prevent material from sliding, the safety accident and property loss avoided, keeps material transportation process more safe and reliable, after carrying, fork body bounces back to original state, saves parking space.
Description
Technical field
The present invention relates to logistics equipment technical fields, in particular to a kind of manipulator mechanism and robot.
Background technique
In the related technology, there are two class manipulator mechanisms: the first kind is that the mode inhaled with top grabs material, machinery knot
Structure part is above material, but the mechanical structure portion of this kind of manipulator mechanism is above material, it is desirable that above material
Space is huge, while placing material to be is also to require target position upper space huge, this results in empty at the top of material
Between in limited situation, can not be applicable in, and such manipulator mechanism also requires to have at the top of material good shape and smooth
It is not applicable to encounter the case where material top is mixed and disorderly unordered or loose condition (of surface) for degree.Second class is embraced by pressing materials side wall
The mode of tight material grabs material, and the mechanical structure portion of such manipulator mechanism is also in material top, equally to material
Headspace requires greatly, and there are certain requirements to the rigidity of material side wall, it is desirable that and at least a pair of sidewalls cannot be too soft, too sliding, and
It is will have sufficient space that the mode that symmetrical expression embraces folder, which even more requires material two sides, and adaptability is poor.
Summary of the invention
At least one in order to solve the above-mentioned technical problem, the first purpose of this invention proposes a kind of manipulator mechanism.
A kind of second object of the present invention, it is also proposed that robot.
In view of this, according to the first object of the present invention, the invention proposes a kind of manipulator mechanisms, comprising: main body；
Suction cup assembly is set in main body；Connecting plate is set in main body, and connecting plate is located at the two sides of main body with Suction cup assembly；
Body component is pitched, is set on connecting plate, the fork body pitched in body component can carry out back and forth between initial position and operating position
Movement.
Manipulator mechanism provided by the invention is provided with Suction cup assembly and connecting plate in main body, and is located at main body
Two sides, fork body component are set on connecting plate, and the fork body pitched in body component is in retracted state in initial position, when needs pipette
When material, by main body close to material side, Suction cup assembly is made to be close to material, material is auxiliarily fixed using Suction cup assembly, then controls
System fork body forward extends out, and holds material from bottom, completes movement of revealing all the details, and by material movement to target position, control fork body is backward
It retracts, material under the effect of gravity, is detached from Suction cup assembly, drops down onto target position, complete a handling process at this time.
Through the above scheme, it is only necessary to which a side can be completed material and fix, and be not take up other three sides of material and top
Portion space is applicable to the working environment for having top cover and/or two sides to have blocking above material target position, and for material top
Portion's state does not require, and the scope of application greatly increases, and enhances the practicability of product, while fixed material, can control fork
Body forward extends out, and by the way of revealing all the details, prevents material from sliding, and the safety accident and property loss avoided transports material
Defeated process is more safe and reliable, and after carrying, fork body bounces back to original state, saves parking space, and then room for promotion benefit
With rate, when grabbing and placing material, material does not generate shift in position, improves user satisfaction.
In addition, the manipulator mechanism in above-mentioned technical proposal provided by the invention can also have following supplementary technology special
Sign:
In the above-mentioned technical solutions, it is preferable that fork body component further include: mounting portion, mounting portion are set on connecting plate, fork
Body can slidably be connected with mounting portion；Driving portion is set on mounting portion, and driving portion is connected with fork body, for driving
Fork body moves back and forth between initial position and operating position.
In the technical scheme, transport fork body back and forth between initial position and operating position by controlling driving portion
Dynamic, fork body forward extends out in the operating condition, holds material from bottom, completes movement of revealing all the details, and other times are in retracted state, can
Telescopic fork body not only saves parking space, and can prevent material from sliding from sucker, the safety accident and wealth avoided
Loss is produced, keeps material transportation process more safe and reliable.
In the above-mentioned technical solutions, it is preferable that mounting portion includes: the first mounting plate, a side of the first mounting plate and master
The perpendicular connection of body, another side of the first mounting plate and the perpendicular connection of connecting plate, the first mounting plate are located under connecting plate
Side；Second mounting plate, a side and the perpendicular connection of main body, another side of the second mounting plate and connecting plate of the second mounting plate
Perpendicular connection, the first mounting plate are parallel with the second mounting plate；Third mounting plate, the opposite two sides of third mounting plate respectively with
First mounting plate and the second mounting plate are connected, and third mounting plate is located at the lower section of connecting plate, and driving portion is set to third installation
On plate；First guide rail is set on the first mounting plate；Second guide rail is set on the second mounting plate, is pitched and is provided on body and the
The sliding slot that one guide rail and the second guide rail match.
In the technical scheme, the top of the first mounting plate and the perpendicular connection of main body, side and the perpendicular company of connecting plate
It connects；Second mounting plate is parallel with the first mounting plate, also with main body and the perpendicular connection of connecting plate；Third mounting plate and connecting plate are flat
Row, and connect with the first mounting plate and the second mounting plate；First mounting plate, the second mounting plate, third mounting plate are respectively positioned on connection
The lower section of plate forms a firm tetragonal with connecting plate；The bottom sides of first mounting plate are equipped with the first guide rail, the second peace
The bottom sides of loading board are equipped with the second guide rail, and driving portion is set on third mounting plate, parallel with the first, second guide rail, wherein the
One mounting plate, the second mounting plate, on third mounting plate with one or more circular holes, machine can be mitigated by the way that multiple circular holes are arranged
The overall weight of tool mobile phone structure reduces energy consumption, and the width of connecting plate is slightly less than third mounting plate, on the basis that guarantee is bonded
On, production cost can be reduced, while being also convenient for the operating status of observation driving portion, by the way that sliding slot is arranged on a mounting board, pitch body
Expanding-contracting action it is more smooth, enhance the practicability of product, and then improve handling efficiency.
In the above-mentioned technical solutions, it is preferable that driving portion includes: motor, and motor is set in main body；Driving member, transmission
The input terminal of part is connected with the output end of motor；Linear transmission pair, linear transmission pair are connected with the output end of driving member, fork
Body is connected with linear transmission pair.
In the technical scheme, by motor driven driving member, linear transmission pair is made to move back and forth, and then pushes fork
Body is protruding or bounces back, and completes movement of revealing all the details, and under the conditions of compared with large inertia load, provides enough power for product and meets work
Industry demand.
In the above-mentioned technical solutions, it is preferable that linear transmission pair includes: ball-screw, is set on mounting portion；Lead screw spiral shell
Mother is set on fork body, and ball-screw is in mating connection with feed screw nut；Driving member includes: driving wheel, driving wheel and motor
Output shaft is connected；Driven wheel, driven wheel are set on ball-screw；Synchronous belt is set on driving wheel and driven wheel；Its
In, electric motor starting drives driving wheel, driven wheel rotation, and then drives ball screw and feed screw nut rotation, and band moving fork body carries out
Linear reciprocating motion.
In the technical scheme, by gear-driven mode, ball screw and feed screw nut rotation are driven, to drive
It pitches body and carries out linear reciprocating motion；It is intermeshed using two gears to transmit power, transmission process is steady, is guaranteeing transmission efficiency
On the basis of, keep product structure more compact.
In the above-mentioned technical solutions, it is preferable that further include: motor mount is set in main body, and motor is mounted on motor
In mounting base；First bearing seat is set on third mounting plate；Second bearing seat is set on third mounting plate, ball-screw
It wears and is placed in first bearing seat and second bearing seat.
In the technical scheme, by the way that motor mount, first bearing seat, second bearing seat is arranged, keep driving portion steady
Be fixed in main body, promote the safety and stability of product.
In any of the above-described technical solution, it is preferable that further include: connecting hole is set on connecting plate, and connecting hole is used for
Connect mechanical arm.
In the technical scheme, driving portion is manipulated by mechanical arm, makes to pitch body stretching or retraction, constructor is facilitated to operate,
Promote handling efficiency.
In any of the above-described technical solution, it is preferable that Suction cup assembly includes: vacuum chuck, is provided on vacuum chuck
Connector, connector is for inhaling vacuum；Fixed frame is set in main body, and vacuum chuck is installed on fixed frame.
In the technical scheme, vacuum source is connected when fixed material, and vacuum chuck is sucked material side, abuts material
Main body, then motor driven ball screws rotate, to forward extend out with moving fork body, material are held from bottom, by material movement
To target position, then motor driven ball screws are rotated backward, to retract backward with moving fork body, vacuum source is closed at this time
And vacuum breaker, material under the effect of gravity, are detached from vacuum chuck, drop down onto target position, complete transport.
Through the above scheme, it is only necessary to which a side can be completed material and fix, and be not take up other three sides of material and top
Portion space is applicable to the working environment for having top cover and/or two sides to have blocking above material target position, for shape at the top of material
State does not also require, and the scope of application greatly increases, and enhances the practicability of product, and vacuum chuck and common gripper phase
It is lower than production cost, regardless of material is that material is done, as long as guaranteeing leakproofness, vacuum chuck can be used to draw, and
And vacuum chuck is made by rubber material, drawing and put down material will not cause to damage to material, further increase product
The scope of application is avoided because of loss caused by carrying damage while cost is reduced.
In the above-mentioned technical solutions, it is preferable that the quantity of vacuum chuck be it is multiple, multiple vacuum chucks are evenly distributed in
In main body.
In the technical scheme, by the multiple equally distributed vacuum chucks of setting, the intensity fixed to material is increased,
It prevents material from sliding, avoids safety accident and property loss, keep material transportation process more safe and reliable.
According to the second object of the invention, it is also proposed that a kind of robot, the machinery including any of the above-described technical solution
Mobile phone structure.
The robot that second object of the present invention provides, because of the manipulator mechanism including first purpose, therefore has
Whole beneficial effects of manipulator mechanism.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 shows the structural schematic diagram of the manipulator mechanism in one embodiment of the invention under working condition；
Fig. 2 shows the structural schematic diagrams of the manipulator mechanism of another angle under working condition in embodiment illustrated in fig. 1；
Fig. 3 shows the structural schematic diagram of the manipulator mechanism of another angle under working condition in embodiment illustrated in fig. 1；
Fig. 4 shows the structural schematic diagram of the manipulator mechanism at another angle under working condition in embodiment illustrated in fig. 1；
Fig. 5 shows the manipulator mechanism bottom view in one embodiment of the invention under working condition；
Fig. 6 shows the manipulator mechanism top view in one embodiment of the invention under working condition；
Fig. 7 shows the manipulator mechanism right view in one embodiment of the invention under working condition；
The structure that Fig. 8 shows manipulator mechanism when not carrying material in one embodiment of the invention under working condition is shown
It is intended to；
Fig. 9 shows the manipulator mechanism of another angle when not carrying material in embodiment illustrated in fig. 8 under working condition
Structural schematic diagram；
Figure 10 shows another angle manipulator mechanism when not carrying material in embodiment illustrated in fig. 8 under working condition
Structural schematic diagram；
Figure 11 shows another angle manipulator mechanism when not carrying material in embodiment illustrated in fig. 8 under working condition
Structural schematic diagram；
The structural schematic diagram of manipulator mechanism when Figure 12 shows initial position in one embodiment of the invention；
The structural representation of the manipulator mechanism of another angle when Figure 13 shows initial position in embodiment illustrated in fig. 12
Figure；
The structural representation of the manipulator mechanism of another angle when Figure 14 shows initial position in embodiment illustrated in fig. 12
Figure；
The main view of manipulator mechanism when Figure 15 shows initial position in one embodiment of the invention；
The bottom view of manipulator mechanism when Figure 16 shows initial position in embodiment illustrated in fig. 15；
Figure 17 shows the top views of the manipulator mechanism in embodiment illustrated in fig. 15 when initial position；
The left view of manipulator mechanism when Figure 18 shows initial position in embodiment illustrated in fig. 15.
Wherein, corresponding relationship of the Fig. 1 into Figure 18 between appended drawing reference and component names are as follows:
1 manipulator mechanism, 10 main bodys, 11 fork bodies, 12 Suction cup assemblies, 14 connecting plates, 110 motor mounts, 112 first axles
Hold seat, 114 second bearing seats, 120 vacuum chucks, 122 fixed frames, 140 connecting holes, 16 first mounting plates, 18 second mounting plates,
20 third mounting plates, 22 first guide rails, 24 second guide rails, 26 motors, 28 driving members, 30 ball-screws, 40 material cartons.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
Manipulator mechanism and robot according to some embodiments of the invention are described referring to Fig. 1 to Figure 18.
As shown in Figures 1 to 7, the invention proposes a kind of manipulator mechanisms 1, comprising: main body 10, connects Suction cup assembly 12
Fishplate bar 14 and fork body component；
Wherein, Suction cup assembly 12 is set in main body 10；Connecting plate 14 is set in main body 10, connecting plate 14 and sucker group
Part 12 is located at the two sides of main body 10；Fork body component is set on connecting plate 14, and the fork body 11 pitched in body component can be first
Beginning position and operating position between move back and forth.
Manipulator mechanism 1 provided by the invention is provided with Suction cup assembly 12 and connecting plate 14 in main body 10, and is located at
The two sides of main body 10, fork body component are set on connecting plate 14, and the fork body 11 pitched in body component is in retraction shape in initial position
State, by main body 10 close to 40 side of material carton, makes Suction cup assembly 12 be close to material carton when needing to pipette material carton 40
40, material carton 40 is auxiliarily fixed using Suction cup assembly 12, then control fork body 11 forward extends out, and holds material carton from bottom
40, movement of revealing all the details is completed, material carton 40 is moved into target position, control fork body 11 retracts backward, as shown in figure 13, at this time
Material carton 40 under the effect of gravity, is detached from Suction cup assembly 12, drops down onto target position, complete a handling process.
Through the above scheme, it is only necessary to a side, it is fixed to can be completed material carton 40, be not take up material carton 40 other
Three sides and headspace are applicable to the work for having top cover and/or two sides to have blocking above 40 target position of material carton
Environment, and 40 top state of material carton is not required, the scope of application greatly increases, the practicability of product is enhanced,
While fixed material carton 40, controllable fork body 11 is forward extended out, and by the way of revealing all the details, prevents material carton 40 sliding
It falling, the safety accident and property loss avoided keeps 40 transportational process of material carton more safe and reliable, after carrying,
Fork body 11 bounces back to original state, when saving parking space, and then room for promotion utilization rate, crawl and placement material carton 40,
Material carton 40 does not generate shift in position, improves user satisfaction.
It is slidable connection between main body 10 and connecting plate 14, main body 10 can be with respect to connecting plate 14 in specific embodiment
Do reciprocating linear operation, fork body component can remain stationary or with 10 relative motion of main body.Specifically, when needing to pipette material
When carton 40, by main body 10 close to 40 side of material carton, main body 10 is forward extended out, and Suction cup assembly 12 is made to be close to material carton
40, material carton 40 is auxiliarily fixed using Suction cup assembly 12, main body 10 is retracted backward, while controlling product advance, co-operating,
Case is grabbed in completion, and material carton 40 is moved to target position, and when placing material, fork body 11 does not stretch out but main body 10 is to extension
Out, while robot retrogressing is controlled, material carton 40 under the effect of gravity, is detached from Suction cup assembly 12, drops down onto target position, completes
Handling process.
In one embodiment of the invention, it is preferable that fork body component further include: mounting portion, mounting portion are set to connection
On plate 14, fork body 11 can slidably be connected with mounting portion；Driving portion is set on mounting portion, driving portion and fork 11 phase of body
Connection, for driving fork body 11 to move back and forth between initial position and operating position.
In this embodiment, transport fork body 11 back and forth between initial position and operating position by controlling driving portion
Dynamic, fork body 11 forward extends out in the operating condition, holds material carton 40 from bottom, completes movement of revealing all the details, other times are in back
Contracting state, scalable fork body 11 not only save parking space, and can prevent material carton 40 from sliding from sucker, avoid making
At safety accident and property loss, keep 40 transportational process of material carton more safe and reliable.
In one embodiment of the invention, it is preferable that as shown in Figures 2 to 4, mounting portion includes: the first mounting plate 16,
A side and the perpendicular connection of main body 10 of first mounting plate 16, another side of the first mounting plate 16 and connecting plate 14 are perpendicular
Connection, the first mounting plate 16 are located at the lower section of connecting plate 14；Second mounting plate 18, a side and main body 10 of the second mounting plate 18
Perpendicular connection, another side of the second mounting plate 18 and the perpendicular connection of connecting plate 14, the first mounting plate 16 and the second installation
Plate 18 is parallel；Third mounting plate 20, the opposite two sides of third mounting plate 20 respectively with the first mounting plate 16 and the second mounting plate
18 are connected, and third mounting plate 20 is located at the lower section of connecting plate 14, and driving portion is set on third mounting plate 20；First guide rail
22, it is set on the first mounting plate 16；Second guide rail 24 is set on the second mounting plate 18, is pitched and is provided on body 11 and first
The sliding slot that guide rail 22 and the second guide rail 24 match.
In this embodiment, the perpendicular connection of top sides Yu main body 10 of the first mounting plate 16, side and 14 phase of connecting plate
Vertical connection；Second mounting plate 18 is parallel with the first mounting plate 16, also with main body 10 and the perpendicular connection of connecting plate 14；Third peace
Loading board 20 is parallel with connecting plate 14, and connect with the first mounting plate 16 and the second mounting plate 18；The installation of first mounting plate 16, second
Plate 18, third mounting plate 20 are respectively positioned on the lower section of connecting plate 14, form a firm tetragonal with connecting plate 14；First peace
The bottom sides of loading board 16 are equipped with the first guide rail 22, and the bottom sides of the second mounting plate 18 are equipped with the second guide rail 24, and driving portion is set to
It is parallel with the first guide rail 22, the second guide rail 24 on third mounting plate 20, wherein the first mounting plate 16, the second mounting plate 18,
With one or more circular holes on three mounting plates 20, the width of connecting plate 14 is slightly less than third mounting plate 20, is guaranteeing firm connect
On the basis of connecing, production cost can be reduced, while being also convenient for the operating status of observation driving portion, by the way that cunning is arranged on a mounting board
Slot, the expanding-contracting action for pitching body 11 is more smooth, enhances the practicability of product, and then improve handling efficiency.
In one embodiment of the invention, it is preferable that driving portion includes: motor 26, and motor 26 is set in main body 10；
The input terminal of driving member 28, driving member 28 is connected with the output end of motor 26；Linear transmission pair, linear transmission pair and driving member
28 output end is connected, and fork body 11 is connected with linear transmission pair.
In this embodiment, driving member 28 is driven by motor 26, linear transmission pair is made to move back and forth, and then pushed
Fork body 11 is protruding or bounces back, and completes movement of revealing all the details, and under the conditions of compared with large inertia load, it is full to provide enough power for product
Sufficient job requirements.
In one embodiment of the invention, it is preferable that linear transmission pair includes: ball-screw 30, is set to mounting portion
On；Feed screw nut is set on fork body 11, and ball-screw 30 and feed screw nut are in mating connection；Driving member 28 includes: actively
Wheel, driving wheel are connected with the output shaft of motor 26；Driven wheel, driven wheel are set on ball-screw 30；Synchronous belt is set in
On driving wheel and driven wheel；Wherein, the starting of motor 26 drives driving wheel, driven wheel rotation, and then drives ball screw and lead screw
Nut rotation, band moving fork body 11 carry out linear reciprocating motion.
In this embodiment, by gear-driven mode, ball screw and feed screw nut rotation are driven, thus with moving fork
Body 11 carries out linear reciprocating motion；It is intermeshed using two gears to transmit power, transmission process is steady, is guaranteeing transmission efficiency
On the basis of, keep product structure more compact.
In one embodiment of the invention, it is preferable that further include: motor mount 110 is set in main body 10, electricity
Machine 26 is mounted on motor mount 110；First bearing seat 112 is set on third mounting plate 20；Second bearing seat 114, if
It is placed on third mounting plate 20, ball-screw 30, which is worn, to be placed in first bearing seat 112 and second bearing seat 114.
In this embodiment, by the way that motor mount 110, first bearing seat 112, second bearing seat 114 is arranged, make to drive
Portion is smoothly fixed in main body 10, promotes the safety and stability of product.
In one embodiment of the invention, it is preferable that further include: connecting hole 140 is set on connecting plate 14, connection
Hole 140 is for connecting mechanical arm.
In this embodiment, driving portion is manipulated by mechanical arm, makes to pitch the stretching of body 11 or retraction, constructor is facilitated to operate,
Promote handling efficiency.
In one embodiment of the invention, it is preferable that Suction cup assembly 12 includes: vacuum chuck 120, vacuum chuck 120
On be provided with connector, connector is for inhaling vacuum；Fixed frame 122 is set in main body 10, and vacuum chuck 120 is installed on fixed frame
On 122.
In this embodiment, vacuum source is connected when fixed material carton 40, and material carton 40 1 is sucked in vacuum chuck 120
Side makes material carton 40 against main body 10, and then motor 26 drives ball-screw 30 to rotate, thus with moving fork body 11 to extension
Out, material carton 40 is held from bottom, material carton 40 is moved into target position, then motor 26 drives ball-screw 30 anti-
To rotation, to retract backward with moving fork body 11, vacuum source closes simultaneously vacuum breaker at this time, and material carton 40 is in gravity
Under, it is detached from vacuum chuck 120, drops down onto target position, completes transport.
Through the above scheme, it is only necessary to a side, it is fixed to can be completed material carton 40, be not take up material carton 40 other
Three sides and headspace are applicable to the work for having top cover and/or two sides to have blocking above 40 target position of material carton
Environment does not also require 40 top state of material carton, and the scope of application greatly increases, and enhances the practicability of product, and
And the production cost compared with common gripper of vacuum chuck 120 is lower, regardless of material is that material is done, as long as guaranteeing close
Feng Xing vacuum chuck 120 can be used to draw, and vacuum chuck 120 is made by rubber material, and drawing and put down material will not
Material is caused to damage, the further scope of application for increasing product, while cost is reduced, avoids and made because carrying damage
At loss.
In one embodiment of the invention, it is preferable that as shown in Fig. 1 to Figure 18, the quantity of vacuum chuck 120 is four
A, four vacuum chucks 120 are evenly distributed in main body 10.
In this embodiment, it by the way that multiple equally distributed vacuum chucks 120 are arranged, increases fixed to material carton 40
Intensity, prevent material carton 40 slide, avoid safety accident and property loss, make 40 transportational process of material carton more
Securely and reliably.
According to the second object of the invention, it is also proposed that a kind of robot, the machinery including any of the above-described technical solution
Mobile phone structure 1.
The robot that second object of the present invention provides, because of the manipulator mechanism 1 including first purpose, therefore has
Whole beneficial effects of manipulator mechanism 1.
Robot in specific embodiment mainly includes host and manipulator mechanism, wherein host includes pedestal, revolution
Components, the lower clutches such as pedestal, motor, lower clutch, lower coupler, balancer, equipment cable are fixed on motor, motor,
The components such as lower coupler, electric-controlled plate, revolution pedestal, operation panel, equipment cable are fixed on the base；Manipulator mechanism includes:
Main body, Suction cup assembly (including fixed frame, vacuum chuck etc.), connecting plate, fork body component (include the first mounting plate, the second installation
Plate, third mounting plate, the first guide rail, the second guide rail, motor, driving member, linear transmission pair etc.), motor mount, first bearing
The components such as seat, second bearing seat；Suction cup assembly and connecting plate are set in main body, and fork body component is set on connecting plate, motor
Mounting base is set in main body, and for fixing motor, connecting plate is equipped with connecting hole, first bearing seat and second bearing seat setting
In on third mounting plate.Manipulator mechanism and robot provided by the invention, when needing to pipette material, by manipulator mechanism master
Body makes Suction cup assembly be close to material close to material side, and material is auxiliarily fixed using Suction cup assembly, and then control pitches body 11 forward
It stretches out, holds material from bottom, complete movement of revealing all the details, material movement to target position, control are pitched 11 receding of body by robot
It returns, material under the effect of gravity, is detached from Suction cup assembly, drops down onto target position, complete a handling process at this time.It is inhaled by setting
Disk component, it is only necessary to which a side can be completed material and fix, and be not take up other three sides of material and headspace, applicable
There are top cover and/or two sides to have the working environment of blocking above material target position, and material top state is not wanted
It asks, the scope of application greatly increases, and enhances the practicability of product, and while fixed material, controllable fork body 11 is forward extended out,
By the way of revealing all the details, prevent material from sliding, the safety accident and property loss avoided pacifies material transportation process more
Complete reliable, after carrying, fork body 11 bounces back to original state, saves parking space, and then room for promotion utilization rate, crawl and
When placing material, material does not generate shift in position, improves user satisfaction.
In the present invention, term " multiple " then refers to two or more, unless otherwise restricted clearly.Term " peace
Dress ", " connected ", " connection ", the terms such as " fixation " shall be understood in a broad sense, can also be with for example, " connection " may be a fixed connection
It is to be detachably connected, or be integrally connected；" connected " can be directly connected, can also be indirectly connected through an intermediary.It is right
For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
Claims (10)
1. a kind of manipulator mechanism characterized by comprising
Main body；
Suction cup assembly is set in the main body；
Connecting plate is set in the main body, and the connecting plate is located at the two sides of the main body with the Suction cup assembly；
Body component is pitched, is set on the connecting plate, the fork body in the fork body component can be in initial position and operating position
Between move back and forth.
2. manipulator mechanism according to claim 1, which is characterized in that the fork body component further include:
Mounting portion, the mounting portion are set on the connecting plate, and the fork body can slidably be connected with the mounting portion；
Driving portion is set on the mounting portion, and the driving portion is connected with the fork body, for driving the fork body in institute
It states and moves back and forth between initial position and the operating position.
3. manipulator mechanism according to claim 2, which is characterized in that the mounting portion includes:
First mounting plate, a side of first mounting plate and the perpendicular connection of the main body, first mounting plate it is another
A side and the perpendicular connection of the connecting plate, first mounting plate are located at the lower section of the connecting plate；
Second mounting plate, a side of second mounting plate and the perpendicular connection of the main body, second mounting plate it is another
A side and the perpendicular connection of the connecting plate, first mounting plate are parallel with second mounting plate；
Third mounting plate, the opposite two sides of the third mounting plate respectively with first mounting plate and the second mounting plate phase
Connection, the third mounting plate are located at the lower section of the connecting plate, and the driving portion is set on the third mounting plate；
First guide rail is set on first mounting plate；
Second guide rail is set on second mounting plate, is provided on the fork body and first guide rail and described second
The sliding slot that guide rail matches.
4. manipulator mechanism according to claim 3, which is characterized in that the driving portion includes:
Motor, the motor are set in the main body；
Driving member, the input terminal of the driving member are connected with the output end of the motor；
Linear transmission pair, the linear transmission pair are connected with the output end of the driving member, the fork body and the straight-line transmitting
Dynamic pair is connected.
5. manipulator mechanism according to claim 4, which is characterized in that the linear transmission pair includes: ball-screw, if
It is placed on the mounting portion；
Feed screw nut is set on the fork body, and the ball-screw and the feed screw nut are in mating connection；
The driving member includes:
Driving wheel, the driving wheel are connected with the output shaft of the motor；
Driven wheel, the driven wheel are set on the ball-screw；
Synchronous belt is set on the driving wheel and the driven wheel；
Wherein, the electric motor starting drives the driving wheel, driven wheel rotation, and then drives the ball screw and described
Feed screw nut rotation, drives the fork body to carry out linear reciprocating motion.
6. manipulator mechanism according to claim 5, which is characterized in that further include:
Motor mount is set in the main body, and the motor is mounted on the motor mount；
First bearing seat is set on the third mounting plate；
Second bearing seat is set on the third mounting plate, and the ball-screw, which is worn, is placed in the first bearing seat and institute
It states in second bearing seat.
7. manipulator mechanism according to any one of claim 1 to 6, which is characterized in that further include: connecting hole, setting
In on the connecting plate, the connecting hole is for connecting mechanical arm.
8. manipulator mechanism according to any one of claim 1 to 6, which is characterized in that the Suction cup assembly includes:
Vacuum chuck is provided with connector on the vacuum chuck, and the connector is for inhaling vacuum；
Fixed frame is set in the main body, and the vacuum chuck is installed on the fixed frame.
9. manipulator mechanism according to claim 8, which is characterized in that
The quantity of the vacuum chuck be it is multiple, multiple vacuum chucks are evenly distributed in the main body.
10. a kind of robot, which is characterized in that including manipulator mechanism as claimed in any one of claims 1-9 wherein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811204048.9A CN108927821A (en) | 2018-10-16 | 2018-10-16 | A kind of manipulator mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811204048.9A CN108927821A (en) | 2018-10-16 | 2018-10-16 | A kind of manipulator mechanism and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108927821A true CN108927821A (en) | 2018-12-04 |
Family
ID=64444015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811204048.9A Pending CN108927821A (en) | 2018-10-16 | 2018-10-16 | A kind of manipulator mechanism and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108927821A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587635A (en) * | 2019-08-02 | 2019-12-20 | 湖南海纳赋能科技有限公司 | Intelligent storage manipulator for locker |
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