CN203853993U - Bi-directional manipulator picking and placing device - Google Patents
Bi-directional manipulator picking and placing device Download PDFInfo
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- CN203853993U CN203853993U CN201420200747.7U CN201420200747U CN203853993U CN 203853993 U CN203853993 U CN 203853993U CN 201420200747 U CN201420200747 U CN 201420200747U CN 203853993 U CN203853993 U CN 203853993U
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- loading plate
- translation plates
- manipulator
- translation
- tooth bar
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Abstract
The utility model discloses a bi-directional manipulator picking and placing device, which is characterized by comprising a fixing plate, a rotatable driving assembly and a manipulator, wherein the fixing plate is arranged in an X-Y plane or a Y-Z plane, the manipulator is rotatably arranged on the fixing plate in the X-Y plane or the Y-Z plane, and the rotatable driving assembly is arranged on the fixing plate and is in driving connection with the manipulator. The bi-directional manipulator picking and placing device has the following beneficial effects that the manipulator can rotate in the X-Y plane or the Y-Z plane, so that bi-directional picking and placing are realized, and the operation is flexible; due to the special design of the manipulator, the picking and placing processes are enabled to be reliable, continuous clamping force is obtained, and the front end of the manipulator is provided with a code reading module capable of recognizing the identity of grabbed articles, so that information recording is facilitated; an X-direction guide rail, a translation driving assembly and a Z-direction guide rail are matched, so that the manipulator can shift towards the X direction, the Y direction and the Z direction and can be conveniently shifted to a designated position, extensible use is available, and the limitation to the length and the height is avoided.
Description
Technical field
The utility model relates to a kind of plant equipment, is specifically related to a kind of robot device.
Background technology
The current robot manipulator structure that picks and places on the market has only been realized the monolateral action that picks and places, and picks and places without both sides are two-way, cannot on two relative faces, pick and place work.In addition, the mode of " holder " that the manipulator of existing design all adopts, and this mode is in the process picking and placeing, and because not having chucking power to keep, and mostly stable not.Moreover manipulator is the identity correctness of None-identified shuttle also, be blind the getting of carrying out of machinery.Bring puzzlement to concrete use, also make troubles to management.
Utility model content
The utility model provide a kind of rotatable, realize the two-way robot device picking and placeing.The purpose of this utility model is realized by following technical scheme:
A kind of two-way robot device that picks and places, it is characterized in that, comprise: fixed head, rotary drive assembly and manipulator, fixed head is laid in X-Y plane or Y-Z plane, manipulator in X-Y plane or Y-Z rotation with in surface be arranged on fixed head, rotary drive assembly is arranged on fixed head, and is connected with robot drives.
As further technical characterictic, the above-mentioned two-way robot device that picks and places also comprises holder and driven in translation assembly; Driven in translation assembly is set on holder, and driven in translation assembly drives and is connected with described fixed head, drives described fixed head in Y-direction translation.
As concrete technical scheme, described holder comprises loading plate; Loading plate is laid in X-Y plane, and described driven in translation assembly is arranged on this loading plate; Described driven in translation assembly comprises: power source, transmission mechanism, translation plates and guiding mechanism; Translation plates can Y-direction be arranged at described loading plate front end face slidably by guiding mechanism, and transmission mechanism one end is connected with power source, and the other end drives and coordinates with translation plates; Described fixed head is set in translation plates.
As concrete technical scheme, described transmission mechanism comprises loading plate tooth bar or chain, rolling bearing, gear gripper shoe, translation plates tooth bar or chain; Loading plate tooth bar or chain are fixed on loading plate rear end face along Y-direction; Translation plates tooth bar or chain are fixed on the rear end face of described translation plates along Y-direction; Rolling bearing is arranged in gear gripper shoe rotationally, and is engaged between loading plate tooth bar or chain and translation plates tooth bar or chain, described power source driven wheel gripper shoe drive rolling bearing in a fluting of described loading plate along Y-direction translation.
As concrete technical scheme, described power source is pan drive motor, and described transmission mechanism comprises belt group, loading plate tooth bar, rolling bearing, translation plates tooth bar, gear gripper shoe; Pan drive motor is fixedly installed on loading plate rear end face, is positioned at load bearing seat one side; Belt group is connected cooperation with the clutch end of pan drive motor, and long edge Y-direction arranges; Loading plate tooth bar is fixedly connected on loading plate rear end face; Translation plates tooth bar is fixedly installed on the rear end face of described translation plates along Y-direction; Rolling bearing is engaged between loading plate tooth bar and translation plates tooth bar; Rolling bearing is arranged in gear gripper shoe rotationally, and gear gripper shoe can be arranged at described loading plate rear end face slidably along Y-direction, and connects in described belt group.
As concrete technical scheme, described guiding mechanism comprises translation plates slide rail and translation plates slide block, translation plates slide rail is fixedly installed on loading plate front end face along Y-direction, and translation plates lower surface is fixedly connected with translation plates slide block, and translation plates slide block is matched with on translation plates slide rail.
As concrete technical scheme, described rotary drive assembly comprises: rotary drive motor, swiveling wheel; Described manipulator is arranged on fixed head rotationally by swiveling wheel; Rotary drive motor is fixedly installed on fixed head, and its clutch end drives and coordinates with swiveling wheel.
As concrete technical scheme, described manipulator comprises: motion arm, actuating unit, crawl folder; Motion arm end one side is arranged on described fixed head rotationally by swiveling wheel, and actuating unit is arranged on motion arm, and the active force to capturing folder is provided; Capture folder and be subject to the driving of actuating unit, each branch toward each other or counter motion.
As concrete technical scheme, described manipulator comprises: motion arm, actuating unit, power clamp, crawl folder; Motion arm end one side is arranged on described fixed head rotationally by swiveling wheel, and actuating unit is arranged on motion arm, and the active force to power clamp is provided; Capture Jia Ge branch and be arranged at rotationally motion arm front end by a pin respectively; Power clamp has and the branch that captures folder same number, and its end coordinates with the clutch end of actuating unit, and front end is connected with the respective branch that captures folder.
As further technical scheme, described manipulator also comprises reading code module, is arranged at motion arm front end.
The two-way robot device that picks and places that the utility model provides has following beneficial effect: manipulator can, at X-Y plane or Y-Z rotation with in surface, be realized two-way picking and placeing, flexible operation; The special design of manipulator, makes fetching process reliable, has lasting chucking power, and the reading code module of manipulator front end, can identify the identity of crawled article, is convenient to do information recording; By coordinating X direction guiding rail, driven in translation assembly, Z-direction guide rail, manipulator can X to, Y-direction, Z-direction three direction displacement, convenient manipulator is moved to assigned address, can expand use, be not subject to the restriction of the height of length.
Brief description of the drawings
Fig. 1 is the two-way side structural map that picks and places robot device that embodiment mono-provides.
Fig. 2 is the two-way opposite side structural map that picks and places robot device that embodiment mono-provides.
Fig. 3 is the two-way detail figure that picks and places driven in translation assembly in robot device that embodiment mono-provides.
Fig. 4 is the two-way detail figure that picks and places rotary drive assembly in robot device that embodiment mono-provides.
Fig. 5 is that embodiment bis-provides the two-way schematic diagram figure that picks and places rotary drive assembly and manipulator in robot device.
Detailed description of the invention
Embodiment mono-
Can clearly show for convenience of description and more, the present embodiment is with view perspective definition coordinate system X-Y-Z in Fig. 1, and before Z is oriented to, Y is oriented to the right side, and X is oriented to.
Shown in Fig. 1 and Fig. 2, the two-way robot device 100 that picks and places that the present embodiment provides comprises: holder 10, driven in translation assembly 30, rotary drive assembly 50, fixed head 53, manipulator 60, X direction guiding rail and Z-direction guide rail (not shown), below elaborate to concrete formation and the matching relationship of above-mentioned each parts in conjunction with each accompanying drawing.
Shown in Fig. 1 and Fig. 2, fixing seat 10 is used for carrying driven in translation assembly 30, rotary drive assembly 50, fixed head 53 and manipulator 60; Fix and sit 10 also for coordinating with X direction guiding rail, and then can coordinate with Z-direction guide rail.Particularly, holder 10 comprises loading plate 11, load bearing seat 12, X direction guiding rail counterpart 13.Loading plate 11 is arranged at X-Y plane, and load bearing seat 12 is fixedly connected on loading plate 11 rear end faces, and an assembly cavity 14 is set between load bearing seat 12 and loading plate 11.X direction guiding rail counterpart 13 is fixedly connected on load bearing seat 12 rear end faces, for coordinating with X direction guiding rail, makes the holder 10 can be along the displacement of X direction guiding rail, X direction guiding rail and then be mounted slidably on Z-direction guide rail.
Shown in Fig. 1 and Fig. 3, driven in translation assembly 30 comprises: pan drive motor 31, belt group 32, loading plate tooth bar 33, rolling bearing 34, translation plates tooth bar 35, translation plates 36, translation plates slide rail 371, translation plates slide block 372, gripper shoe slide block 381, gripper shoe slide rail 382 and gear gripper shoe 383 (Fig. 3 does not show, referring to Fig. 2).Pan drive motor 31 is fixedly installed on loading plate 11 rear end faces, is positioned at load bearing seat 12 1 sides; Belt group 32 is connected cooperation with the clutch end of pan drive motor 31, and long edge Y-direction arranges; Loading plate tooth bar 33 is fixedly connected on loading plate 11 rear end faces; Translation plates slide rail 371 is fixedly installed on loading plate 11 front end faces along Y-direction, and translation plates 36 is arranged at loading plate 11 front end faces, and its lower surface is fixedly connected with translation plates slide block 372, and translation plates slide block 372 is matched with on translation plates slide rail 371; Translation plates tooth bar 35 is fixedly installed on the rear end face of translation plates 36 along Y-direction; Rolling bearing 34 is meshing between loading plate tooth bar 33 and translation plates tooth bar 35; Rolling bearing 34 is arranged in gear gripper shoe 383 rotationally, gear gripper shoe 383 is mounted slidably in gripper shoe slide rail 382 by gripper shoe slide block 381, and connect in belt group 32 outer long side, gripper shoe slide rail 382 is fixedly installed on loading plate 11 rear end faces along Y-direction.
Shown in Fig. 2 and Fig. 4, fixed head 53 is fixedly installed in translation plates 36, and described manipulator 60 is arranged on fixed head 53 rotationally by swiveling wheel 52.Rotary drive assembly 50 comprises: rotary drive motor 51, swiveling wheel 52, and rotary drive motor 51 is fixedly installed on fixed head 53, and its clutch end drives with swiveling wheel 52 and coordinates (directly coordinate or indirectly coordinate by gear train or belt).
Shown in Fig. 1 and Fig. 4, manipulator 60 comprises: motion arm 61, motor drive mechanism 62, power clamp 63, crawl folder 64 and reading code module 65.Motion arm 61 end one sides are arranged on fixed head 53 rotationally by swiveling wheel 52, and motor drive mechanism 62 is arranged on motion arm 61, and motor drive mechanism 62 can be electric machine assembly or electromagnetic assembly, and the active force to power clamp 63 is provided; Capture folder 64 and be claw-like, Qi Ge branch is arranged at motion arm 61 front ends rotationally by a pin respectively; Power clamp 63 has and the branch that captures folder 64 same number, and its end coordinates with the clutch end of motor drive mechanism 62, and front end is connected with the respective branch that captures folder 64; Reading code module 65 is arranged at motion arm 61 front ends, and for reading the entrained identity code of crawled object, for example sample bottle 200 can arrange the identity code that can Gong read on the bottle cap of sample bottle 200.
Illustrating the above-mentioned two-way course of work that picks and places robot device 100 is below described below:
Crawl process: fixing sit 10 at X to, Z-direction displacement, arrive behind intended target position, rotary drive assembly 50 starts action, be that rotary drive assembly 50 driving device hands 60 rotate with X-Y plane is interior, make the crawl folder 64 of manipulator 60 front ends towards a left side or towards right (towards sample bottle 200 1 sides of pre-crawl); Then, driven in translation assembly 30 starts action, and translation plates 36 is moved to the left or to the right, moves to behind sample bottle 200 positions; Afterwards, the motor drive mechanism 62 of manipulator 60 is started working, and provides active force to power clamp 63, and power clamp 63 pulls and captures folder 64 around artis rotation, makes it clamp sample bottle 200.
Put procedure: complete after grasping movement, driven in translation assembly 30 starts action, make translation plates 36 and retract to the right or left, the sample bottle 200 that pull-out grabs, then coordinate the displacement of X to, Z-direction, deliver to destination, rotate in rotary drive assembly 50 driving device hands 60 and X-Y plane as needed, carry out corresponding operating; Finally, the motor drive mechanism 62 of manipulator 60 provides active force to power clamp 63, and power clamp 63 promotes to capture folder 64 and rotates around artis, makes it unclamp sample bottle 200.
The two-way robot device 100 that picks and places that above-described embodiment provides has following beneficial effect: can X to, Y-direction, Z-direction three direction displacement, convenient manipulator 60 is moved to assigned address, can expand use, be not subject to the restriction of the height of length; Can in X-Y plane, rotate by driving device hand 60, realize two-way picking and placeing, flexible movements; The special design of manipulator 60, makes fetching process reliable, has lasting chucking power, and the reading code module of manipulator 60 front ends, can identify the identity of crawled article, is convenient to do information recording.
Embodiment bis-:
Coordinate system X-Y-Z to the explanation of embodiment bis-with reference to embodiment mono-Fig. 1, and before Z is oriented to, Y is oriented to the right side, and X is oriented to.
As shown in Figure 5, embodiment bis-is with the difference of embodiment mono-: fixed head 53 is laid in Y-Z plane, manipulator in Y-Z rotation with in surface be arranged on fixed head 53, rotary drive assembly 50 is arranged on fixed head 53, and drive and be connected with manipulator 60, driving device hand 60, in Y-Z rotation with in surface, arrives " left position " or " right position " in Fig. 5.
Above embodiment is only fully open unrestricted the utility model, for being originally beneficial to technical staff, the replacement of some the equivalence techniques means based on the utility model design, for example, motor is replaced with cylinder by power source, power conduction mechanism is used simple replacement and other similar replacements of equivalence, should belong to the utility model scope of disclosure.
Claims (10)
1. the two-way robot device that picks and places, it is characterized in that, comprise: fixed head, rotary drive assembly and manipulator, fixed head is laid in X-Y plane or Y-Z plane, manipulator in X-Y plane or Y-Z rotation with in surface be arranged on fixed head, rotary drive assembly is arranged on fixed head, and is connected with robot drives.
2. the two-way robot device that picks and places according to claim 1, is characterized in that, also comprises holder and driven in translation assembly; Driven in translation assembly is set on holder, and driven in translation assembly drives and is connected with described fixed head, drives described fixed head in Y-direction translation.
3. the two-way robot device that picks and places according to claim 2, is characterized in that, described holder comprises loading plate; Loading plate is laid in X-Y plane, and described driven in translation assembly is arranged on this loading plate; Described driven in translation assembly comprises: power source, transmission mechanism, translation plates and guiding mechanism; Translation plates can Y-direction be arranged at described loading plate front end face slidably by guiding mechanism, and transmission mechanism one end is connected with power source, and the other end drives and coordinates with translation plates; Described fixed head is set in translation plates.
4. the two-way robot device that picks and places according to claim 3, is characterized in that, described transmission mechanism comprises loading plate tooth bar or chain, rolling bearing, gear gripper shoe, translation plates tooth bar or chain; Loading plate tooth bar or chain are fixed on loading plate rear end face along Y-direction; Translation plates tooth bar or chain are fixed on the rear end face of described translation plates along Y-direction; Rolling bearing is arranged in gear gripper shoe rotationally, and is engaged between loading plate tooth bar or chain and translation plates tooth bar or chain, described power source driven wheel gripper shoe drive rolling bearing in a fluting of described loading plate along Y-direction translation.
5. the two-way robot device that picks and places according to claim 3, is characterized in that, described power source is pan drive motor, and described transmission mechanism comprises belt group, loading plate tooth bar, rolling bearing, translation plates tooth bar, gear gripper shoe; Pan drive motor is fixedly installed on loading plate rear end face, is positioned at load bearing seat one side; Belt group is connected cooperation with the clutch end of pan drive motor, and long edge Y-direction arranges; Loading plate tooth bar is fixedly connected on loading plate rear end face; Translation plates tooth bar is fixedly installed on the rear end face of described translation plates along Y-direction; Rolling bearing is engaged between loading plate tooth bar and translation plates tooth bar; Rolling bearing is arranged in gear gripper shoe rotationally, and gear gripper shoe can be arranged at described loading plate rear end face slidably along Y-direction, and connects in described belt group.
6. according to the two-way robot device that picks and places described in claim 3,4 or 5, it is characterized in that, described guiding mechanism comprises translation plates slide rail and translation plates slide block, translation plates slide rail is fixedly installed on loading plate front end face along Y-direction, translation plates lower surface is fixedly connected with translation plates slide block, and translation plates slide block is matched with on translation plates slide rail.
7. according to the two-way robot device that picks and places described in claim 3,4 or 5, it is characterized in that, described rotary drive assembly comprises: rotary drive motor, swiveling wheel; Described manipulator is arranged on fixed head rotationally by swiveling wheel; Rotary drive motor is fixedly installed on fixed head, and its clutch end drives and coordinates with swiveling wheel.
8. the two-way robot device that picks and places according to claim 7, is characterized in that, described manipulator comprises: motion arm, actuating unit, crawl folder; Motion arm end one side is arranged on described fixed head rotationally by swiveling wheel, and actuating unit is arranged on motion arm, and the active force to capturing folder is provided; Capture folder and be subject to the driving of actuating unit, each branch toward each other or counter motion.
9. the two-way robot device that picks and places according to claim 7, is characterized in that, described manipulator comprises: motion arm, actuating unit, power clamp, crawl folder; Motion arm end one side is arranged on described fixed head rotationally by swiveling wheel, and actuating unit is arranged on motion arm, and the active force to power clamp is provided; Capture Jia Ge branch and be arranged at rotationally motion arm front end by a pin respectively; Power clamp has and the branch that captures folder same number, and its end coordinates with the clutch end of actuating unit, and front end is connected with the respective branch that captures folder.
10. the two-way robot device that picks and places according to claim 8, is characterized in that, described manipulator also comprises reading code module, is arranged at motion arm front end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420200747.7U CN203853993U (en) | 2014-04-23 | 2014-04-23 | Bi-directional manipulator picking and placing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420200747.7U CN203853993U (en) | 2014-04-23 | 2014-04-23 | Bi-directional manipulator picking and placing device |
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| Publication Number | Publication Date |
|---|---|
| CN203853993U true CN203853993U (en) | 2014-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420200747.7U Expired - Fee Related CN203853993U (en) | 2014-04-23 | 2014-04-23 | Bi-directional manipulator picking and placing device |
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| CN (1) | CN203853993U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109650044A (en) * | 2018-12-28 | 2019-04-19 | 昆山尚钝电子科技有限公司 | One kind taking a barrel equipment |
-
2014
- 2014-04-23 CN CN201420200747.7U patent/CN203853993U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109650044A (en) * | 2018-12-28 | 2019-04-19 | 昆山尚钝电子科技有限公司 | One kind taking a barrel equipment |
| CN109650044B (en) * | 2018-12-28 | 2024-04-12 | 福建久一科技有限公司 | Barrel taking equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141001 Termination date: 20200423 |
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| CF01 | Termination of patent right due to non-payment of annual fee |