CN205906697U - Box body is got and is put manipulator - Google Patents

Abstract

The utility model discloses a box body is got and is put manipulator, include: braced frame, install last gripper device, the drive of braced frame the biasing drive arrangement and the pickup assembly of the motion of gripper device, wherein, pickup assembly includes: install the photoelectric switch of braced frame's tip both sides and with the gripper device correspond from the reflective sensor and lie in the laser sensor who is used for the position of the induction box body and box body place goods shelves in the braced frame. The utility model discloses a last pickup assembly that is provided with of box body is got and is put manipulator can carry out the size and measuration getting the box body of putting, and then it be correct to ensure to get the box body of putting, avoids makeing mistakes, has improved the accuracy of operation, adopts the laser sensor can the induction box body and the position of box body place goods shelves, further improvement operation accuracy, and laser sensor can also cooperate box body is got and is put manipulator's control system to realize the inside automatic identification who stores up the position of goods shelves simultaneously.

Description

Box body pick-and-place manipulator

Technical field

This utility model is related to field of machinery automation, particularly to a kind of box body pick-and-place manipulator.

Background technology

With growth in the living standard, seek the requirement to hospital and pharmacy for the doctor also more and more higher, certainly, medical skill is cured Moral is the main standard that patient selects hospital, and the first window as hospital, the pharmacy representing image of hospitals also day by day becomes Decide whether the important indicator that here is sought medical advice for patient.The general drug mode in pharmacy is according to disease by pharmacy staff at present The prescription that people provides, searches the medicine on prescription in pharmacy one by one, finally collects together, be supplied to patient.

With various medicine increasing using kind, the expansion of the area in pharmacy and pharmacy, the discrepancy amount of medicine is also gradually Increase, simply manually pick and place medicine box, also become the work wasted time and energy, prior art discloses a kind of being directed to and pick and place box body The mechanical hand of shape object, but easily malfunction during gripping, the phenomenon of wrong folder occurs.

Utility model content

This utility model provides a kind of box body pick-and-place manipulator, to solve above-mentioned technical problem present in prior art.

For solving above-mentioned technical problem, this utility model provides a kind of box body pick-and-place manipulator, comprising: support frame, peace The mechanical gripper device being contained in described support frame, the biasing driving means driving described mechanical gripper device motion and sensor Assembly, wherein, described sensor cluster includes: be arranged on described support frame the photoswitch of end both sides and with described machine Machinery claw device corresponding self-reflection sensor and be located at described support frame in be used for sensing box body and box body place shelf Position laser sensor.

Preferably, described support frame includes: for rotating, with manipulator driving device, the rotation platen being connected, standing on institute State the gripper shoe of rotation platen both sides, be located at the panel be arrangeding in parallel with described rotation platen above described gripper shoe and be located at described The panel support post of rotation platen end.

Preferably, described biasing driving means include: biasing motor, screw component, the first guidance set and fixed plate, Described screw component includes screw mandrel and the feed screw nut being located on screw mandrel, and wherein, described screw mandrel is disposed therein a gripper shoe Outside, one end and described biasing motor connection, the other end is connected with support frame；Described feed screw nut and the one of described fixed plate End is affixed, and the other end of described fixed plate is connected with the first guidance set outside another gripper shoe.

Preferably, described biasing driving means also include the second guidance set, described second guidance set is arranged on institute State in the gripper shoe below lead screw assembly and be connected with described fixed plate.

Preferably, described mechanical gripper device includes: with the described biasing affixed clamp system of driving means, two symmetrically set The clamping plate put and the push-rod assembly being correspondingly arranged with described clamping plate.

Preferably, described clamp system includes: the same moving axis that clamping motor is connected with the turning end of clamping motor, point The upper and lower tooth bar not engaged with described same moving axis, the upper rack fixed plate affixed with described upper rack, affixed with described lower tooth bar Lower tooth bar fixed plate, described upper and lower tooth bar fixed plate is symmetrical arranged and is connected with described clamping plate.

Preferably, also including push-rod assembly, described push-rod assembly includes: is arranged on the push rod between two clamping plate and driving The servomotor of described push rod movement.

Preferably, described push-rod assembly also includes: screw mandrel, be located at described screw mandrel on feed screw nut and with described silk The pusher bar support that stem nut connects；Wherein, one end of described screw mandrel is fixed by screw rodb base, and the other end is led to described servomotor Cross Timing Belt assembly to connect, described feed screw nut is connected with described push rod by described pusher bar support.

Compared with prior art, this utility model has the advantage that

1st, this utility model passes through setting biasing driving means, will bias driving means and be arranged on the outer of support frame Side, need not take the inner space of box body pick-and-place manipulator, be easy to installation and the layout of miscellaneous equipment, solve in prior art The problem of the driving means installation difficulty existing；

2nd, of the present utility model biasing motor position can according to practical situation be arranged on instrument and equipment inside vacant In region, will not interfere and driven equipment between；

3rd, this utility model passes through to arrange sand paper inside gripping portion, using the big spy of the roughness of sand paper its own face Point, increases the frictional force between clamping plate and box body, it is to avoid the phenomenon skidded during gripping, it is to avoid go out after the long-time use of clamping plate Now wear and tear, extend the service life of clamping plate, with low cost due to sand paper, this utility model also greatly reduces gripper Production cost；

4th, this utility model passes through to arrange two symmetrically arranged clamping plate, and so that the gripping portion of clamping plate is inwardly rolled tiltedly, is formed The structure of falling V-shaped, so can realize the fixed point gripping to box body, with respect to the gripper of full-contact in prior art, more hold Easily position and grip, be not in leakage folder phenomenon；

5th, when needing to grip string multiple box body packaging, this utility model any box body packaging can be carried out to same row Gripping, that compares conventional mechanical pawl clamps all box bodys, and this utility model only needs to outermost by the direct gripping in gripping portion Box body, promotes other box bodys just can realize permutation gripping using outside box body, operates more flexible convenience；

6th, this utility model adopts clamp system to control two clamping plate close to each other or away from described clamp system is using same The moving axis upper and lower tooth bar that is engaged with of control, move toward one another or simultaneously move in the opposite direction, to drive described folder simultaneously Plate execution clamping or unclamp action, and in gripping using Torque Control it is ensured that chucking power enough and do not damage box body it is ensured that The accuracy of measurement width dimensions；

7th, this utility model is additionally provided with push-rod assembly, described push-rod assembly and clip board engagement, realizes taking of multigroup box body Put.

8th, box body pick-and-place manipulator of the present utility model can replace manpower, picks and places the Packaging box body such as medicine box on shelf Deng, save manpower improve work efficiency simultaneously；

9th, sensor cluster of the present utility model can carry out secondary-confirmation to the box body size picking and placeing, it is to avoid occurs picking and placeing Mistake, improves the accuracy of operation, can sense box body and the position of box body place shelf using laser sensor, enter one Step raising operating accuracy, simultaneously laser sensor the control system of box body pick-and-place manipulator can also be coordinated to realize in shelf The automatic identification of portion's storage space.

Brief description

Fig. 1 is the structural representation of box body pick-and-place manipulator in this utility model one specific embodiment；

Fig. 2 is the structural representation of the support frame of box body pick-and-place manipulator in this utility model one specific embodiment；

Fig. 3～4 are the structure of the biasing driving means of box body pick-and-place manipulator in this utility model one specific embodiment Schematic diagram；

Fig. 5 is the structural representation of the mechanical gripper device of box body pick-and-place manipulator in this utility model one specific embodiment Figure；

Fig. 6 is the structural representation of the clamp system of box body pick-and-place manipulator in this utility model one specific embodiment；

Fig. 7 is the structural representation of the clamping plate of box body pick-and-place manipulator in this utility model one specific embodiment；

Fig. 8～9 are the structural representation of the push-rod assembly of box body pick-and-place manipulator in this utility model one specific embodiment Figure.

Shown in figure:

100- support frame, 110- rotation platen, 120- gripper shoe, 130- panel, 140- panel support post, 150-l type prop up Frame；

200- biasing driving means, 210- biasing motor, 220- first screw mandrel, 230- first feed screw nut, 240- fix Plate, 250- first guidance set, 251- line slideway, 252- slide block, 260- second guidance set, 270- double-slider fixed plate, 280- slide rail connecting plate；

Tooth bar, 350- upper rack under 300- clamp system, 310- clamping motor, the same moving axis of 320-, 330- upper rack, 340- Tooth bar fixed plate, 370- jaw fixed plate, 380- the 3rd guidance set under fixed plate, 360-；

400- clamping plate, 410- connecting portion, 411- screwed hole, 420- gripping portion, 421- sand paper；

500- push-rod assembly, 510- push rod, 511- pusher bar support, 520- second screw mandrel, 530- second feed screw nut, 540- Push-rod electric machine, 550- screw rodb base, 560- the 4th guidance set, 570- connecting plate；

600- sensor cluster, 610- photoswitch, 620- laser sensor.

Specific embodiment

Understandable for enabling above-mentioned purpose of the present utility model, feature and advantage to become apparent from, below in conjunction with the accompanying drawings to this The specific embodiment of utility model is described in detail.It should be noted that, this utility model accompanying drawing is all in the form of simplifying And all using non-accurately ratio, only in order to purpose that is convenient, lucidly aiding in illustrating this utility model embodiment.

As shown in figure 1, this utility model provides a kind of box body pick-and-place manipulator, comprising: support frame 100, be arranged on institute State mechanical gripper device in support frame 100, drive described mechanical gripper device motion biasing driving means 200 and with described The sensor cluster 600 that mechanical gripper device is correspondingly arranged.

As shown in Fig. 2 described support frame 100 includes: rotation platen 110, propping up positioned at described rotation platen 110 left and right sides Fagging 120, the panel 130 be arrangeding in parallel with described rotation platen 110 positioned at described gripper shoe 120 top, and it is located at described rotation The panel support post 140 of platen 110 end, wherein, is connected by l type support 150 between described gripper shoe 120 and panel 130, May insure the stability of panel 130, further, described panel 130 is symmetrically arranged two groups, described two groups of panels 130 Between be provided with for the space for the push rod movement in push-rod assembly 500.

As shown in Figure 3 to Figure 4, described biasing driving means 200 include: biasing motor 210, the first screw component, first Guidance set 250, the second guidance set 260 and fixed plate 240, described first screw component includes the first screw mandrel 220 and is located at The first feed screw nut 230 on first screw mandrel 220, wherein, described first screw mandrel 220 is disposed therein the outer of a gripper shoe 120 Side, one end is connected with described biasing motor 210, and the other end is connected with support frame 100；Described first feed screw nut 230 and institute The one end stating fixed plate 240 is affixed, and the other end of described fixed plate 240 guides with positioned at the first of another gripper shoe 120 outside Assembly 250 connects, described second guidance set 260 be arranged in the gripper shoe 120 below described first lead screw assembly and with institute State fixed plate 240 to connect.

Preferably, in the present embodiment, described biasing motor 210 is positioned close to the rotation platen 110 of fixed plate 240 one end On, and driving described first screw mandrel 220 to rotate by Timing Belt assembly, the other end of described first screw mandrel 220 directly and supports The panel support post 140 of framework 100 connects.

With continued reference to Fig. 3 to Fig. 4, described first, second guidance set 250,260 all includes: is fixed on described gripper shoe The line slideway 251 in 120 outsides and the slide block 252 being correspondingly arranged with described line slideway 251.Described first guidance set 250 Slide block 252 be connected and the one end with described fixed plate 240 with described first feed screw nut 230 by double-slider fixed plate 270 Affixed, the slide block 252 of described second guidance set 260 passes through slide rail connecting plate 280 and the other end of described fixed plate 240 is solid Connect.

As shown in figure 5, combining Fig. 1, described mechanical gripper device includes: the clamping affixed with described biasing driving means 200 Mechanism 300, two symmetrically arranged clamping plate 400 and the push-rod assembly 500 being correspondingly arranged with described clamping plate 400.

Refer to Fig. 6, described clamp system 300 includes: clamping motor 310 is connected with the turning end of clamping motor 310 With moving axis 320, the upper and lower tooth bar 330,340 engaging with described same moving axis 320 respectively, the upper tooth affixed with described upper rack 330 Bar fixed plate 350, the lower tooth bar fixed plate 360 affixed with described lower tooth bar 340, described upper and lower tooth bar fixed plate 350,360 is right Claim setting and be connected with described clamping plate 400.Specifically, described clamping motor 310 drives same moving axis 320 to rotate, and then makes and same The upper and lower tooth bar 330,340 of moving axis 320 engagement is opposite or adverse movement, realizes the gripping action of clamping plate 400.Further, institute State and be connected by jaw fixed plate 370 between clamping plate 400 and described upper and lower tooth bar fixed plate 350,360.

Preferably, described clamp system 300 also includes: symmetrically arranged 3rd guidance set 380, the 3rd guiding group The structure of part 380 is identical with the structure of first, second guidance set 250,260, described 3rd guidance set 380 with described upper, Lower tooth bar fixed plate 350,360 is correspondingly arranged, for guiding to upper and lower tooth bar 330,340.

As shown in fig. 7, one end of described clamping plate 400 is connecting portion 410, the other end is gripping portion 420.Wherein, described company Screwed hole 411 is offered on socket part 410, described connecting portion 410 is affixed with jaw fixed plate 370 by screwed hole 411, Jin Eryou Clamp system 300 drives and carries out action；The inner side in described gripping portion 420 is sticked and has sand paper 421, due to sand paper 421 its own face Roughness big, the frictional force between clamping plate 400 and box body can be increased, it is to avoid the phenomenon skidded occurs, it is to avoid folder during gripping Plate 400 is for a long time using rear service life abrasion, extending clamping plate 400.

With continued reference to Fig. 7, described gripping portion 420 inwardly rolls tiltedly with respect to described connecting portion 410, of the present utility model interior Side refers to the opposite side of two clamping plate 400, that is to say between two clamping plate 400.In other words, described two clamping plate 400 are close When, form the structure of falling V-shaped, be arranged such, it is possible to achieve mechanical gripper device grips to the fixed point of box body, with respect in prior art The gripper of full-contact, it is easier to positioning and gripping, is not in leakage folder phenomenon, is hook-shaped with respect to prior art medial end portions Gripper, clamping plate 400 of the present utility model is adapted to more closely spaced box body.Further, described two clamping plate 400 End is little with respect to other parts spacing, when gripping box body it is only necessary to the end of described clamping plate 400 can be connect with box body Touch, will not excessive because of box body quantity or because using deforming, leading to box body to be missed for a long time situation occur.

Further, described clamping plate 400 can be made using metal material, it would however also be possible to employ carbon fibre material is made.Adopt Clamping plate with metal material preparation is with low cost, possesses light quality using the clamping plate that carbon fibre material is made, intensity is difficult greatly The advantage of deformation, is more convenient for controlling.

As shown in Fig. 8 to Fig. 9, described push-rod assembly 500 includes: is arranged on the space of the panel 130 between two clamping plate 400 In push rod 510, the second screw mandrel 520, the second feed screw nut 530 being located on described second screw mandrel 520 and with described second Pusher bar support 511 and push-rod electric machine 540 that feed screw nut 530 connects, specifically, silk is passed through in one end of described second screw mandrel 520 Pole socket 550 is fixing, and the other end is connected with described push-rod electric machine 540 by Timing Belt assembly, described push-rod electric machine 540 again by Timing Belt assembly drives described second screw mandrel 520 to rotate, so make described second feed screw nut 530 drive pusher bar support 511 with And the push rod 510 on pusher bar support 511 moves forward and backward, cooperation clamping plate 400 promotes box body to move.That is, during work, described push rod electricity Machine 540 is rotated and drives the second feed screw nut 530 and the push rod 510 being connected with the second feed screw nut 530 by the second screw mandrel 520 Mobile, and then make push rod 510 pick and place box body action with clamping plate 400 cooperation execution.

With continued reference to Fig. 8～9, described push-rod assembly 500 also includes the 4th guidance set 560, described 4th guidance set 560 line slideway is parallel with described second screw mandrel 520, and the slide block of described 4th guidance set 560 passes through connecting plate 570 and institute State that the second feed screw nut 530 is affixed, drive the straight line in described 4th guidance set 560 to lead by the second feed screw nut 530 simultaneously Move on rail, realize the guiding to push rod 510.

Refer to Fig. 1 and Fig. 2, described sensor cluster 600 includes: be arranged at described panel support post 140 both side ends Photoswitch 610, be arranged in the space between described two panels 130 and self-reflection corresponding with described push-rod assembly 500 Sensor (not shown) and be arranged on described rotation platen 110 on laser sensor 620, wherein, described photoswitch 610 be used for coordinate with described clamping plate 400, measurement two clamping plate 400 gripping box body width, described self-reflection sensor with described Push rod 510 coordinates, the length of measurement box body, and then knows the size of box body, so the box body picking and placeing can be checked, sentence Whether the disconnected box body picking and placeing is accurate, it is to avoid error.Described laser sensor 620 is connected with the control system of box body pick-and-place manipulator Connect, the storage environment of box body can be identified judging, and then realize the automatic identification of box body storage space.

Continue referring to Fig. 1 to Fig. 9, of the present utility model box body pick-and-place manipulator worked is described more detail below Journey:

Box body pick-and-place manipulator of the present utility model is controlled to reach by control system to be waited before box body to be picked and placeed；

When execution takes box body action:

First, clamping motor 310 rotates makes two clamping plate 400 be in open mode, and now the width of two clamping plate 400 is more than and treats The width of the box body taking；

Then, bias motor 210 action, drive fixed plate 240 to drive clamp system 300 forward by the first screw component Mobile, until two clamping plate 400 reach box body position to be taken；

Clamping motor 310 rotates backward makes two clamping plate 400 be in clamped condition, it should be noted that now, if only needing to Take a box body, then, this box body is directly clamped in the gripping portion 420 of described clamping plate 400；When the box body quantity of required gripping is more When, described gripping portion 420 clamps and farthest that is to say the most inboard box body on shelf apart from mechanical hand, and remaining box body is located at two clamping plate Other regions between 400, are not at clamped condition, and biasing driving means 200 drive clamp system 300 and two clamping plate 400 During return, the box body on clamping plate 400 pushes directly on remaining box body and moves on panel, and that realizes all box bodys collects action.

When box body action is put in execution:

Box body is located on panel 130, and when the quantity of box body is only 1, box body is located at the gripping portion 420 of two clamping plate 400 Between, now push-rod assembly 500 is failure to actuate, and described two clamping plate 400 control clamping box body, described clamping machine by clamp system 300 Structure 300 is driven by biasing driving means 200 and advances to shelf, executes placement action.

When the quantity of box body is multiple, now, the gripping portion 420 of clamping plate 400 still grips outermost box body, remaining Box body is located between two clamping plate 400, and when clamping plate 400 drives box body to be displaced outwardly, described push rod 510 is led to by push-rod electric machine 540 Cross the second screw mandrel 520 and the second feed screw nut 530 drives, promote remaining box body and clamping plate 400 action simultaneously, realize box body Placement action.

It should be noted that while carrying out box body and pick and place action, described photoswitch 610 measures the width of box body simultaneously Degree, the length of described self-reflection sensor traveling time measurement box body on panel according to box body, and then know the chi of box body Very little, thus the box body that box body pick-and-place manipulator is picked and placeed is verified it is ensured that the box body being picked and placeed is correct.

Obviously, those skilled in the art can carry out various changes to utility model and modification is new without deviating from this practicality The spirit and scope of type.So, if of the present utility model these modification and modification belong to this utility model claim and its Within the scope of equivalent technologies, then this utility model is also intended to including these changes and modification.

Claims (6)

1. a kind of box body pick-and-place manipulator is it is characterised in that include: support frame, the machinery being arranged in described support frame Jaw arrangement, the biasing driving means driving described mechanical gripper device motion and sensor cluster, wherein, described sensor cluster Including: it is arranged on photoswitch self-reflection corresponding with the described mechanical gripper device sensing of the end both sides of described support frame Device and the laser sensor being located at the interior position for sensing box body and box body place shelf of described support frame.

2. box body pick-and-place manipulator as claimed in claim 1 is it is characterised in that described support frame includes: for machinery Hand driving device rotates the rotation platen connecting, the gripper shoe standing on described rotation platen both sides, is located above described gripper shoe and institute State the rotation platen panel be arrangeding in parallel and the panel support post being located at described rotation platen end.

3. described box body pick-and-place manipulator as arbitrary in claim 1 is it is characterised in that described mechanical gripper device includes: with institute State the affixed clamp system of biasing driving means, two symmetrically arranged clamping plate and the push rod group being correspondingly arranged with described clamping plate Part.

4. box body pick-and-place manipulator as claimed in claim 3 is it is characterised in that described clamp system includes: clamping motor and The same moving axis that the turning end of clamping motor connects, the upper and lower tooth bar engaging with described same moving axis respectively, affixed with described upper rack Upper rack fixed plate, the lower tooth bar fixed plate affixed with described lower tooth bar, described upper and lower tooth bar fixed plate be symmetrical arranged and with Described clamping plate connects.

5. box body pick-and-place manipulator as claimed in claim 3 is it is characterised in that also include push-rod assembly, described push-rod assembly Including: it is arranged on the push rod between two clamping plate and the servomotor driving described push rod movement.

6. box body pick-and-place manipulator as claimed in claim 5 is it is characterised in that described push-rod assembly also includes: screw mandrel, is located at Feed screw nut on described screw mandrel and the pusher bar support being connected with described feed screw nut；Wherein, one end of described screw mandrel is passed through Screw rodb base is fixed, and the other end is connected by Timing Belt assembly with described servomotor, and described feed screw nut is propped up by described push rod Frame is connected with described push rod.