CN206011091U - A kind of loading and unloading manipulator - Google Patents
A kind of loading and unloading manipulator Download PDFInfo
- Publication number
- CN206011091U CN206011091U CN201620864441.0U CN201620864441U CN206011091U CN 206011091 U CN206011091 U CN 206011091U CN 201620864441 U CN201620864441 U CN 201620864441U CN 206011091 U CN206011091 U CN 206011091U
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- CN
- China
- Prior art keywords
- loading
- gyroaxis
- unloading manipulator
- fixedly installed
- mechanical hand
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Abstract
This utility model embodiment discloses a kind of loading and unloading manipulator, including be arranged on frame vertical direction elevating mechanism, slew gear, telescoping mechanism and be arranged at the grasping mechanism of the telescoping mechanism end, its object is to offer a kind of easy to operate, applied widely, control the mechanical hand of precise control easy and that optional position can be realized, this utility model has the advantage that, first, the grasping mechanism of mechanical hand, can be according to different operating modes, the quantity of sucker is adjusted, workpiece requirement of different sizes is adapted to；The installation direction of sucker is adjusted, can be to relative direction grabbing workpiece, to adapt to the requirement of different operating modes.Second, mechanical hand is additionally provided with industrial camera, can be required according to practical situation, choose whether to use industrial camera, when Intelligent Recognition and classification can be carried out to workpiece using industrial camera, while during manipulator behavior, there is adaptivity, improve the flexibility of mechanical hand.
Description
Technical field
This utility model is related to a kind of mechanical hand, more particularly to a kind of being applied to captures light-duty workpiece and there is certain intelligence
Loading and unloading manipulator.
Background technology
The mechanical hand of loading and unloading at present widely, is applied to the large number of rows such as machinery, aviation, automobile in commercial Application
Industry.Its major function is the crawl for workpiece, carries.For example carry out in Punching Process in stainless steel thin slice, also big portion
Point using manually removing operation to go to be placed and taken out workpiece, mechanical hand perfect can substitute artificial operate, not only improve production efficiency, and
And it is more safe and reliable.
On market, the design principle of the mechanical hand of loading and unloading is different, and structure also has very big difference, has in real process
A lot of defects, due to different operating modes, the adaptable operating mode of mechanical hand is relatively simple；The tail house of mechanical hand cannot firmly grasp work
Part, easily comes off, and after workpiece is firmly grasped in end, attitude is difficult to adjust.Rotating mechanism control performance is poor, rotation inconvenience, it is impossible to meet
Demand.
Content of the invention
This utility model embodiment technical problem to be solved is, there is provided a kind of loading and unloading manipulator.Can pass through to close
The structure of reason reaches the loading and unloading manipulator of imaginable flexibility degree.
In order to solve above-mentioned technical problem, this utility model embodiment provides a kind of loading and unloading manipulator, including arranging
Elevating mechanism, slew gear, telescoping mechanism on the frame vertical direction and it is arranged at the crawl of the telescoping mechanism end
Mechanism；
The elevating mechanism includes the guide rail being arranged in the frame, screw mandrel, drives the lift servo electricity of the screw mandrel
Machine, the connector for sliding on the guide rail and being connected with the wire rod thread；
The slew gear includes the rotary servovalve motor being fixedly installed on the connector, is fixedly installed on described returning
Turn the gyroaxis on servomotor outfan, the gyroaxis top is provided with revolving dial；
The telescoping mechanism includes flexible servomotor and the sliding sleeve being arranged on the revolving dial, the sliding sleeve peace
On the screw mandrel driven loaded on the flexible servomotor；
The grasping mechanism includes the transverse slat being fixedly installed on the sliding sleeve, the crawl servo being installed on the transverse slat
Motor, the end gyroaxis driven by the crawl servomotor, are fixedly installed connecting plate below the end gyroaxis, institute
State.
Further, the elevating mechanism also includes that steel plate, the guide rail are arranged on the steel plate.
Further, the screw mandrel upper and lower side is arranged on the steel plate by bearing block respectively.
Further, the gyroaxis upper and lower side is fixedly installed upper flange and lower flange, the revolving dial respectively
It is fixedly installed on the upper flange, the lower flange is fixedly connected with the revolving dial.
Further, inside the transverse slat, first and last end is respectively arranged with Timing Belt drivewheel and driven pulley, and both pass through
Timing Belt connects, and the crawl servomotor is connected with the Timing Belt capstan drive, and the driven pulley is returned with the end
Rotating shaft transmission connects.
Further, the end gyroaxis is connected with the transverse slat by bearing block.
Further, industrial camera is additionally provided with the connecting plate.
Implement this utility model embodiment, have the advantages that：First, the grasping mechanism of mechanical hand can basis
Different operating modes, adjusts the quantity of sucker, is adapted to workpiece requirement of different sizes；The installation direction of sucker is adjusted, can be with
To relative direction grabbing workpiece, to adapt to the requirement of different operating modes.Second, mechanical hand is additionally provided with industrial camera, can be according to reality
Border situation requires, chooses whether to use industrial camera, when carrying out Intelligent Recognition and classification to workpiece using industrial camera, same
When during manipulator behavior, with adaptivity, improve the flexibility of mechanical hand.
Description of the drawings
Fig. 1 is the schematic diagram of the diverse location of loading and unloading manipulator of the present utility model；
Fig. 2 is the front view of the whole machine of loading and unloading manipulator；
Fig. 3 is the side view of the whole machine of loading and unloading manipulator；
Fig. 4 is the front view of elevating mechanism；
Fig. 5 is the side view of elevating mechanism；
Fig. 6 is the front view of slew gear；
Fig. 7 is the side view of slew gear；
Fig. 8 is the front view of telescoping mechanism；
Fig. 9 is the structural representation of grasping mechanism；
Figure 10 is the structural representation of end slew gear.
Specific embodiment
For making the purpose of this utility model, technical scheme and advantage clearer, new to this practicality below in conjunction with accompanying drawing
Type is described in further detail.
As shown in figure 1, a kind of loading and unloading manipulator, including section material frame A, is provided with elevating mechanism B, revolution on section material frame A
Mechanism C, telescoping mechanism D and end capture mechanism E, section material frame A are positioned near equipment, by elevating mechanism B adjustment machineries
The height of handss and slew gear C adjust the rotation of mechanical hand on a large scale, and the adjustment attitude of end capture mechanism E small ranges is by workpiece
Crawl, telescoping mechanism D are stretched forward in the same plane and to after-contraction, are exactly the two states of mechanical hand in such as Fig. 1.
As shown in Figures 2 to 6, described elevating mechanism B includes the steel plate 24 that is connected with frame 1, fixes with steel plate 24
Guide rail 22, a pair of bearing 25 of connection wire rod 23, for installing the connector 3 of revolving dial 27, shaft coupling 32 and is used for
The servomotor 2 of lifting, connector 3 drive leading screw to move up and down by servomotor 2, and guide rail 22 is played on connection assist 3
The effect of lower smooth sliding, improves its stationarity, so as to realize the lifting of revolving dial 27.
Such as Fig. 2 to Fig. 3, shown in Fig. 6, Fig. 7, slew gear C includes revolving dial 27, gyroaxis 4, connecting plate 33, upper method
Orchid 6, lower flange 34, copper sheathing pressing plate 20, corner brace 21, copper sheathing 28 and the servomotor 26 for gyration, gyroaxis 4 is by right
Nutting is connected with 6 lower flange 34 of upper flange, and lower flange is connected on revolving dial 24, and servo is housed on the downside of revolving dial 24
2 upper flange 6 of motor is used for the telescoping mechanism D for connecting upside, and copper sheathing 28, copper sheathing pressing plate 20, corner brace 21 are used for aiding in fixed and rise
Guide effect, it is ensured that the rotating accuracy of gyroaxis 4.
Such as Fig. 2 to Fig. 4, shown in Fig. 8, telescoping mechanism D includes the servomotor 5 for stretching, sliding sleeve 35 and module 7, watches
Operating of the motor 5 by the screw mandrel inside module 7 is taken, sliding sleeve 35 is mounted on screw mandrel, so as to realize the flexible of end mechanical hand.
As shown in Fig. 2 to Fig. 4, Fig. 8,9, end mechanical hand includes connector 36,37, transverse slat 9, servomotor 8, Timing Belt
Drivewheel 18, driven pulley 32, Timing Belt 38, top chock 14, connection aluminum corner brace 15, step 19, end gyroaxis 10 and axle
Fixed seat 13 is constituted.Transverse slat 9 is connected with the sliding sleeve of telescoping mechanism D by connector 36,37, and transverse slat is provided with installation servo electricity
The installing hole of machine 8, servomotor 8 are directly coordinated with Timing Belt drivewheel 18, Timing Belt drivewheel 18 by Timing Belt 38 with from
Driving wheel 32 is connected, and driven pulley 32 is mounted in 10 end gyroaxis of end gyroaxis and is connected with transverse slat 9 by top chock 14, in order to
Ensure that end gyroaxis 10 is not eccentric when turning round, be provided with step 19, which is passed through connection aluminum corner brace 15 and is connected with transverse slat 9, one
Aspect guarantee is not eccentric, on the other hand, plays auxiliary positioning and plays certain supporting role, pass through below end gyroaxis 10
Axle fixed seat 13 is connected with connecting plate 39.
As shown in Figure 10, mechanical hand grasping mechanism in end also includes being connected with fixed seat 13 connecting plate 39, sucker 11,
Industrial camera installing plate 31 and industrial camera 12 are constituted.6 suckers can at most be filled on connecting plate, can according to different operating modes,
The sucker of varying number is installed, industrial camera installing plate 31 is connected with connecting plate 39 according to installing hole, and industrial camera 12 is mounted in
On installing plate 31.According to the real time information that industrial camera obtains workpiece, so as to the operating track of control machinery hand, so as to have in time
The grabbing workpiece of effect and placement workpiece, improve the flexibility of mechanical hand.
Above disclosed is only a kind of preferred embodiment of this utility model, can not limit this practicality with this certainly
New interest field, the equivalent variations that is therefore made according to this utility model claim still belong to what this utility model was covered
Scope.
Claims (7)
1. a kind of loading and unloading manipulator, it is characterised in that including be arranged on frame vertical direction elevating mechanism, turn-around machine
Structure, telescoping mechanism and it is arranged at the grasping mechanism of the telescoping mechanism end；
Guide rail that the elevating mechanism includes being arranged in the frame, screw mandrel, the lift servo motor for driving the screw mandrel, cunning
Move the connector being connected on the guide rail and with the wire rod thread；
The slew gear include the rotary servovalve motor being fixedly installed on the connector, be fixedly installed on described revolution watch
The gyroaxis on motor output end is taken, the gyroaxis top is provided with revolving dial；
The telescoping mechanism includes that flexible servomotor and the sliding sleeve being arranged on the revolving dial, the sliding sleeve are installed on
On the screw mandrel that the flexible servomotor drives；
The grasping mechanism includes the transverse slat being fixedly installed on the sliding sleeve, the crawl servo being installed on transverse slat electricity
Machine, the end gyroaxis driven by the crawl servomotor, are fixedly installed connecting plate below the end gyroaxis, described
Sucker is provided with connecting plate.
2. loading and unloading manipulator according to claim 1, it is characterised in that the elevating mechanism also includes steel plate, described
Guide rail is arranged on the steel plate.
3. loading and unloading manipulator according to claim 2, it is characterised in that the screw mandrel upper and lower side passes through bearing block respectively
It is arranged on the steel plate.
4. loading and unloading manipulator according to claim 1, it is characterised in that the gyroaxis upper and lower side is fixedly installed respectively
There are upper flange and lower flange, the revolving dial to be fixedly installed on the upper flange, the lower flange and the revolving dial
It is fixedly connected.
5. loading and unloading manipulator according to claim 1, it is characterised in that first and last end is respectively arranged with inside the transverse slat
Timing Belt drivewheel and driven pulley, both are connected by Timing Belt, and the crawl servomotor is passed with the Timing Belt drivewheel
Dynamic connection, the driven pulley are connected with the end gyroaxis.
6. loading and unloading manipulator according to claim 5, it is characterised in that the end gyroaxis is by bearing block and institute
State transverse slat connection.
7. the loading and unloading manipulator according to any one of claim 1-6, it is characterised in that be additionally provided with the connecting plate
Industrial camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620864441.0U CN206011091U (en) | 2016-08-11 | 2016-08-11 | A kind of loading and unloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620864441.0U CN206011091U (en) | 2016-08-11 | 2016-08-11 | A kind of loading and unloading manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206011091U true CN206011091U (en) | 2017-03-15 |
Family
ID=58247391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620864441.0U Expired - Fee Related CN206011091U (en) | 2016-08-11 | 2016-08-11 | A kind of loading and unloading manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206011091U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078730A (en) * | 2016-08-11 | 2016-11-09 | 汕头大学 | A kind of loading and unloading manipulator |
| CN107651619A (en) * | 2017-10-10 | 2018-02-02 | 浙江鼎力机械股份有限公司 | Template lifts Mobile workbench |
| CN109513843A (en) * | 2018-11-19 | 2019-03-26 | 珠海格力智能装备有限公司 | Grabbing mechanism |
| CN110695975A (en) * | 2019-09-20 | 2020-01-17 | 西安飞机工业（集团）有限责任公司 | Pneumatic power-assisted flexible assembly equipment for airplane cabin door |
| CN110803649A (en) * | 2019-11-13 | 2020-02-18 | 盐城瑞力达科技有限公司 | Conveying mechanism |
-
2016
- 2016-08-11 CN CN201620864441.0U patent/CN206011091U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078730A (en) * | 2016-08-11 | 2016-11-09 | 汕头大学 | A kind of loading and unloading manipulator |
| CN107651619A (en) * | 2017-10-10 | 2018-02-02 | 浙江鼎力机械股份有限公司 | Template lifts Mobile workbench |
| CN109513843A (en) * | 2018-11-19 | 2019-03-26 | 珠海格力智能装备有限公司 | Grabbing mechanism |
| CN110695975A (en) * | 2019-09-20 | 2020-01-17 | 西安飞机工业（集团）有限责任公司 | Pneumatic power-assisted flexible assembly equipment for airplane cabin door |
| CN110803649A (en) * | 2019-11-13 | 2020-02-18 | 盐城瑞力达科技有限公司 | Conveying mechanism |
| CN110803649B (en) * | 2019-11-13 | 2020-07-10 | 安徽华顺智能装备有限公司 | Conveying mechanism |
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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: 20170315 Termination date: 20200811 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |