CN206011091U - A kind of loading and unloading manipulator - Google Patents

Abstract

The embodiment of the utility model discloses a loading and unloading manipulator, which includes a lifting mechanism, a slewing mechanism, a telescopic mechanism arranged on the vertical direction of the frame, and a grabbing mechanism arranged at the end of the telescopic mechanism, the purpose of which is to provide a The manipulator is easy to operate, has a wide application range, is easy to control, and can accurately control any position. The utility model has the following advantages. Requirements for different workpiece sizes; adjust the installation direction of the suction cup to grab the workpiece in the opposite direction to meet the requirements of different working conditions. Second, the manipulator is also equipped with an industrial camera. You can choose whether to use the industrial camera according to the actual situation. When using the industrial camera, you can intelligently identify and classify the workpiece. At the same time, it is self-adaptive during the movement of the manipulator. The flexibility of the manipulator.

Description

A loading and unloading robot

technical field

The utility model relates to a manipulator, in particular to a loading and unloading manipulator which is suitable for grabbing light workpieces and has certain intelligence.

Background technique

At present, the manipulators for loading and unloading are widely used in industrial applications, and are used in many industries such as machinery, aviation, and automobiles. Its main function is to grab and transport workpieces. For example, in the stamping process of stainless steel sheets, most of them are manually operated to put in and take out the workpiece. The manipulator can perfectly replace the manual operation, which not only improves production efficiency, but also is safer and more reliable.

The design principles of loading and unloading manipulators on the market are different, and the structures are also very different. There are many defects in the actual process. Due to different working conditions, the working conditions that the manipulator can adapt to are relatively single; After falling off, the end grips the workpiece, and the posture is difficult to adjust. The control performance of the rotating mechanism is poor, and the rotation is inconvenient, which cannot meet the demand.

Contents of the invention

The technical problem to be solved by the embodiment of the utility model is to provide a loading and unloading manipulator. A loading and unloading manipulator that can achieve ideal flexibility through a reasonable structure.

In order to solve the above-mentioned technical problems, the embodiment of the utility model provides a loading and unloading manipulator, including a lifting mechanism arranged in the vertical direction of the frame, a turning mechanism, a telescopic mechanism, and a grabbing mechanism arranged at the end of the telescopic mechanism;

The lifting mechanism includes a guide rail arranged on the frame, a screw rod, a lifting servo motor driving the screw rod, a connecting piece that slides on the guide rail and is threadedly connected with the screw rod;

The rotary mechanism includes a rotary servo motor fixed on the connecting piece, a rotary shaft fixed on the output end of the rotary servo motor, and a rotary platform is provided at the top of the rotary shaft;

The telescopic mechanism includes a telescopic servo motor and a sliding sleeve arranged on the rotary platform, and the sliding sleeve is installed on a screw rod driven by the telescopic servo motor;

The grasping mechanism includes a horizontal plate fixedly installed on the sliding sleeve, a grasping servo motor mounted on the horizontal plate, and a terminal rotary shaft driven by the grasping servo motor. A connecting plate is fixedly arranged, and a suction cup is arranged on the connecting plate.

Further, the lifting mechanism further includes a steel plate, and the guide rail is arranged on the steel plate.

Furthermore, the upper and lower ends of the threaded rod are respectively arranged on the steel plate through bearing seats.

Further, the upper and lower ends of the rotary shaft are respectively fixedly provided with an upper flange and a lower flange, the rotary platform is fixedly arranged on the upper flange, and the lower flange is fixedly connected with the rotary platform.

Furthermore, a synchronous belt driving wheel and a driven wheel are respectively provided at the inner head and end of the horizontal plate, and the two are connected through a synchronous belt. The end rotary shaft is connected by transmission.

Furthermore, the end rotary shaft is connected to the horizontal plate through a bearing seat.

Furthermore, an industrial camera is also arranged on the connecting board.

Implementing the embodiment of the utility model has the following beneficial effects: first, the grasping mechanism of the manipulator can adjust the number of suction cups according to different working conditions, and can adapt to the different requirements of the workpiece size; the installation direction of the suction cups can be adjusted to relative Grab the workpiece in different directions to meet the requirements of different working conditions. Second, the manipulator is also equipped with an industrial camera. You can choose whether to use the industrial camera according to the actual situation. When using the industrial camera, you can intelligently identify and classify the workpiece. At the same time, it is adaptive during the movement of the manipulator, which improves the The flexibility of the manipulator.

Description of drawings

Fig. 1 is the schematic diagram of the different positions of the 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 a side view of the whole machine of loading and unloading manipulator;

Fig. 4 is the front view of lifting mechanism;

Fig. 5 is a side view of the lifting mechanism;

Fig. 6 is the front view of rotary mechanism;

Fig. 7 is a side view of the rotary mechanism;

Figure 8 is a front view of the telescoping mechanism;

Fig. 9 is a schematic structural view of the grasping mechanism;

Fig. 10 is a structural schematic diagram of the end turning mechanism.

detailed description

In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings.

As shown in Figure 1, a loading and unloading manipulator includes a profile frame A, on which a lifting mechanism B, a slewing mechanism C, a telescopic mechanism D, and an end grabbing mechanism E are arranged, and the profile frame A is placed near the equipment. The height of the manipulator is adjusted by the lifting mechanism B and the rotation of the manipulator is adjusted in a large range by the slewing mechanism C. The end grabbing mechanism E adjusts the posture in a small range to grasp the workpiece, and the telescopic mechanism D stretches forward and shrinks backward in the same plane, as shown in the figure 1 is the two states of the manipulator.

As shown in Figures 2 to 6, the lifting mechanism B includes a steel plate 24 connected to the frame 1, a guide rail 22 fixed to the steel plate 24, and a pair of bearing housings 25 connected to the screw rod 23 for installing the rotary platform The connector 3 of 27, the coupling 32 and the servo motor 2 for lifting, the connector 3 drives the screw to move up and down through the servo motor 2, and the guide rail 22 plays the role of assisting the smooth sliding of the connector 3 up and down, improving its stability , so as to realize the lifting of the rotary platform 27.

As shown in Fig. 2 to Fig. 3, Fig. 6 and Fig. 7, the rotary mechanism C includes a rotary platform 27, a rotary shaft 4, a connecting plate 33, an upper flange 6, a lower flange 34, a copper sleeve pressing plate 20, and an angle code 21, The copper sleeve 28 and the servo motor 26 used for rotary motion, the rotary shaft 4 is connected with the upper flange 6 and the lower flange 34 through paired nuts, the lower flange is connected to the rotary platform 24, and the lower side of the rotary platform 24 is equipped with a servo The upper flange 6 of the motor 2 is used to connect the telescopic mechanism D on the upper side, the copper sleeve 28, the copper sleeve pressing plate 20, and the angle code 21 are used for auxiliary fixing and guiding, so as to ensure the rotation accuracy of the rotary shaft 4.

As shown in Fig. 2 to Fig. 4, Fig. 8, telescopic mechanism D comprises the servomotor 5 that is used for stretching, sliding sleeve 35 and module 7, and servomotor 5 passes through the running of screw mandrel inside module 7, and sliding sleeve 35 is installed On the screw rod, so as to realize the expansion and contraction of the end manipulator.

As shown in Figures 2 to 4, Figures 8 and 9, the terminal manipulator includes connectors 36, 37, a horizontal plate 9, a servo motor 8, a synchronous belt driving wheel 18, a driven wheel 32, a synchronous belt 38, an upper bearing seat 14, Connecting angle aluminum 15, lower bearing seat 19, end rotary shaft 10 and axle holder 13 form. The horizontal plate 9 is connected with the sliding sleeve of the telescopic mechanism D through the connectors 36, 37. The horizontal plate is provided with a mounting hole for installing the servo motor 8. The servo motor 8 directly cooperates with the synchronous belt driving wheel 18, and the synchronous belt driving wheel 18 passes through The synchronous belt 38 is connected with the driven wheel 32, and the driven wheel 32 is installed on the end rotating shaft 10. The end rotating shaft is connected with the horizontal plate 9 through the upper bearing seat 14. In order to ensure that the end rotating shaft 10 is not eccentric when rotating, a lower bearing seat 19 is provided. , which is connected to the horizontal plate 9 through the connecting angle aluminum 15, on the one hand to ensure that there is no eccentricity, on the other hand, it plays an auxiliary positioning and plays a certain supporting role. connected.

As shown in FIG. 10 , the grabbing mechanism of the terminal manipulator also includes a connecting plate 39 connected to the fixing seat 13 , a suction cup 11 , an industrial camera mounting plate 31 and an industrial camera 12 . At most 6 suction cups can be adorned on the connecting plate, and different numbers of suction cups can be installed according to different working conditions. The industrial camera mounting plate 31 is connected with the connecting plate 39 according to the mounting holes, and the industrial camera 12 is mounted on the mounting plate 31. The real-time information of the workpiece is obtained according to the industrial camera, so as to control the running track of the manipulator, so as to grasp and place the workpiece in a timely and effective manner, and improve the flexibility of the manipulator.

What is disclosed above is only a preferred embodiment of the utility model, and of course it cannot limit the scope of rights of the utility model. Therefore, the equivalent changes made according to the claims of the utility model are still covered by the utility model. 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.