CN206230532U - A kind of loading and unloading manipulator - Google Patents
A kind of loading and unloading manipulator Download PDFInfo
- Publication number
- CN206230532U CN206230532U CN201621104954.8U CN201621104954U CN206230532U CN 206230532 U CN206230532 U CN 206230532U CN 201621104954 U CN201621104954 U CN 201621104954U CN 206230532 U CN206230532 U CN 206230532U
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- CN
- China
- Prior art keywords
- cantilever
- sucker
- loading
- unloading manipulator
- electric cylinders
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 238000010521 absorption reaction Methods 0.000 claims abstract description 22
- 238000007664 blowing Methods 0.000 claims abstract description 13
- 238000003780 insertion Methods 0.000 claims abstract description 9
- 230000037431 insertion Effects 0.000 claims abstract description 9
- 230000007723 transport mechanism Effects 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims 1
- 238000001179 sorption measurement Methods 0.000 abstract description 7
- 238000009423 ventilation Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model is related to manipulator technical field, more particularly to a kind of loading and unloading manipulator, including frame, horizontal transport mechanism, vertical connecting gear, horizontal transport mechanism includes the first cantilever, for the horizontal drive apparatus for driving the first cantilever to be moved along rack level, connecting gear includes the second cantilever vertically for institute, for the vertical drive device for driving the second cantilever to be moved up and down along the first cantilever, the bottom of the second cantilever is connected with sucker, sucker includes being arranged at the air blowing end on sucker top, it is arranged at the absorption end and insertion air blowing end of sucker bottom and the insufflation channel at absorption end, absorption end offers the extraneous outlet duct with insufflation channel of connection.Loading and unloading manipulator of the present utility model is provided with sucker, and sucker utilizes cross-ventilation principle adsorption production, only need to connect blowning installation, vacuum generator need not be used, sucker structure is simple, low cost, adsorption area is big, and is difficult that adsorbed product is caused to damage, easy to use.
Description
Technical field
The utility model is related to manipulator technical field, more particularly to a kind of loading and unloading manipulator.
Background technology
Manipulator is a kind of some holding functions that can imitate staff and arm, is used to by fixed routine crawl, carries thing
The automatic pilot of part or operation instrument.With the development and the progress of industry of society, manipulator is increasingly obtained widely
Using.Grabbed using gripper more than existing manipulator, magnet adsorption, vacuum cup absorption etc. means material is lifted or put down,
Improve the automaticity of factory；But there are many weak points in conventional manipulator, such as manipulator is grabbed using gripper
Easily material is caused damage, magnet adsorption can only be adsorbed and can limited and used scope by the object of magnet adsorption；Vacuum cup is inhaled
Attached to support the use vacuum equipment, complex structure increased cost.
The content of the invention
Technical problem to be solved in the utility model is to provide a kind of easy to use, simple structure, is hardly damaged workpiece
Loading and unloading manipulator.
To achieve the above object, the technical solution adopted in the utility model is as follows.
A kind of loading and unloading manipulator, including frame and the horizontal transport mechanism and horizontal transport mechanism of frame connection are connected
Vertical connecting gear, the horizontal transport mechanism includes the first cantilever, for driving the first cantilever to move along rack level
Horizontal drive apparatus, the vertical connecting gear includes the second cantilever, is moved up and down along the first cantilever for the second cantilever of driving
Vertical drive device, the bottom of second cantilever is connected with sucker, and the sucker includes being arranged at the air blowing on sucker top
The absorption end and insertion air blowing end of sucker bottom and the insufflation channel at absorption end are held, are arranged at, it is outer that absorption end offers connection
Boundary and the outlet duct of insufflation channel.
Wherein, the air blowing end is connected with the second cantilever, and insufflation channel is connected with blowning installation.
Wherein, the absorption end include be arranged at absorption end in the middle part of internal ring portion, be arranged at absorption end margin outer portion
And the annular groove between internal ring portion and outer portion is arranged at, the outlet duct is opened in outer portion and is radially passed through along outer portion
Logical outer portion, outlet duct connects with insufflation channel.
Wherein, the outlet duct is vertical with insufflation channel.
Wherein, the internal ring portion is raised in the height of annular groove and the height of annular groove is raised in less than or equal to outer portion.
Wherein, the quantity in the outlet duct is two or more.
Wherein, the internal ring portion offers the passage along internal ring portion radial direction insertion internal ring portion, the two ends of passage with blow
Gas channel connection.
Wherein, the frame includes horizontally disposed crossbeam, and horizontal drive apparatus are the first electric cylinders, and first electric cylinders set
Crossbeam is placed in, the leading screw of first electric cylinders is fixedly connected with the first cantilever, and the first cantilever is slidably connected with crossbeam, the first cantilever
Can be along crossbeam horizontal movement.
Wherein, first electric cylinders are arranged at the inside of crossbeam, and the first cantilever is provided with sliding part, and the top of crossbeam is set
Guide rail, sliding part is connected with slide.
Wherein, the vertical drive device is the second electric cylinders, and second electric cylinders are arranged at the first cantilever, second electricity
The leading screw of cylinder is fixedly connected with the second cantilever, and the second cantilever is slidably connected with crossbeam, and the second cantilever can up and down be transported along the first cantilever
It is dynamic.
Wherein, the bottom of first cantilever is provided with sucker disk seat, and sucker is fixedly connected with sucker disk seat.
The beneficial effects of the utility model are：Loading and unloading manipulator of the present utility model is provided with sucker, and sucker is utilized
Cross-ventilation principle adsorption production, need to only connect blowning installation, and blowning installation provides a high velocity air and entered by insufflation channel
Enter sucker suction end, the gas flow rate in region is higher than outside air flow velocity between sucker suction end and workpiece, fixed according to Bernoulli
Rule, the air pressure of sucker annular groove compared with sucker outside air pressure it is low, the air below workpiece is produced pressure with workpiece overhead gas
Difference, and then workpiece is firmly adsorbed in sucker, the utility model need not use vacuum generator, and sucker structure is simple, drop
Low cost, adsorption area is big, and is difficult that adsorbed product is caused to damage；First cantilever and the second cantilever make the sucker can be along water
Gentle vertical direction movement, its simple structure, flexibility is high, and low cost is easy to use.
Brief description of the drawings
Utility model is described further using accompanying drawing, but embodiment in accompanying drawing is not constituted to of the present utility model
What is limited, for one of ordinary skill in the art, on the premise of not paying creative work, can also be according to the following drawings
Obtain other accompanying drawings.
Fig. 1 is the structural representation of the utility model loading and unloading manipulator.
Fig. 2 is another visual angle figure of the utility model loading and unloading manipulator.
Fig. 3 is the structural representation of the utility model sucker.
Fig. 4 is the upward view of the utility model sucker.
Fig. 5 is the cut-away view of the utility model sucker.
Reference includes：
The cantilever of 1- frame 11- crossbeam 111- guide rails 2- the first cantilever 21- sliding parts 31 second
311- sucker disk seats 32- the second electric cylinders 321- leading screw 4- sucker 41- insufflation channels
42- outer portion 421- outlets duct 43- internal ring portion 431- passage 44- annular grooves
45- mounting holes.
Specific embodiment
The utility model is further described below in conjunction with the accompanying drawings, sees accompanying drawing 1-5.
As Figure 1-5, a kind of loading and unloading manipulator, including frame 1 and the horizontal transport mechanism and water of the connection of frame 1
The vertical connecting gear of flat connecting gear connection, the horizontal transport mechanism is including the first cantilever 2, for driving the first cantilever 2
Along the horizontal drive apparatus that frame 1 is moved horizontally, the vertical connecting gear is including the second cantilever 31, for driving the second cantilever
The 31 vertical drive devices moved up and down along the first cantilever 2, the bottom of second cantilever 31 is connected with sucker 4, the sucker 4
Including be arranged at the top of sucker 4 air blowing end, be arranged at the bottom of sucker 4 absorption end and insertion air blowing end blown with absorption end
Gas passage 41, absorption end offers the extraneous outlet duct 421 with insufflation channel 41 of connection.
In the present embodiment, the air blowing end is connected with the second cantilever 31, and insufflation channel 41 is connected with blowning installation.Air blowing end
The second cantilever 31 is fixed on, sucker 4 is moved up and down under the drive of the second cantilever 31, and then the water under the drive of the first cantilever 2
Translation is dynamic, and easy to use, insufflation channel 41 need to connect blowning installation, without the use of vacuum generator, can make workpiece jail
Admittedly being adsorbed in sucker 4, and it is hardly damaged workpiece.
As in Figure 3-5, the absorption end include be arranged at absorption end in the middle part of internal ring portion 43, be arranged at absorption end margin
Outer portion 42 and the annular groove 44 that is arranged between internal ring portion 43 and outer portion 42, the outlet duct 421 is opened in outer
Ring portion 42 and along the radial direction insertion outer portion 42 of outer portion 42, outlet duct 421 connects with insufflation channel 41, in the present embodiment, institute
The Single port for stating insufflation channel 41 is opened in internal ring portion 43.Further, the outlet duct 421 is vertical with insufflation channel 41.
Due to the setting of said structure so that insufflation channel 41, internal ring portion 43, outer portion 42 form high velocity air passage with extraneous, enter
And sucker 4 is adsorbed the gas flow rate in region between end and workpiece higher than outside air flow velocity, according to Bernoulli's theorem, make workpiece
Above and below form pressure difference, and then workpiece is firmly adsorbed in sucker 4.
In the present embodiment, the height that the internal ring portion 43 is raised in annular groove 44 is raised in annular groove 44 equal to outer portion 42
Height.Further, the internal ring portion 43 offers the passage 431 along the radial direction insertion internal ring portion 43 of internal ring portion 43, ventilation
The two ends in hole 431 connect with annular groove 44 and insufflation channel 41 respectively.So that the air-flow being blown into from getter device, in insufflation channel
41st, annular groove 44 forms gas channel with extraneous, and the air-flow velocity is significantly larger than outside air flow velocity.Simple structure.Ability
Also can be less than for the height that internal ring portion 43 is raised in annular groove 44 and be raised in annular in outer portion 42 by field technique personnel as needed
The height of groove 44, makes insufflation channel 41, annular groove 44 form gas channel with extraneous, and simple structure is easily manufactured.
In the present embodiment, the quantity in the outlet duct 421 is two or more, multiple circular arrays of outlet duct 421
Set.Due to the setting of said structure, be more uniformly distributed workpiece overhead gas flow velocity, workpiece can uniform stressed, can be more steady
Absorption and separation, effect stability.
As shown in Figure 1-2, the frame 1 includes horizontally disposed crossbeam 11, and horizontal drive apparatus are the first electric cylinders, described
First electric cylinders are arranged at crossbeam 11, and the leading screw 321 of first electric cylinders is fixedly connected with the first cantilever 2, the first cantilever 2 and crossbeam
11 are slidably connected, and the first cantilever 2 can be along the horizontal movement of crossbeam 11.Simple structure, makes the first cantilever 2 to drive the water of the second cantilever 31
Flat motion, flexibility is strong, high degree of automation.Further, first electric cylinders are arranged at the inside of crossbeam 11, the first cantilever
2 are provided with sliding part 21, and the top of crossbeam 11 sets guide rail 111, and sliding part 21 is slidably connected with guide rail 111, and compact conformation is accounted for
It is smaller with space.
As shown in Figure 1-2, the vertical drive device is the second electric cylinders 32, and second electric cylinders 32 are arranged at the first cantilever
2, the leading screw 321 of second electric cylinders 32 is fixedly connected with the second cantilever 31, and the second cantilever 31 is slidably connected with crossbeam 11, and second
Cantilever 31 can move up and down along the first cantilever 2.Simple structure, makes the second cantilever 31 to drive the horizontal movement of sucker 4, flexibility
By force, high degree of automation.
In the present embodiment, the bottom of first cantilever 2 is provided with sucker disk seat 311, and sucker 4 is fixed with sucker disk seat 311 and connected
Connect.Sucker 4 offers mounting hole 45 with sucker disk seat 311, can use cooperatively mounting hole 45 and bolt, makes sucker 4 and sucker
Seat 311 is connected firmly, and also can connect the two using other modes.
As shown in figure 5, when sucker of the present utility model 4 is used, blowning installation provides the air blowing of a high velocity air to sucker 4
Passage 41, the high velocity air is delivered to outlet duct 421 and outwards blows out via insufflation channel 41.When the high velocity air is in outlet
When duct 421 blows out, the flowing of high velocity air causes the gas flow rate of the workpiece top inner region of sucker 4 more than the stream below workpiece
Speed, according to Bernoulli law, the air pressure of the annular groove 44 of sucker 4 is low compared with the air pressure outside sucker 4, therefore air below workpiece with
Workpiece overhead gas produce pressure difference, and then workpiece is firmly adsorbed in sucker 4.Stopping is passed through high-speed gas, treats on workpiece
After lower gas flow rate is equal, can be by workpiece and the safe separating of sucker 4.
Finally it should be noted that above example is only used to illustrate the technical solution of the utility model, rather than to this reality
With the limitation of novel protected scope, although being explained to the utility model with reference to preferred embodiment, this area it is general
It is logical it will be appreciated by the skilled person that can be modified to the technical solution of the utility model or equivalent, without deviating from this
The spirit and scope of utility model technical scheme.
Claims (10)
1. a kind of loading and unloading manipulator, it is characterised in that：The horizontal transport mechanism and level connected including frame and frame are passed
The vertical connecting gear for sending mechanism to connect, the horizontal transport mechanism is including the first cantilever, for driving the first cantilever along frame
The horizontal drive apparatus for moving horizontally, the vertical connecting gear includes the second cantilever, is hanged along first for the second cantilever of driving
The vertical drive device that arm is moved up and down, the bottom of second cantilever is connected with sucker, and the sucker includes being arranged at sucker
The air blowing end on top, the absorption end and insertion air blowing end for being arranged at sucker bottom and the insufflation channel at absorption end, adsorb end and open
It is communicated with the extraneous outlet duct with insufflation channel.
2. a kind of loading and unloading manipulator according to claim 1, it is characterised in that：The air blowing end connects with the second cantilever
Connect, insufflation channel is connected with blowning installation.
3. a kind of loading and unloading manipulator according to claim 1, it is characterised in that：The absorption end includes being arranged at absorption
Internal ring portion in the middle part of end, the outer portion for being arranged at absorption end margin and the annular groove being arranged between internal ring portion and outer portion,
The outlet duct is opened in outer portion and along outer portion radial direction insertion outer portion, and outlet duct connects with insufflation channel.
4. a kind of loading and unloading manipulator according to claim 3, it is characterised in that：Hung down with insufflation channel in the outlet duct
Directly.
5. a kind of loading and unloading manipulator according to claim 3, it is characterised in that：The internal ring portion is raised in annular groove
Height is raised in the height of annular groove less than or equal to outer portion.
6. a kind of loading and unloading manipulator according to claim 3, it is characterised in that：The quantity in the outlet duct is two
More than.
7. a kind of loading and unloading manipulator according to claim 3, it is characterised in that：The internal ring portion is offered along internal ring portion
The passage of radial direction insertion internal ring portion, the two ends of passage connect with annular groove and insufflation channel respectively.
8. a kind of loading and unloading manipulator according to claim 1, it is characterised in that：The frame includes horizontally disposed horizontal stroke
Beam, horizontal drive apparatus are the first electric cylinders, and first electric cylinders are arranged at crossbeam, the leading screw and the first cantilever of first electric cylinders
It is fixedly connected, the first cantilever is slidably connected with crossbeam, the first cantilever can be along crossbeam horizontal movement.
9. a kind of loading and unloading manipulator according to claim 8, it is characterised in that：First electric cylinders are arranged at crossbeam
Inside, the first cantilever is provided with sliding part, and the top of crossbeam sets guide rail, and sliding part is connected with slide.
10. a kind of loading and unloading manipulator according to claim 8, it is characterised in that：The vertical drive device is second
Electric cylinders, second electric cylinders are arranged at the first cantilever, and the leading screw of second electric cylinders is fixedly connected with the second cantilever, the second cantilever
It is slidably connected with crossbeam, the second cantilever can move up and down along the first cantilever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621104954.8U CN206230532U (en) | 2016-10-09 | 2016-10-09 | A kind of loading and unloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621104954.8U CN206230532U (en) | 2016-10-09 | 2016-10-09 | A kind of loading and unloading manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206230532U true CN206230532U (en) | 2017-06-09 |
Family
ID=58983282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621104954.8U Expired - Fee Related CN206230532U (en) | 2016-10-09 | 2016-10-09 | A kind of loading and unloading manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206230532U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107934527A (en) * | 2017-12-20 | 2018-04-20 | 无锡特恒科技有限公司 | A kind of transverse transport device |
| CN108608416A (en) * | 2018-03-26 | 2018-10-02 | 三友联众集团股份有限公司 | A kind of dynamic spring material moving machine tool hand |
| CN108746468A (en) * | 2018-05-30 | 2018-11-06 | 李勤华 | A kind of loud speaker T iron cold-heading feeding device modified form material retractable device |
| CN108750740A (en) * | 2018-06-01 | 2018-11-06 | 佛山市中机超机器人科技有限公司 | A kind of multiaxis loading and unloading manipulator for exempting from stock shelf |
| CN109436647A (en) * | 2018-12-17 | 2019-03-08 | 上海神机软件有限公司 | Aluminum alloy pattern plate is put in storage encoding device and method automatically |
-
2016
- 2016-10-09 CN CN201621104954.8U patent/CN206230532U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107934527A (en) * | 2017-12-20 | 2018-04-20 | 无锡特恒科技有限公司 | A kind of transverse transport device |
| CN108608416A (en) * | 2018-03-26 | 2018-10-02 | 三友联众集团股份有限公司 | A kind of dynamic spring material moving machine tool hand |
| CN108746468A (en) * | 2018-05-30 | 2018-11-06 | 李勤华 | A kind of loud speaker T iron cold-heading feeding device modified form material retractable device |
| CN108750740A (en) * | 2018-06-01 | 2018-11-06 | 佛山市中机超机器人科技有限公司 | A kind of multiaxis loading and unloading manipulator for exempting from stock shelf |
| CN109436647A (en) * | 2018-12-17 | 2019-03-08 | 上海神机软件有限公司 | Aluminum alloy pattern plate is put in storage encoding device and method automatically |
| CN109436647B (en) * | 2018-12-17 | 2023-08-04 | 上海神机软件有限公司 | Automatic warehousing coding equipment and method for aluminum templates |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170609 |