CN206373905U - Manipulator mechanism - Google Patents

Abstract

The utility model discloses a kind of manipulator mechanism, including：Control system；Support；Pedestal on the support；And at least one section mechanical arm being connected is rotated with the pedestal, wherein, the mechanical arm is rotatedly connected successively, and the end of the mechanical arm farthest from the pedestal is connected with manipulator, and the mechanical arm and manipulator are electrically connected with the control system.According to the utility model, the success rate for drawing tiny parts can not only be improved, additionally it is possible to the operating efficiency that high-volume draws parts operation is improved, so as to further improve loading efficiency.

Description

Manipulator mechanism

Technical field

The utility model is related to automation equipment field, more particularly to a kind of manipulator mechanism.

Background technology

Statistics shows, in machining, assembling process, the process such as supply, feeding and carrying of workpiece and parts institute Cost more than account for full payment 1/3, more than the 2/3 of whole man-hours, and most of accident are accounted for when taking a lot of work All occur in these processes.Especially in the occasion largely produced in batch, when requiring that productivity ratio is very high and flexible working hours are very short When, feeding is a repetition and heavy operation, and in feeding operation, manipulator mechanism is particularly important, in the prior art, machine Tool mobile phone structure is when drawing tiny parts, and operating efficiency is low, and absorption success rate is not high, is especially drawing high-volume zero It is this particularly problematic during part, so, for the labor intensity for improving productivity ratio, mitigating operator, it is ensured that safety is raw Production, is necessary to develop a kind of manipulator mechanism in fact, to solve the above problems.

Utility model content

For the shortcomings of the prior art, the purpose of this utility model is to provide a kind of manipulator mechanism, its The success rate for drawing tiny parts can not only be improved, additionally it is possible to improve the operating efficiency that high-volume draws parts operation, So as to further improve loading efficiency.

In order to realize according to above-mentioned purpose of the present utility model and other advantages there is provided a kind of manipulator mechanism, including：

Control system；

Support；

Pedestal on the support；And

At least one section mechanical arm being connected is rotated with the pedestal,

Wherein, the mechanical arm is rotatedly connected successively, and the end of the mechanical arm farthest from the pedestal is connected with manipulator, The mechanical arm and manipulator are electrically connected with the control system.

Preferably, the manipulator includes：

Mounting bracket；

The installing plate being connected is rotated with the mounting bracket；And

At least one set of component suction nozzle below the installing plate is fixed in,

Wherein, picture shooting assembly is installed, the picture shooting assembly is with component suction nozzle on the mounting bracket on the mounting bracket It is oppositely arranged, the component suction nozzle and picture shooting assembly are electrically connected with the control system.

Preferably, the mounting bracket includes the vertical plate and level board being mutually connected vertically, the vertical plate and level The corner of plate is connected with the ribs of L-type.

Preferably, the end of the level board is detachable and is rotatably coupled the installing plate, the installing plate Left or right be connected with the inside of fixed plate straight down, the fixed plate and be connected with component suction nozzle.

Preferably, the component suction nozzle includes：

With the lift cylinder of the installing plate Joint；

The suction nozzle driven by the lift cylinder,

Wherein, the suction nozzle includes the internal mating mouth for being connected with the cylinder of gas circuit and connecting with the cylinder integral type.

Preferably, it is described mating mouth include end and skirt section, the skirt section on the periphery of the end integrally Extended downwardly with reference to the end and from the periphery of the end.

Compared with prior art, its advantage is the utility model：

1st, due to being provided with picture shooting assembly on the mounting bracket, the picture shooting assembly is with component suction nozzle on the mounting bracket It is oppositely arranged, so that the manipulator can synchronously treat the position of the parts of absorption during parts are drawn Put, state is taken pictures, uploading in control system helps to carry out absorption condition judgment to parts currently to be drawn, such as Fruit absorption condition is unsatisfactory for, then without drawing, if the condition of absorption is met, is drawn, so as to improve absorption success rate；

2nd, because the mating mouth includes end and skirt section, the skirt section is integrally combined on the periphery of the end The end and extended downwardly from the periphery of the end, so that the mating mouth is when drawing parts, with parts Contact surface contact will not closely cause to leak out, and success rate is drawn so as to further improve.

Brief description of the drawings

Fig. 1 is the three-dimensional structure view according to manipulator mechanism described in the utility model；

Fig. 2 is according to the three-dimensional structure that manipulator is combined with picture shooting assembly in manipulator mechanism described in the utility model View；

Fig. 3 is according to the three-dimensional structure view that mouth is coupled in manipulator mechanism described in the utility model, in order that mating The structure of mouth is easy to observe and understood, it is in inversion state that mouth is coupled in figure.

Embodiment

The utility model is described in further detail below in conjunction with the accompanying drawings, of the present utility model foregoing and other mesh , feature, aspect and advantage will be apparent, to make those skilled in the art can be real according to this with reference to specification word Apply.

Reference picture 1, manipulator mechanism 300 includes：

Support 310；

Pedestal 320 on support 310；And

At least one section mechanical arm being connected is rotated with pedestal 320,

Wherein, the mechanical arm is rotatedly connected and extends to the top of material fetching mechanism 200 successively, farthest from pedestal 320 The end of mechanical arm is connected with manipulator 350.In one embodiment, the mechanical arm is provided with two sections, is followed successively by the first machinery Arm 330, second mechanical arm 340, the end of second mechanical arm 340 are connected with manipulator 350.

Reference picture 2, manipulator 350 includes：

Mounting bracket；

The installing plate 354 being connected is rotated with the mounting bracket；And

At least one set of component suction nozzle 356 of the lower section of installing plate 354 is fixed in,

Wherein, picture shooting assembly 360 is installed, picture shooting assembly 360 is with component suction nozzle 356 on the peace on the mounting bracket Shelve and be oppositely arranged, component suction nozzle 356 and picture shooting assembly 360 are electrically connected with the control system.Preferred embodiment In, the mounting bracket includes the vertical plate 351 being mutually connected vertically and level board 352, and vertical plate 351 and level board 352 Corner is connected with the ribs 353 of L-type, and the end of level board 352 is detachable and is rotatably connected with installing plate 354, pacifies The left and right ends of dress plate 354 are respectively and fixedly connected with the inside of fixed plate 355 straight down, two pieces of fixed plates and have been respectively and fixedly connected with one group Component suction nozzle 356.In one embodiment, picture shooting assembly 360 includes camera 361 and the light filling positioned at the lower section of camera 361 Circle 362.

Reference picture 2 and Fig. 3, component suction nozzle 356 include：

With the lift cylinder of the Joint of fixed plate 355 on installing plate 354；

The suction nozzle 357 driven by the lift cylinder,

Wherein, suction nozzle 357 includes the internal mating mouth for being connected with the cylinder 357a of gas circuit and connecting with the cylinder integral type 357b, mating mouth 357b includes end and skirt section 357c, and skirt section 357c integrally combines the end on the periphery of the end Portion and extended downwardly from the periphery of the end.

Operation principle：When drawing spare and accessory parts, picture shooting assembly 360 is while component suction nozzle 356 is with translation to each cave Spare and accessory parts on position carry out shooting comparison, it is determined that whether the spare and accessory parts location status on each acupuncture point is normal, if normal suction nozzle Component 356 then starts to draw spare and accessory parts on the acupuncture point, and is transferred in predetermined carrier；If abnormal, component suction nozzle 356 are ignored current spare and accessory parts.

Number of devices and treatment scale described herein are for simplifying explanation of the present utility model.To the utility model Application, modifications and variations will be readily apparent to persons skilled in the art.

Although embodiment of the present utility model is disclosed as above, it is not limited in institute in specification and embodiment Row are used, and it can be applied to various suitable fields of the present utility model completely, can for those skilled in the art Other modification is easily realized, therefore under the universal limited without departing substantially from claim and equivalency range, this practicality It is new to be not limited to specific details and shown here as the legend with description.

Claims (6)

1. a kind of manipulator mechanism, it is characterised in that including：

Control system；

Support；

Pedestal on the support；And

At least one section mechanical arm being connected is rotated with the pedestal,

Wherein, the mechanical arm is rotatedly connected successively, and the end of the mechanical arm farthest from the pedestal is connected with manipulator, described Mechanical arm and manipulator are electrically connected with the control system.

2. manipulator mechanism as claimed in claim 1, it is characterised in that the manipulator includes：

Mounting bracket；

The installing plate being connected is rotated with the mounting bracket；And

At least one set of component suction nozzle below the installing plate is fixed in,

Wherein, picture shooting assembly is installed, the picture shooting assembly is relative on the mounting bracket with component suction nozzle on the mounting bracket Set, the component suction nozzle and picture shooting assembly are electrically connected with the control system.

3. manipulator mechanism as claimed in claim 2, it is characterised in that the mounting bracket is vertical including what is be mutually connected vertically Plate and level board, the corner of the vertical plate and level board are connected with the ribs of L-type.

4. manipulator mechanism as claimed in claim 3, it is characterised in that the end of the level board is detachably and rotationally Be connected to the installing plate, the left or right of the installing plate is connected with fixed plate straight down, the fixed plate it is interior Side is connected with component suction nozzle.

5. manipulator mechanism as claimed in claim 3, it is characterised in that the component suction nozzle includes：

With the lift cylinder of the installing plate Joint；

The suction nozzle driven by the lift cylinder,

Wherein, the suction nozzle includes the internal mating mouth for being connected with the cylinder of gas circuit and connecting with the cylinder integral type.

6. manipulator mechanism as claimed in claim 5, it is characterised in that the mating mouth includes end and skirt section, the skirt Portion integrally combines the end on the periphery of the end and extended downwardly from the periphery of the end.