CN206643924U - Manipulator - Google Patents
Manipulator Download PDFInfo
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- CN206643924U CN206643924U CN201720333500.6U CN201720333500U CN206643924U CN 206643924 U CN206643924 U CN 206643924U CN 201720333500 U CN201720333500 U CN 201720333500U CN 206643924 U CN206643924 U CN 206643924U
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- buffer unit
- adsorbent equipment
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Abstract
The utility model discloses a kind of manipulator, and it includes：Support；Article carrier, the article carrier include fixed part and the movable part of reciprocal linear movement are carried out relative to the fixed part, and the fixed part is installed on support；It is installed on movable part and the adsorbent equipment of reciprocal linear movement is carried out with movable part, the adsorbent equipment can adsorbs the article positioned at article opening position to be taken；The remote article that manipulator also includes to contact against and buffering with movable part movable part treats the first buffer unit of the translational speed that fetch bit is put, and first buffer unit is installed on support.According to the utility model, when the adsorbent equipment of manipulator is moving in the case of keeping article, buffer unit can buffer adsorbent equipment from inertia force when being dynamically changed into static state, and thus avoid article may undesirably fall off the situation of adsorbent equipment, ensure that being smoothed out for follow-up process.
Description
Technical field
The utility model belongs to automated machine equipment technical field, more particularly to microscale workpieces of such as mobile phone and other items
Automation supply manipulator.
Background technology
At this stage, in the work of the microscale workpieces of assembling such as mobile phone and other items, manually carry out assembling and account for mainly
Part.But, on the one hand, it is less efficient when manually adding the microscale workpieces such as copper nut and iron plate toward phone mould,
Low precision, while mold temperature is higher, easily scalds the both hands of worker, causes industrial accident, and the probability of defective products occur
It is higher；On the other hand, for the especially small workpiece of some in mobile phone, because size is very very thin, it is difficult to pass through people
Work is assembled manually.Therefore, in the production industry of mobile phone etc., the operation of many crawl articles utilizes machinery
Hand, which realizes, automatically or semi-automatically to be changed, and repeats by machinery repeatability automatically or semi-automatically and accurately shear action,
The labor intensity of production operation personnel is reduced, and improves production efficiency and product quality.
At present, completed more by sucker or vacuum cup in automatic field, manipulator crawl article, wherein,
Sucker need not connect vacuum source, and it is pressurized after article surface is abutted so that the air in sucker be discharged and
Negative pressure is formed, so as to adsorbent article；Vacuum cup needs to connect vacuum source, and its lower surface offers some suction holes, works as suction
After disk fitting article, suction hole is made to form negative pressure by vacuumizing, so that by article-absorbing in the lower surface of sucker.In sucker or
After vacuum cup adsorbent article, manipulator can be moved, and article is placed into the position specified.
For example, a kind of manipulator for employing above-mentioned sucker is disclosed in Chinese invention patent application CN103213123A,
As shown in figure 1, manipulator includes cylinder 100, the connector 200 on cylinder 100 and on connector 200
Sucker 300.Cylinder 100 includes cylinder body 110 and the piston rod 120 on cylinder body 110.Connector 200 is arranged on piston
On bar 120.In use, the piston rod 120 of cylinder 100 is controlled to be moved with follower link 200 first so that installed in even
Sucker 300 on fitting 200 is just close to article 400, and then sucker 300 tightly holds article 400.Finally, piston rod 120
Further along backtracking, it is achieved thereby that the purpose of crawl article 400 automatically.
But in industrial practice, especially manipulator is above-mentioned to use sucker suction in the operation for delivering small article
There are the following problems for the mode of article：Because the size of small article is limited, or the absorption surface of article is smaller, so mechanical
The size of the sucker of hand must correspondingly reduce, and this causes the absorption affinity of sucker to reduce.When sucker suction article and
Keep in the case of article when moving, stop mobile moment reaching specified location, due to article inertia force and
Vibration when manipulator stops, article may be caused to depart from sucker and undesirably drop, as a result greatly affected rear afterflow
Journey is smoothed out.
Therefore, it is necessary to research and develop a kind of manipulator, above-mentioned technical problem present in prior art can be avoided.
Utility model content
In view of drawbacks described above of the prior art, the purpose of this utility model is to provide a kind of manipulator, the machinery
Hand efficiently avoid article from situation about dropping is undesirably fallen off when being dynamically changed into static state, so as to ensure that the suitable of follow-up process
Profit is carried out.
As here embodied and it is broadly described, in order to realize these and other advantage and according to mesh of the present utility model
, it is proposed that a kind of manipulator, including：
Support；
Article carrier, including fixed part and the movable part that reciprocal linear movement is carried out relative to the fixed part, institute
Fixed part is stated to be installed on the support；
It is installed on the movable part and the adsorbent equipment of reciprocal linear movement, the adsorbent equipment is carried out with the movable part
The article positioned at article opening position to be taken can be adsorbed；
Characterized in that, the manipulator also includes to contact against with the movable part and buffering the movable part
The first buffer unit of the translational speed that fetch bit is put is treated away from the article, first buffer unit is installed on the support
On.
Preferably, the support includes the first pedestal, and first buffer unit is positioned on first pedestal.
Preferably, first buffer unit is positioned on first pedestal threadably, so as to
Adjust distance of first buffer unit relative to the movable part.
Preferably, first buffer unit is provided with fixing nut, and the fixing nut makes first buffer unit
It is secured in position on the pedestal.
Preferably, first buffer unit is the minibuffer of fluid pressure type, pneumatic type or spring mechanical formula.
Preferably, the manipulator is provided with multiple article carriers, each article carrier include one or
Multiple adsorbent equipments.
Preferably, the article carrier also includes connector, and the adsorbent equipment is indirect via the connector
It is connected on the movable part.
Preferably, the adsorbent equipment has the adsorption orifice for the absorption affinity for applying 0.01~0.03 newton to article, described
A diameter of 1~5 millimeter of adsorption orifice.
Preferably, the manipulator also includes to contact against with the movable part and buffering the close of the movable part
Second buffer unit of the translational speed of product loading location, second buffer unit are installed on the support.
Preferably, the support includes the second pedestal, and second buffer unit is positioned on second pedestal.
The beneficial effects of the utility model are, based on technical concept of the present utility model, when the adsorbent equipment of manipulator
When being moved in the case of keeping article, buffer unit can buffer adsorbent equipment from inertia when being dynamically changed into static state
Power, thus article has been buffered from inertia force when being dynamically changed into static state, while vibration when manipulator stops is avoided, thus prevent
The situation of adsorbent equipment may be undesirably fallen off by having stopped article, it is ensured that follow-up process is smoothed out.
From the detailed description of the present utility model below in conjunction with accompanying drawing, of the present utility model foregoing and other purposes,
Feature, aspect and advantage will become more apparent.
Brief description of the drawings
Accompanying drawing is contained in be further understood from providing to of the present utility model herein, and is merged in this specification
In, the part of this specification is formed, accompanying drawing shows embodiment of the present utility model, and is used to say together with following description
Bright theory of the present utility model.
In the accompanying drawings：
Fig. 1 is the schematic diagram of the manipulator of prior art；
Fig. 2 is the partial exploded perspective view according to manipulator of the present utility model；
Fig. 3 is the assembling stereogram according to manipulator of the present utility model.
Reference numerals list
10 supports
20 first buffer units
21 fixing nuts
30 first pedestals
40 second pedestals
50 adsorbent equipments
61 movable parts
62 fixed parts
70 connectors
80 second buffer units
100 cylinders
110 cylinder bodies
120 pistons
200 connectors
300 suckers
400 articles
Embodiment
The utility model is described in detail below with reference to accompanying drawings.
Fig. 2 is the partial exploded perspective view according to manipulator of the present utility model.Fig. 3 is according to machinery of the present utility model
The assembling stereogram of hand.
As shown in Figures 2 and 3, include support 10, article carrier and absorption according to manipulator of the present utility model to fill
Put 50.Wherein, support 10 constitutes the agent structure of manipulator, and it can carry all parts of manipulator.Article carrier fills
The movable part 61 that reciprocal linear movement is carried out including fixed part 62 and relative to fixed part is put, the fixed part 62 is installed on described
On support 10.Adsorbent equipment 50 is installed on movable part 61, and carries out reciprocal linear movement, the adsorbent equipment 50 with movable part 61
The article positioned at article opening position to be taken can be adsorbed.So-called " article treats that fetch bit is put " refer to article be placed on such as operating desk or
Position on production line, manipulator pick up article from the opening position.
First buffer unit 20 is also included according to manipulator of the present utility model, first buffer unit can be with movable part
61 contact against, and the remote article for buffering movable part 61 treats the translational speed that fetch bit is put.First buffer unit 20 is installed on branch
On frame 10.
When in use, the manipulator of the application can be connected with a mechanical arm or other devices, first by mechanical arm or its
Manipulator is moved to " loaded " position by his device, then make movable part 61 towards treat article that fetch bit puts positioned at article and to moving down
Dynamic, here, movable part 61 is actually also directed towards article and treats that movement is put in fetch bit, makes the 50 same court of adsorbent equipment being mounted thereon
Treat that fetch bit is put and is moved down to article, so as to close to article to be taken.When adsorbent equipment 50 abuts to article to be taken and is inhaled
After attached, by the driving effect of fixed part 62, movable part 61 is driven and treats direction that fetch bit puts along away from article
And move up so that the article that adsorbent equipment 50 adsorbs likewise as movable part 61 away from article treat fetch bit put and to moving up
It is dynamic.In the moving process that fetch bit is put is treated away from article, movable part 61 makes the remote of movable part 61 against the first buffer unit 20
Article treats that the translational speed that fetch bit is put gradually is reduced by buffering, until it is static to be relatively fixed portion 62.So, it is new according to this practicality
The manipulator of type, due to the cushioning effect of the first buffer unit 20, can be avoided because of the speed of movable part 61 when delivering article
Mutation and it is caused vibration article is dropped.
In the case where the article of absorption is more small, the utility model is especially favourable.Because for size
For the small article of small article or absorption surface, the absorption affinity of adsorbent equipment 50 is also smaller, so article is easily in speed
Influenceed by inertia force or vibration when spending the sudden turn of events and depart from the absorption of adsorbent equipment 50.But first buffer unit 20 is set
Put, slowed down significantly this from the velocity variations for being dynamically changed into static state.The movable part 61 of adsorbent equipment 50 and are being installed
After one buffer unit 20 contacts against, in the presence of the first buffer unit 20, movable part 61 and adsorbent equipment 50 are not rapid
Stop, but its speed is slowly reduced, so that the speed of the article kept on adsorbent equipment 50 is also slowly decreased, thing
The inertia force of product is thus equally buffered, and be thus avoid article and is departed from adsorbent equipment 50 because of the effect of inertia force.Meanwhile by
Slowly reduced in the speed of movable part 61 and adsorbent equipment 50, so reducing the speed due to movable part 61 and adsorbent equipment 50
Mutation and produce the intensity of vibration, this be equally beneficial for adsorbent equipment 50 keep article reliability.
As shown in Figures 2 and 3, support 10 includes the first pedestal 30, and first pedestal 30 is positioned in the remote of support 10
Article treats one end that fetch bit is put, and the first buffer unit 20 is positioned on the first pedestal 30.Each first pedestal 30 can correspond to
Article carrier and the first buffer unit 20 that respective numbers are set.For example, in the example of fig. 3, it is right on the first pedestal 30
Ying Yusi article carrier is provided with four the first buffer units 20, but it is clear that the application is not so limited.
It should be appreciated that support 10 can also include the second pedestal 40, second pedestal 40 is positioned at the close thing of support 10
The other end of product unloading position, it equally can correspond to article carrier thereon and the second buffer unit of respective numbers be set
80.When the article that manipulator unloading adsorbent equipment 50 is adsorbed, manipulator is moved to and unloaded by mechanical arm or other devices
Position is carried, movable part 61 is moved down towards product loading location first.In the moving process close to product loading location
In, the buffer unit 80 of movable part 61 and second is against making the movement velocity of the close product loading location of movable part 61 gradually drop
Low, until being relatively fixed, portion 62 is static, then discharges the absorption affinity of adsorbent equipment 50, is offloaded to the above-mentioned article being carried
Product loading location.So, according to manipulator of the present utility model when unloading article, due to the buffering of the second buffer unit 80
Effect, can avoid because of the velocity jump of movable part 61 and caused by vibration article is dropped.
In one embodiment of the present utility model, the first buffer unit 20 is for example positioned in threadably
On first pedestal 30, so as to adjust distance of first buffer unit 20 relative to article carrier.In other embodiment
In, the first buffer unit 20 can take other modes such as riveting, welding to be positioned on the first pedestal 30.
Further, in one embodiment, the first buffer unit 20 is provided with fixing nut 21, and the fixing nut 21 makes
First buffer unit 20 is secured in position on the first pedestal 30.
It should be noted that the second buffer unit 20 can equally take above-mentioned connected mode to be positioned in the second pedestal 40
On.
First buffer unit 20 and the second buffer unit 80 can use the small of fluid pressure type, pneumatic type or spring mechanical formula
Type buffer, other suitable buffers can also be used.
Adsorbent equipment 50 can be connected with vacuum source (not shown), so as to be internally formed negative pressure at it, to adsorb
And releasing.In a preferred embodiment, adsorbent equipment 50 is vacuum cup.Preferably, adsorbent equipment 50 has and applied to article
The adsorption orifice of the absorption affinity of about 0.01~0.03 newton of increasing, a diameter of about 1~5 millimeter of the adsorption orifice, so as to
Absorption article small such as the interior fittings of mobile phone.It is highly preferred that the absorption affinity of adsorbent equipment 50 is about 0.02 newton,
A diameter of about 2~4 millimeters of adsorption orifice.
As shown in Figures 2 and 3, multiple article carriers can be provided with according to manipulator of the present utility model, each
Article carrier includes one or more adsorbent equipments 50.Thus, manipulator can apply to different occasion and difference
Article, and multiple articles can be adsorbed simultaneously as needed and carry out operations.
In a preferred embodiment, movable part 61 and fixed part 62 may be constructed a cylinder driver, i.e. movable part
61 under the driving of gas be relatively fixed the reciprocating linear motion in portion 62, in other embodiments, movable part 61 and fixation
Portion 62 can also be hydraulically operated device, or linear electric machine is formed.
In the embodiment shown in Fig. 2 and Fig. 3, article carrier can also include connector 70, and the connector 70 is solid
Due to movable part 61, adsorbent equipment 50 is connected indirectly on movable part 61 via the connector 70.Thus, movable part 61, company
Fitting 70 and the three of adsorbent equipment 30 can move together as an entirety with the movement of movable part 61.
First buffer unit 20 includes a thimble 22 protruded outward, and thimble 22 can be headed into the first buffer unit 20
It is interior, in the presence of hydraulic pressure or other active forces, as the length that thimble 22 enters in the first buffer unit 20 is longer, thimble 22
Strength it is bigger.When movable part 61 is relatively fixed portion 62 and moved up, can delay with first be fixed on the first pedestal 30
The thimble 22 of flushing device 20 is abutted against, and after abutting, thimble 22 can be headed into the first buffer unit 20 by movable part 61, with top
The power that pin 22 compresses movable part 61 gradually increases, and the speed of movable part 61 gradually reduces, until movable part 61 is relatively fixed portion 62
Shift motion terminate, by said process, the speed of movable part 61 gradually reduces in the presence of the first buffer unit 20, keeps away
Unexpected stopping is exempted from and article that caused vibration causes adsorbed device 50 to adsorb drops.
The structure and operation principle of second buffer unit 80 are identical with the first buffer unit 20.Therefore, in the phase of movable part 61
When being moved downward to fixed part 62, as above, the downward movement velocity of movable part 61 gradually reduces principle, until stopping.
Movable part 61 can be driven by linear electric machine or hydraulic means (not shown).Certainly, movable part 61 can also
Driven by other suitable means.
In the utility model, article carrier is not limited to said structure.In the scheme of replacement, it may not be necessary to set
Single fixed part, but the shifting chute or moving track being moved along it for article carrier are directly set over the mount 10,
So that article carrier can move relative to support 10.
Foregoing embodiment and advantage are only exemplary, and can not be considered as to limitation of the present utility model.This paper's retouches
State and be intended to example, rather than the scope of limitation claim.For a person skilled in the art, a variety of alternatives, change
Type and modification will be apparent from.Feature, structure, method and the other characteristics of exemplary embodiments described herein can
Combine in many ways, so as to obtain other and/or interchangeable exemplary embodiment.
Due in the case of without departing substantially from characteristic of the present utility model, spy of the present utility model can be embodied in a variety of forms
Sign, so it should also be understood that above-described embodiment is not limited to any details described above, unless otherwise indicated, and answer
This is broadly interpreted in the scope defined in the appended claims, therefore, fall into claim scope and boundary or
All modifications and remodeling in the equivalents of this scope and boundary should all be covered for appended claims.
Claims (10)
1. a kind of manipulator, including：
Support (10)；
Article carrier, including fixed part (62) and the movable part that reciprocal linear movement is carried out relative to the fixed part
(61), the fixed part (62) is installed on the support (10)；
It is installed on the movable part (61) and the adsorbent equipment (50) of reciprocal linear movement is carried out with the movable part (61), it is described
Adsorbent equipment can adsorb the article positioned at article opening position to be taken；
Characterized in that, the manipulator also includes to contact against with the movable part (61) and buffering the movable part
(61) the remote article treats the first buffer unit (20) of the translational speed that fetch bit is put, and first buffer unit is installed on
On the support (10).
2. manipulator as claimed in claim 1, it is characterised in that the support (10) includes the first pedestal (30), and described
One buffer unit (20) is positioned on first pedestal.
3. manipulator as claimed in claim 2, it is characterised in that first buffer unit (20) is threadably
It is positioned on first pedestal (30), so as to adjust first buffer unit (20) relative to the movable part (61)
Distance.
4. manipulator as claimed in claim 3, it is characterised in that first buffer unit (20) is provided with fixing nut
(21), the fixing nut makes first buffer unit (20) be secured in position on the pedestal (30).
5. such as the manipulator any one of claim 1-4, it is characterised in that first buffer unit (20) is hydraulic pressure
The minibuffer of formula, pneumatic type or spring mechanical formula.
6. such as the manipulator any one of claim 1-4, it is characterised in that the manipulator is provided with multiple article fortune
Carry and put, each article carrier includes one or more adsorbent equipments (50).
7. such as the manipulator any one of claim 1-4, it is characterised in that the article carrier also includes connection
Part (70), the adsorbent equipment (50) are connected indirectly on the movable part (61) via the connector (70).
8. such as the manipulator any one of claim 1-4, it is characterised in that the adsorbent equipment (50) has to article
The adsorption orifice of the absorption affinity of 0.01~0.03 newton of application, a diameter of 1~5 millimeter of the adsorption orifice.
9. such as the manipulator any one of claim 1-4, it is characterised in that the manipulator also include can with it is described
Movable part (61) contacts against and buffers the second buffering of the translational speed of the close product loading location of the movable part (61)
Device, second buffer unit are installed on the support (10).
10. manipulator as claimed in claim 9, it is characterised in that the support (10) includes the second pedestal (40), and described
Two buffer units are positioned on second pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720333500.6U CN206643924U (en) | 2017-03-31 | 2017-03-31 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720333500.6U CN206643924U (en) | 2017-03-31 | 2017-03-31 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206643924U true CN206643924U (en) | 2017-11-17 |
Family
ID=60274339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720333500.6U Active CN206643924U (en) | 2017-03-31 | 2017-03-31 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206643924U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112450124A (en) * | 2020-12-21 | 2021-03-09 | 河北尚粮农业科技有限公司 | Laying hen chicken room capable of naturally regulating microclimate environment and breeding method |
-
2017
- 2017-03-31 CN CN201720333500.6U patent/CN206643924U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112450124A (en) * | 2020-12-21 | 2021-03-09 | 河北尚粮农业科技有限公司 | Laying hen chicken room capable of naturally regulating microclimate environment and breeding method |
| CN112450124B (en) * | 2020-12-21 | 2023-10-03 | 河北尚粮农业科技有限公司 | Laying hen house capable of naturally regulating microclimate environment and breeding method |
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