CN206663227U - A kind of pallet material picks and places robot - Google Patents
A kind of pallet material picks and places robot Download PDFInfo
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- CN206663227U CN206663227U CN201621362473.7U CN201621362473U CN206663227U CN 206663227 U CN206663227 U CN 206663227U CN 201621362473 U CN201621362473 U CN 201621362473U CN 206663227 U CN206663227 U CN 206663227U
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Abstract
It the utility model is related to storage facilities technical field, refer in particular to a kind of pallet material and pick and place robot, including moving assembly, the pick-and-place manipulator that is installed in the Multi-shaft mechanical arm of moving assembly and is installed on Multi-shaft mechanical arm actuating station, the pick-and-place manipulator includes the clamping jaw of paw body first, the first move portion, with the second clamping jaw and the first drive mechanism for driving the first move portion to reciprocate.Second move portion moves back and forth in the second drive mechanism along track, and drive the first move portion synchronizing moving, realize the X of pick-and-place manipulator to moving back and forth, lifting unit rises or falls in the presence of the 3rd drive mechanism, and drive the first move portion synchronization lifting, realize the Z-direction lifting moving of pick-and-place manipulator, in order to which pick-and-place manipulator is moved freely to the relevant position of pallet, be easy to manipulator close and gripping corresponding to material, have that translational speed is fast, moving range freedom and picks and places the advantages of material is accurate.
Description
Technical field
Storage facilities technical field is the utility model is related to, a kind of pallet material is referred in particular to and picks and places robot.
Background technology
In different industries, enterprise, because production product is different, the frequency of use of material bin is also not quite similar.But
For the enterprise that material variety is various, material amount of storage is big, material storage and managenent is directly connected to the management of company's production,
Have the function that very important.
Such as in some electronics industry include SMT industry productions, it is often necessary to which electronic component material is stored
Or transfer.Because characteristic, the materials used such as electronic product production industry high-volume multi items are more.If manually carry out materail tube
Reason and transmission, then can exist and search difficult, time-consuming problem.Therefore to consider material storage and transmit the automatic of transport
Change, to shorten the time that material is searched and obtained, improve logistics speed, improve production efficiency.
At present, to the above-mentioned type enterprise application material bin, also rest on floor space is wide, manual operation frequently, from
The shortcomings that dynamicization degree is low, the strong influence economic management cost of company, add the production cost of enterprise.
The content of the invention
The technical problems to be solved in the utility model, which is to provide one kind, to be moved freely, and can accurately be taken on shelf
The pallet material for putting material picks and places robot.
In order to solve the above-mentioned technical problem, the utility model adopts the following technical scheme that：A kind of pallet material pick-and-place machine
Device people, including moving assembly, the pick-and-place machine that is installed in the Multi-shaft mechanical arm of moving assembly and is installed on Multi-shaft mechanical arm actuating station
Tool hand, it is characterised in that：The pick-and-place manipulator includes paw body, the first clamping jaw for being fixed on paw body end, activity
The first move portion for being installed in paw body, the second clamping jaw being fixedly connected with the first move portion and for driving the first move portion
The first drive mechanism reciprocated.
Preferably, slide rail and the sliding block being connected with slide rail are equiped with below the paw body, described first moves
The sliding block is fixed in dynamic portion.
Preferably, first drive mechanism include be installed in paw body the first leading screw, with the first leading screw coordinate
Travelling nut and the first motor for driving the first leading screw to rotate, the sliding block are fixedly connected with travelling nut.
Preferably, the top of the paw body is fixed and is equiped with CCD visual-alignment devices.
Preferably, the moving assembly includes track, the second move portion for being installed in track and for driving the second movement
The second drive mechanism that portion moves back and forth in X direction；
Second move portion is provided with vertical support frame, the lifting unit being flexibly connected with vertical support frame and lifted for driving
The 3rd drive mechanism that portion moves up and down, the base of the Multi-shaft mechanical arm are fixed on lifting unit.
Preferably, second drive mechanism includes being fixed on the idle pulley at track both ends, being set around the cable wire and use of idle pulley
In the second motor of driving cable wire operating, wherein one section of second move portion and cable wire is fixedly connected.
Preferably, the 3rd drive mechanism include be flexibly connected with support frame lifting frame, be fixed on lifting frame
The second leading screw, the travelling nut that is connected with the second leading screw and the 3rd motor for driving the travelling nut.
Preferably, the lifting unit is equiped with Y-direction movement module, the base of the Multi-shaft mechanical arm and Y-direction movement mould
Group connection.
Preferably, second move portion is provided with the body feed tank for keeping in material.
The beneficial effects of the utility model are：The utility model provides a kind of pallet material and picks and places robot,
In practical application, the second move portion moves back and forth in the second drive mechanism along track, and drives the first move portion synchronizing moving,
The X of pick-and-place manipulator is realized to moving back and forth, lifting unit rises or falls in the presence of the 3rd drive mechanism, and drives first
Move portion synchronization lifting, the Z-direction lifting moving of pick-and-place manipulator is realized, in order to which pick-and-place manipulator is moved freely to pallet
Relevant position, be easy to manipulator close and gripping corresponding to material, have that translational speed is fast, moving range freedom and picks and places thing
Expect the advantages of accurate.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram that the utility model pallet material picks and places robot.
Fig. 2 is the dimensional structure diagram of pick-and-place manipulator of the present utility model.
Fig. 3 is the stereochemical structure decomposing schematic representation of pick-and-place manipulator of the present utility model.
Embodiment
For the ease of the understanding of those skilled in the art, the utility model is made further with reference to embodiment
Bright, the content that embodiment refers to is not to restriction of the present utility model.
As shown in Figure 1 to Figure 3, a kind of pallet material picks and places robot, including moving assembly, is installed in moving assembly
Multi-shaft mechanical arm 1 and the pick-and-place manipulator 2 for being installed on the actuating station of Multi-shaft mechanical arm 1, the pick-and-place manipulator 2 include paw body
21st, the first clamping jaw 22 for being fixed on the end of paw body 21, the first move portion 23 and first for being movably arranged on paw body 21
The second clamping jaw 24 and the first drive mechanism 25 for driving the first move portion 23 to reciprocate that move portion 23 is fixedly connected；Institute
Stating moving assembly includes track 51, the second move portion 52 for being installed in track 51 and for driving the second move portion 52 in X direction
The second drive mechanism 53 moved back and forth；Second move portion 52 is provided with vertical support frame 54, connected with the activity of vertical support frame 54
The lifting unit 55 connect and the 3rd drive mechanism 6 for driving lifting unit 55 to move up and down, the base of the Multi-shaft mechanical arm 1 are consolidated
Due to lifting unit 55.
In actual applications, the second move portion 52 moves back and forth in the second drive mechanism 53 along track 51, and drives the
The synchronizing moving of one move portion 23, the X of pick-and-place manipulator 2 is realized to moving back and forth, effect of the lifting unit 55 in the 3rd drive mechanism 6
Under rise or fall, and drive the synchronization lifting of the first move portion 23, the Z-direction lifting moving of pick-and-place manipulator 2 realized, in order to take
Put the relevant position that manipulator 2 is moved freely to pallet, be easy to manipulator it is close and gripping corresponding to material, have movement
Speed is fast, moving range freedom and picks and places the advantages of material is accurate.
In the present embodiment, the lower section of the paw body 21 is equiped with slide rail 26 and the sliding block being connected with slide rail 26
27, first move portion 23 is fixed on the sliding block 27, specifically, first drive mechanism 25 includes being installed in paw body
21 the first leading screw 28, the travelling nut coordinated with the first leading screw 28 and the first motor for driving the first leading screw 28 to rotate
29, the sliding block 27 is fixedly connected with travelling nut.First leading screw 28 rotates in the presence of the first motor 29, drives mobile spiral shell
Female and sliding block 27 moves back and forth, and the second clamping jaw 24 is realized when synchronously moving back and forth between the first clamping jaw 22 and the second clamping jaw 24
Mutually draw close and it is remote, it is achieved thereby that blessing and release function of the pick-and-place manipulator 2 to material, due to the He of the first clamping jaw 22
The distance between second clamping jaw 24 is not fixed, and the size of the material accommodated does not also limit, can be to sizes size not
Same material carries out feeding and blowing operation, practical.
In the present embodiment, the top of the paw body 21, which is fixed, is equiped with CCD visual-alignments device 4, for warehousing
Material orientation on frame is further aligned, and improves the feeding precision of pick-and-place manipulator 2.
In the present embodiment, second drive mechanism 53 includes being fixed on the idle pulley 56 at the both ends of track 51, is set around idle pulley
Wherein one section of 56 cable wire 57 and the second motor 58 for driving cable wire 57 to operate, second move portion 52 and cable wire 57
It is fixedly connected, the second motor 58 realizes the drive control work(of the second drive mechanism 53 by the traction pulling function to cable wire 57
Energy.
In the present embodiment, the 3rd drive mechanism 6 include be flexibly connected with support frame lifting frame 61, be fixed on liter
Second leading screw 62 of drop framework 61, the with the travelling nut of the second leading screw 62 mating connection and for driving the travelling nut the 3rd
Motor 63.3rd motor 63 realizes the second drive mechanism 53 by the effect between the second leading screw 62 and corresponding travelling nut
Drive control function.
In embodiment, the lifting unit 55 is equiped with Y-direction movement module 7, base and the Y-direction of the Multi-shaft mechanical arm 1
Mobile module 7 connects, and moves back and forth control function in Y-direction for being realized to Multi-shaft mechanical arm 1.
In embodiment, second move portion 52 is provided with the body feed tank 8 for keeping in material, is needed when picking and placeing material manipulator
When taking multiple and different kind materials away to storage on pallet or from pallet, it will can pick and place one by one after material temporarily
When be stored in the body feed tank 8, material all pick and place after again property transported the position for having delivered to setting, carry significantly
The high material extraction for picking and placeing robot and storage efficiency, practicality are stronger.
, it is necessary to illustrate in description of the present utility model, for the noun of locality, if any term " " center ", " transverse direction
(X) ", " longitudinal direction (Y) ", " vertical (Z) " " length ", " width ", " thickness ", " on ", " under ", "front", "rear", "left", "right",
The indicating position such as " vertical ", " level ", " top ", " bottom ", " interior ", " outer ", " clockwise ", " counterclockwise " and position relationship be based on
Orientation shown in the drawings or position relationship, it is for only for ease of narration the utility model and simplifies description, rather than instruction or dark
Show that the device of meaning or element there must be specific orientation, be constructed and operated with particular orientation, it is impossible to be interpreted as limiting this reality
With new specific protection domain.
In addition, be only used for describing purpose if any term " first ", " second ", and it is not intended that indicating or implying relatively heavy
The property wanted or the implicit quantity for indicating technical characteristic.Thus, " first " is defined, " second " feature can be expressed or implicit include
One or more this feature, in the utility model description, " several " are meant that two or more, unless otherwise bright
It is really specific to limit.
In the utility model, except as otherwise clear stipulaties and restriction, if any term " assembling ", " connected ", " connection " term
It should go to understand as broad sense, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；It can also be machine
Tool connects；Can be joined directly together or be connected by intermediary, can be that two element internals are connected.For
For those of ordinary skill in the art, it can understand that specific in the utility model of above-mentioned term containing as the case may be
Justice.
Embodiment described above only expresses some embodiments of the present utility model, and its description is more specific and detailed,
But therefore it can not be interpreted as the limitation to the utility model patent scope.It should be pointed out that for the common of this area
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In the scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (9)
1. a kind of pallet material picks and places robot, including moving assembly, the Multi-shaft mechanical arm for being installed in moving assembly（1）And peace
Loaded on Multi-shaft mechanical arm（1）The pick-and-place manipulator of actuating station（2）, it is characterised in that：The pick-and-place manipulator（2）Including paw sheet
Body（21）, be fixed on paw body（21）First clamping jaw of end（22）, be movably arranged on paw body（21）First movement
Portion（23）And the first move portion（23）The second clamping jaw being fixedly connected（24）And for driving the first move portion（23）Reciprocate
The first drive mechanism（25）.
2. pallet material according to claim 1 picks and places robot, it is characterised in that：The paw body（21）Under
Side is equiped with slide rail（26）And and slide rail（26）The sliding block of mating connection（27）, first move portion（23）It is fixed on the sliding block
（27）.
3. pallet material according to claim 2 picks and places robot, it is characterised in that：First drive mechanism（25）
Including being installed in paw body（21）The first leading screw（28）And the first leading screw（28）The travelling nut of cooperation and for driving the
One leading screw（28）The first motor rotated（29）, the sliding block（27）It is fixedly connected with travelling nut.
4. pallet material according to claim 1 picks and places robot, it is characterised in that：The paw body（21）It is upper
Portion fixes and is equiped with CCD visual-alignment devices（4）.
5. pallet material according to claim 1 picks and places robot, it is characterised in that：The moving assembly includes track
（51）, be installed in track（51）The second move portion（52）And for driving the second move portion（52）Move back and forth in X direction
Second drive mechanism（53）；
Second move portion（52）It is provided with vertical support frame（54）And vertical support frame（54）The lifting unit of flexible connection（55）And
For driving lifting unit（55）The 3rd drive mechanism moved up and down（6）, the Multi-shaft mechanical arm（1）Base be fixed on lifting
Portion（55）.
6. pallet material according to claim 5 picks and places robot, it is characterised in that：Second drive mechanism（53）
Including being fixed on track（51）The idle pulley at both ends（56）, be set around idle pulley（56）Cable wire（57）And for driving cable wire（57）Fortune
The second motor turned（58）, second move portion（52）With cable wire（57）Wherein one section be fixedly connected.
7. pallet material according to claim 5 picks and places robot, it is characterised in that：3rd drive mechanism（6）
Including with vertical support frame（54）The lifting frame of flexible connection（61）, be fixed on lifting frame（61）The second leading screw（62）、
With the second leading screw（62）The travelling nut of mating connection and the 3rd motor for driving the travelling nut（63）.
8. pallet material according to claim 5 picks and places robot, it is characterised in that：The lifting unit（55）It is equiped with
Y-direction moves module（7）, the Multi-shaft mechanical arm（1）Base and the Y-direction movement module（7）Connection.
9. pallet material according to claim 5 picks and places robot, it is characterised in that：Second move portion（52）If
It is equipped with the body feed tank for keeping in material（8）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621362473.7U CN206663227U (en) | 2016-12-13 | 2016-12-13 | A kind of pallet material picks and places robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621362473.7U CN206663227U (en) | 2016-12-13 | 2016-12-13 | A kind of pallet material picks and places robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206663227U true CN206663227U (en) | 2017-11-24 |
Family
ID=60356289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621362473.7U Active CN206663227U (en) | 2016-12-13 | 2016-12-13 | A kind of pallet material picks and places robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206663227U (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107962547A (en) * | 2017-12-27 | 2018-04-27 | 广州九红智能装备有限公司 | A kind of full-automatic multiaxis feeding manipulator device |
| CN108032277A (en) * | 2017-12-04 | 2018-05-15 | 深圳市今天国际智能机器人有限公司 | Robot with elevating mechanism |
| CN108098744A (en) * | 2017-12-26 | 2018-06-01 | 清华大学深圳研究生院 | A kind of coordinate type mechanical arm |
| CN108326884A (en) * | 2018-04-28 | 2018-07-27 | 哈尔滨若朋机器人有限责任公司 | A kind of manipulator and control method |
| CN108839004A (en) * | 2018-09-07 | 2018-11-20 | 刘逸麟 | A kind of multi-spindle machining hand |
| CN108891835A (en) * | 2018-08-31 | 2018-11-27 | 上海擅韬信息技术有限公司 | A kind of automatic administration equipment tonic system and its tonic method |
| CN108945929A (en) * | 2018-08-01 | 2018-12-07 | 广州力生智能科技有限公司 | Automatic sorting device for storage orders |
| CN109129550A (en) * | 2018-10-09 | 2019-01-04 | 上海原能细胞生物低温设备有限公司 | A kind of freezing storing box clamping device |
| CN109249423A (en) * | 2018-08-20 | 2019-01-22 | 烟台知兴知识产权咨询服务有限公司 | A kind of storage robot with elevating function |
| CN110422522A (en) * | 2019-07-19 | 2019-11-08 | 浙江科技学院 | A kind of Automatic Warehouse reclaimer robot equipment |
| CN110653843A (en) * | 2019-09-27 | 2020-01-07 | 深圳市立安科技有限公司 | Guide tracked closestool moves and carries manipulator convenient to remove |
| CN111634594A (en) * | 2020-05-18 | 2020-09-08 | 广州市宇艺包装材料有限公司 | Fluent frame capable of automatically loading goods |
| CN113021341A (en) * | 2021-03-18 | 2021-06-25 | 深圳市科服信息技术有限公司 | Robot based on 5G article identification and automatic transfer transportation |
| CN115816484A (en) * | 2022-12-09 | 2023-03-21 | 中电科翌智航(重庆)科技有限公司 | Unmanned equipment supply robot |
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2016
- 2016-12-13 CN CN201621362473.7U patent/CN206663227U/en active Active
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032277A (en) * | 2017-12-04 | 2018-05-15 | 深圳市今天国际智能机器人有限公司 | Robot with elevating mechanism |
| CN108098744A (en) * | 2017-12-26 | 2018-06-01 | 清华大学深圳研究生院 | A kind of coordinate type mechanical arm |
| CN107962547A (en) * | 2017-12-27 | 2018-04-27 | 广州九红智能装备有限公司 | A kind of full-automatic multiaxis feeding manipulator device |
| CN108326884A (en) * | 2018-04-28 | 2018-07-27 | 哈尔滨若朋机器人有限责任公司 | A kind of manipulator and control method |
| CN108945929A (en) * | 2018-08-01 | 2018-12-07 | 广州力生智能科技有限公司 | Automatic sorting device for storage orders |
| CN109249423A (en) * | 2018-08-20 | 2019-01-22 | 烟台知兴知识产权咨询服务有限公司 | A kind of storage robot with elevating function |
| CN108891835A (en) * | 2018-08-31 | 2018-11-27 | 上海擅韬信息技术有限公司 | A kind of automatic administration equipment tonic system and its tonic method |
| CN108891835B (en) * | 2018-08-31 | 2023-08-18 | 上海擅韬信息技术有限公司 | Automatic dispensing machine medicine supplementing system and medicine supplementing method thereof |
| CN108839004A (en) * | 2018-09-07 | 2018-11-20 | 刘逸麟 | A kind of multi-spindle machining hand |
| CN109129550A (en) * | 2018-10-09 | 2019-01-04 | 上海原能细胞生物低温设备有限公司 | A kind of freezing storing box clamping device |
| CN109129550B (en) * | 2018-10-09 | 2023-12-19 | 上海原能细胞生物低温设备有限公司 | Freezing box clamping device |
| CN110422522A (en) * | 2019-07-19 | 2019-11-08 | 浙江科技学院 | A kind of Automatic Warehouse reclaimer robot equipment |
| CN110653843A (en) * | 2019-09-27 | 2020-01-07 | 深圳市立安科技有限公司 | Guide tracked closestool moves and carries manipulator convenient to remove |
| CN111634594A (en) * | 2020-05-18 | 2020-09-08 | 广州市宇艺包装材料有限公司 | Fluent frame capable of automatically loading goods |
| CN113021341A (en) * | 2021-03-18 | 2021-06-25 | 深圳市科服信息技术有限公司 | Robot based on 5G article identification and automatic transfer transportation |
| CN115816484A (en) * | 2022-12-09 | 2023-03-21 | 中电科翌智航(重庆)科技有限公司 | Unmanned equipment supply robot |
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