CN207127884U - A kind of double Z axis altimetric compensation formula translation loading and unloading manipulators - Google Patents
A kind of double Z axis altimetric compensation formula translation loading and unloading manipulators Download PDFInfo
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- CN207127884U CN207127884U CN201721161248.1U CN201721161248U CN207127884U CN 207127884 U CN207127884 U CN 207127884U CN 201721161248 U CN201721161248 U CN 201721161248U CN 207127884 U CN207127884 U CN 207127884U
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Abstract
The utility model discloses a kind of double Z axis altimetric compensation formula translation loading and unloading manipulators, including frame, the first elevating mechanism, guide rail, walking mechanism, the second elevating mechanism and material fetching mechanism.Frame includes the column and crossbeam being connected with each other；First elevating mechanism includes lifting fork, and lifting fork will can be lifted to predetermined altitude for placing the objective table of material；Guide rail is installed on crossbeam；Walking mechanism is slidably mounted on guide rail, and walking mechanism can move to the other end from one end of guide rail；Second elevating mechanism includes lifting body and lifting column, and lifting body is installed on walking mechanism, and lifting column can be relative to lifting body elevating movement；Material fetching mechanism is connected to the lower end of lifting column, and material fetching mechanism can be moved to the surface of lifting fork together with the second elevating mechanism.Lifting fork is lifted or declined according to parameter preset after material fetching mechanism feeding, and the height of material and pipeline is compensated, and to realize moving horizontally for material, improves the transport efficacy of material.
Description
Technical field
Field of photoelectric technology is the utility model is related to, loading and unloading are translated in particular to a kind of double Z axis altimetric compensation formulas
Manipulator.
Background technology
Photovoltaic industry is fund, technology, personnel's highly dense type industry, and the iteration renewal of product is frequent.In order to limited
Time in lifting product service efficiency and reduce the labor intensity of personnel, the truss manipulator (three in like product at present
Axle or two axles), like product is designed as single Z axis at present, and Z axis, which lifts, in material conveying process brings great time damage
Consumption, it have impact on the high speed conveying of product.
Utility model content
The purpose of this utility model is to provide a kind of double Z axis altimetric compensation formula translation loading and unloading manipulators, to improve thing
The transport efficacy of material.
To achieve the above object, the utility model provides following technical scheme：
A kind of double Z axis altimetric compensation formula translation loading and unloading manipulators, including：
Frame, the frame include the column and crossbeam being connected with each other；
First elevating mechanism, first elevating mechanism are installed on the side wall of the column, the first elevating mechanism bag
Lifting fork is included, the lifting fork will can be lifted to predetermined altitude for placing the objective table of material；
Guide rail, the guide rail is installed on the crossbeam, and the installation direction of the guide rail is consistent with the bearing of trend of crossbeam；
Walking mechanism, the walking mechanism are slidably mounted on the guide rail, and the walking mechanism can be from the guide rail
One end move to the other end；
Second elevating mechanism, second elevating mechanism include lifting body and lifting column, and the lifting body is installed on
The walking mechanism, the lifting column can be relative to the lifting body elevating movements；And
Material fetching mechanism；The material fetching mechanism is connected to the lower end of the lifting column, and the material fetching mechanism can be the same as described second
Elevating mechanism is moved to the surface of the lifting fork together.
Preferably, the material fetching mechanism is clamping jaw or suction cup carrier.
Preferably, the suction cup carrier is U-shaped prestripping frame, and the suction cup carrier includes sliding block, at least two guide rods, at least
Two cross bars, at least two guide rods are horizontally disposed with, and the lifting column passes through the sliding block and described at least two guiding
Bar is slidably connected；The cross bar is slidably connected with the guide rod, and the every cross bar is provided with least two courts
Under sucker.
Preferably, the guide rod is vertically arranged with the guide rail, so that the material fetching mechanism can be remote or close to described
Crossbeam.
Preferably, the cross bar is vertically arranged with the guide rod.
Preferably, the guide rail is linear gear rack, the walking mechanism include with the linear gear rack meshed gears, with
And the motor of the pinion rotation can be driven, the motor is connected with the control box data.
Preferably, first elevating mechanism includes motor, servo worm speed reducer, elevating screw, lead and described
Lifting fork, the elevating screw is vertically arranged, the top of the elevating screw and the power output of the servo worm speed reducer
Portion connects, and the lower end of the elevating screw is threadedly coupled with the lifting fork, the lead be vertically fixed on the column and
It is slidably connected with the lifting fork；The main shaft of the motor is connected with the power input unit of the servo worm speed reducer.
Preferably, the side of the guide rail is provided with least one photoelectric sensor.
Preferably, the side wall of the column is fixed with bracket, and vavuum pump, the vavuum pump and institute are provided with the bracket
State sucker to connect by pipeline, so that the sucker produces suction.
The beneficial effects of the utility model are：The utility model combination SERVO CONTROL, sensor control carry out integration,
Screw rod or leading screw are driven by newly-increased servo turbine worm reducer or control hydraulic flat lift truck by trampling cylinder, from
And lifting fork height or the height of hydraulic flat dolly are controlled, highly matched between pallet and pipeline with realizing, with reality
The parallel rapid transport of existing storeroom, material preset relevant parameter according to different plates in single-piece reclaiming process, work as manipulator
Lifting fork is lifted or declined according to parameter preset after sucker or clamping jaw feeding, and the height of material and pipeline is mended
Repay, to realize moving horizontally for material, improve the transport efficacy of material.
Brief description of the drawings
Fig. 1 is the schematic diagram of double Z axis altimetric compensation formulas translation loading and unloading manipulator in the utility model first embodiment.
In figure：Frame 1；Column 2；Crossbeam 3；First elevating mechanism 4；Lifting fork 5；Objective table 6；Guide rail 7；Walking mechanism 8；
Second elevating mechanism 9；Lift body 10；Lifting column 11；Material fetching mechanism 12；Sliding block 13；Guide rod 14；Cross bar 15；Sucker 16；Electricity
Machine 17；Servo worm speed reducer 18；Elevating screw 19；Lead 20；Photoelectric sensor 21；Bracket 22；Vavuum pump 23；Control box
24。
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Referring to Fig. 1, the utility model provides a kind of technical scheme：
The present embodiment provides a kind of double Z axis altimetric compensation formula translation loading and unloading manipulators, including：
Frame 1, frame 1 include the column 2 and crossbeam 3 being connected with each other；
First elevating mechanism 4, the first elevating mechanism 4 are installed on the side wall of column 2, and the first elevating mechanism 4 includes lifting fork
5, lifting fork 5 will can be lifted to predetermined altitude for the objective table 6 for placing material；
Guide rail 7, guide rail 7 is installed on crossbeam 3, and the installation direction of guide rail 7 is consistent with the bearing of trend of crossbeam 3；
Walking mechanism 8, walking mechanism 8 are slidably mounted on guide rail 7, and walking mechanism 8 can move to from one end of guide rail 7
The other end；
Second elevating mechanism 9, the second elevating mechanism 9 include lifting body 10 and lifting column 11, and lifting body 10 is installed on
Walking mechanism 8, lifting column 11 can be relative to the lifting elevating movements of body 10；And
Material fetching mechanism 12；Material fetching mechanism 12 is connected to the lower end of lifting column 11, and material fetching mechanism 12 can be the same as the second elevating mechanism 9
The surface of lifting fork 5 is moved to together.
In order that the performance of double Z axis altimetric compensation formulas translation loading and unloading manipulator of the present embodiment is more preferably, reclaimer
Structure 12 is clamping jaw or suction cup carrier.
In order that the performance of double Z axis altimetric compensation formulas translation loading and unloading manipulator of the present embodiment is more preferably, suction cup carrier
For U-shaped prestripping frame, suction cup carrier includes sliding block 13, at least at least two guide rods 14, at least two cross bars 15, two guide rods
14 is horizontally disposed, and lifting column 11 is slidably connected by sliding block 13 and at least two guide rods 14；Cross bar 15 and guide rod 14
Slidable connection, every cross bar 15 are provided with least two suckers 16 directed downwardly.
In order that the performance of double Z axis altimetric compensation formulas translation loading and unloading manipulator of the present embodiment is more preferably, guide rod
14 are vertically arranged with guide rail 7, so that material fetching mechanism 12 can be remote or close to crossbeam 3.
In order that the performance of double Z axis altimetric compensation formulas translation loading and unloading manipulator of the present embodiment is more preferably, cross bar 15
It is vertically arranged with guide rod 14.
In order that the performance of double Z axis altimetric compensation formulas translation loading and unloading manipulator of the present embodiment is more preferably, guide rail 7 is
Linear gear rack, walking mechanism 8 include with linear gear rack meshed gears, and can drive gear rotate motor 17, motor 17
It is connected with the data of control box 24.
In order that the performance of double Z axis altimetric compensation formulas translation loading and unloading manipulator of the present embodiment is more preferably, first liter
Descending mechanism 4 includes motor 17, servo worm speed reducer 18, elevating screw 19, lead 20 and lifting fork 5, and elevating screw 19 is perpendicular
To setting, the top of elevating screw 19 is connected with the power output portion of servo worm speed reducer 18, the lower end of elevating screw 19 with
Lifting fork 5 is threadedly coupled, and lead 20 is vertically fixed on column 2 and is slidably connected with lifting fork 5；The main shaft and servo of motor 17
The power input unit connection of worm speed reducer 18.
In other embodiment of the present utility model, material can be lifted by foot-operated cylinder top-lifting hydraulic flat car.
In order that the performance of double Z axis altimetric compensation formulas translation loading and unloading manipulator of the present embodiment is more preferably, guide rail 7
Side is provided with least one photoelectric sensor 21.
In order that the performance of double Z axis altimetric compensation formulas translation loading and unloading manipulator of the present embodiment is more preferably, column 2
Side wall is fixed with bracket 22, and vavuum pump 23 is provided with bracket 22, and vavuum pump 23 is connected with sucker 16 by pipeline, so that sucker
16 produce suction.
Operation principle of the present utility model is：Thin plate material is positioned on the objective table 6 of lifting fork 5 or hydraulic flat car,
Lifting power is used as by material lifting to predetermined altitude by the first elevating mechanism 4 (screw rod/screw mandrel, foot-operated cylinder).Walking mechanism 8
(Y-axis mechanical arm) drives the second elevating mechanism 9 (Z axis mechanical arm on screw) and material fetching mechanism 12 to carry out material movement, feeding
Mechanism 12 (U-shaped prestripping formula suction cup carrier) can lift to the material for capturing or drawing.And U-shaped prestripping formula suction cup carrier
Thin plate can successively be peeled off.
The beneficial effects of the utility model are：Integration is carried out with reference to SERVO CONTROL, sensor control, is watched by newly-increased
Take turbine worm reducer to drive screw rod or leading screw or control hydraulic flat lift truck by trampling cylinder, so as to control lifting
The height of the height of fork 5 or hydraulic flat dolly, is highly matched with realizing between pallet and pipeline, to realize storeroom
Parallel rapid transport, material preset relevant parameter in single-piece reclaiming process according to different plates, when manipulator sucker 16 or folder
Lifting fork 5 is lifted or declined according to parameter preset after pawl feeding, and the height of material and pipeline is compensated, to realize
Material moves horizontally, and improves the transport efficacy of material.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from principle of the present utility model and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (9)
- A kind of 1. double Z axis altimetric compensation formula translation loading and unloading manipulators, it is characterised in that including：Frame (1), the frame (1) include the column (2) and crossbeam (3) being connected with each other；First elevating mechanism (4), first elevating mechanism (4) are installed on the side wall of the column (2), first lift Structure (4) includes lifting fork (5), and the lifting fork (5) will can be lifted to predetermined altitude for the objective table (6) for placing material；Guide rail (7), the guide rail (7) are installed on the crossbeam (3), and the installation direction of the guide rail (7) and crossbeam (3) are prolonged It is consistent to stretch direction；Walking mechanism (8), the walking mechanism (8) are slidably mounted on the guide rail (7), and the walking mechanism (8) can be from One end of the guide rail (7) moves to the other end；Second elevating mechanism (9), second elevating mechanism (9) include lifting body (10) and lifting column (11), the lifting Body (10) is installed on the walking mechanism (8), and the lifting column (11) can be relative to described lifting body (10) elevating movement； AndMaterial fetching mechanism (12), the material fetching mechanism (12) are connected to the lower end of the lifting column (11), the material fetching mechanism (12) The surface of the lifting fork (5) can be moved to together with second elevating mechanism (9).
- 2. double Z axis altimetric compensation formula translation loading and unloading manipulators according to claim 1, it is characterised in that the feeding Mechanism (12) is clamping jaw or suction cup carrier.
- 3. double Z axis altimetric compensation formula translation loading and unloading manipulators according to claim 2, it is characterised in that the sucker Frame is U-shaped prestripping frame, and the suction cup carrier includes sliding block (13), at least at least two guide rods (14), two cross bars (15), institute It is horizontally disposed to state at least two guide rods (14), the lifting column (11) passes through the sliding block (13) and is oriented to described at least two Bar (14) is slidably connected；The cross bar (15) is slidably connected with the guide rod (14), the every cross bar (15) At least two suckers (16) directed downwardly are installed.
- 4. double Z axis altimetric compensation formula translation loading and unloading manipulators according to claim 3, it is characterised in that the guiding Bar (14) is vertically arranged with the guide rail (7), so that the material fetching mechanism can be remote or close to the crossbeam (3).
- 5. double Z axis altimetric compensation formula translation loading and unloading manipulators according to claim 3, it is characterised in that the cross bar (15) it is vertically arranged with the guide rod (14).
- 6. double Z axis altimetric compensation formula translation loading and unloading manipulators according to claim 1, it is characterised in that the guide rail (7) be linear gear rack, the walking mechanism (8) include with the linear gear rack meshed gears, and the gear can be driven The motor (17) of rotation, the motor (17) are connected with control box (24) data.
- 7. double Z axis altimetric compensation formula translation loading and unloading manipulators according to claim 1, it is characterised in that described first Elevating mechanism (4) includes motor (17), servo worm speed reducer (18), elevating screw (19), lead (20) and the lifting Pitch (5), the elevating screw (19) is vertically arranged, the top of the elevating screw (19) and the servo worm speed reducer (18) The connection of power output portion, the lower end of the elevating screw (19) is threadedly coupled with the lifting fork (5), the lead (20) Vertically it is fixed on the column (2) and is slidably connected with the lifting fork (5)；The main shaft of the motor (17) and the servo whirlpool Take turns the power input unit connection of reductor (18).
- 8. double Z axis altimetric compensation formula translation loading and unloading manipulators according to claim 1, it is characterised in that the guide rail (7) side is provided with least one photoelectric sensor (21).
- 9. double Z axis altimetric compensation formula translation loading and unloading manipulators according to claim 3, it is characterised in that the column (2) side wall is fixed with bracket (22), and vavuum pump (23), the vavuum pump (23) and the suction are provided with the bracket (22) Disk (16) is connected by pipeline, so that the sucker (16) produces suction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721161248.1U CN207127884U (en) | 2017-09-12 | 2017-09-12 | A kind of double Z axis altimetric compensation formula translation loading and unloading manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721161248.1U CN207127884U (en) | 2017-09-12 | 2017-09-12 | A kind of double Z axis altimetric compensation formula translation loading and unloading manipulators |
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| Publication Number | Publication Date |
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| CN207127884U true CN207127884U (en) | 2018-03-23 |
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ID=61638212
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| CN201721161248.1U Active CN207127884U (en) | 2017-09-12 | 2017-09-12 | A kind of double Z axis altimetric compensation formula translation loading and unloading manipulators |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696021A (en) * | 2017-09-12 | 2018-02-16 | 青岛普力捷自动化科技有限公司 | A kind of double Z axis altimetric compensation formula translation loading and unloading manipulators |
| CN113352306A (en) * | 2021-05-19 | 2021-09-07 | 芜湖锐冠智能装备有限公司 | Material taking robot structure |
-
2017
- 2017-09-12 CN CN201721161248.1U patent/CN207127884U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696021A (en) * | 2017-09-12 | 2018-02-16 | 青岛普力捷自动化科技有限公司 | A kind of double Z axis altimetric compensation formula translation loading and unloading manipulators |
| CN113352306A (en) * | 2021-05-19 | 2021-09-07 | 芜湖锐冠智能装备有限公司 | Material taking robot structure |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Pengzhi Inventor after: Wu Guoqing Inventor before: Li Pengzhi Inventor before: Xu Chao Inventor before: Pan Bin |