CN207223972U - A kind of band storage space multifunction manipulator - Google Patents
A kind of band storage space multifunction manipulator Download PDFInfo
- Publication number
- CN207223972U CN207223972U CN201720957756.4U CN201720957756U CN207223972U CN 207223972 U CN207223972 U CN 207223972U CN 201720957756 U CN201720957756 U CN 201720957756U CN 207223972 U CN207223972 U CN 207223972U
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- CN
- China
- Prior art keywords
- manipulator
- moving mechanism
- direction moving
- installing plate
- guide rail
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- 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.)
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Abstract
The utility model provides a kind of band storage space multifunction manipulator,Include matrix,Feature is,Z-direction moving mechanism is equipped with matrix,Y-direction moving mechanism,Manipulator mechanism,Z-direction moving mechanism includes Z-direction moving guide rail and Z-direction movement actuating unit,Y-direction moving mechanism is connected with Z-direction moving mechanism,Y-direction moving mechanism includes Y-direction movement power set,Y-direction mobile gear and Y-direction moving guide rail,Manipulator mechanism is connected with Y-direction moving guide rail,Manipulator mechanism includes manipulator rotating mechanism,Manipulator passes in and out moving mechanism,Mechanical, hand-driven force mechanisms and manipulator,The utility model devises Z-direction,Y-direction,Manipulator passes in and out the moving mechanism in three directions,Manipulator is set to be moved in multi-dimensional direction,Operation is flexible,It can realize that the multistation under various environment is picked and placeed and kept in,Substantially increase the degree of automation of manipulator,It has been well adapted for modern fast-developing demand.
Description
Technical field
A kind of band storage space multifunction manipulator is the utility model is related to, belongs to mechanical device.
Background technology
Automation equipment is applied to industry-by-industry at present, and robot device is even more answered as the device for picking and placeing workpiece
For in the automatic equipment of industry-by-industry, but existing manipulator is mostly to meet the single device for picking and placeing task, can only realize by
Workpiece is transferred to another fixed position by a certain fixed position, and manipulator lacks flexibility, as automatic technology is constantly sent out
Exhibition, the functional requirement to manipulator mechanism also becomes higher and higher, and design one kind can adapt to complex environment, realize multistation,
The manipulator that high efficiency picks and places workpiece becomes more and more urgent.
The content of the invention
The purpose of this utility model is intended to improve the shortcomings of the prior art part, there is provided one kind can realize multiposition
Workpiece picks and places, while is provided with a kind of band storage space multifunction manipulator in working area.
The utility model is achieved through the following technical solutions：A kind of band storage space multifunction manipulator, includes matrix, feature
It is that Z-direction moving mechanism, Y-direction moving mechanism, manipulator mechanism are equipped with matrix, wherein,
The Z-direction moving mechanism includes Z-direction moving guide rail, and Z-direction moving guide rail is connected with matrix, on Z-direction moving guide rail
Z-direction moving mechanism installing plate is movably equipped with, the bottom of Z-direction moving mechanism installing plate is connected with Z-direction movement actuating unit；
The Y-direction moving mechanism includes Y-direction moving mechanism installing plate, and Y-direction moving mechanism installing plate is pacified with Z-direction moving mechanism
Loading board connects, and Y-direction movement power set are equipped with Y-direction moving mechanism installing plate, Y-direction is connected with Y-direction movement power set
Mobile gear, Y-direction moving guide rail is additionally provided with Y-direction moving mechanism installing plate；
The manipulator mechanism includes manipulator rotating mechanism, and manipulator rotating mechanism is flexibly connected with Y-direction moving guide rail,
Manipulator disengaging moving mechanism installing plate is equipped with manipulator rotating mechanism, manipulator passes in and out activity on moving mechanism's installing plate
Manipulator disengaging moving mechanism is connected, is passed in and out in manipulator and manipulator installing plate is equipped with moving mechanism, on manipulator installing plate
Equipped with mechanical, hand-driven force mechanisms, manipulator is movably equipped with mechanical, hand-driven force mechanisms.
In order to which goal of the invention is better achieved, temporary storing bin is also provided with matrix, temporary storing bin is corresponding with manipulator.
The utility model devises the moving mechanism that Z-direction, Y-direction, manipulator pass in and out three directions, enables manipulator more
Dimension direction is moved, and operation is flexible, with reference to specially designed workpiece temporary storing bin, it is possible to achieve the multistation under various environment takes
Put and keep in, substantially increase the degree of automation of manipulator, be well adapted for modern fast-developing demand.
The utility model is described in detail with reference to the accompanying drawings and embodiments.
Brief description of the drawings
The structure diagram of Fig. 1-the utility model.
The front view of Fig. 2-Fig. 1.
The side view of Fig. 3-Fig. 1.
The top view of Fig. 4-Fig. 1.
Attached drawing drawing explanation：
1- matrixes, temporary storing bin on the left of 2-, temporary storing bin on the right side of 3-, 4-Z is to moving guide rail, and 5-Z is to mobile actuating unit, 6-Z
To moving mechanism's installing plate, 7-Y is to moving mechanism's installing plate, and 8-Y is to mobile power set, and 9-Y is to mobile gear, 10-Y
To moving guide rail, 12- manipulator rotating mechanisms, 13- manipulators disengaging moving mechanism installing plate, 14- manipulators disengaging moving machine
Structure, 15- manipulator installing plates, 16- suckers, 17- clip claw mechanisms, 18- mechanical, hand-driven force mechanisms.
Embodiment
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, the band storage space multifunction manipulator of the utility model includes matrix 1, the work of matrix 1
With being to provide a mounting platform for this robot device, this robot device can be installed on other by matrix 1 and set
Standby upper use, is equipped with Z-direction moving mechanism, Y-direction moving mechanism, manipulator mechanism on matrix 1, wherein,
Z-direction moving mechanism includes Z-direction moving guide rail 4, and the installation of Z-direction moving guide rail 4 is connected on matrix 1, is led in Z-direction movement
Activity installation Z-direction moving mechanism installing plate 6 on rail 4, Z-direction moving mechanism installing plate 6 can be moved down along on Z-direction moving guide rail 4
It is dynamic, Z-direction movement actuating unit 5 is connected with the bottom of Z-direction moving mechanism installing plate 6；
Y-direction moving mechanism includes Y-direction moving mechanism installing plate 7, and Y-direction moving mechanism installing plate 7 is fixedly connected on Z-direction movement
In mechanism's installing plate 6, Y-direction movement power set 8 are equipped with Y-direction moving mechanism installing plate 7, are connected on Y-direction movement power set 8
Y-direction mobile gear 9 is connected to, is additionally provided with Y-direction shifting on Y-direction moving mechanism installing plate 7 corresponding to Y-direction mobile gear 9
Dynamic guide rail 10；
Manipulator mechanism includes manipulator rotating mechanism 12, lower end and the Y-direction moving guide rail 10 of manipulator rotating mechanism 12
It is flexibly connected, Y-direction can be done along Y-direction moving guide rail 10 and moved, manipulator disengaging is provided with manipulator rotating mechanism 12
Moving mechanism's installing plate 13, manipulator, which passes in and out, is flexibly connected manipulator disengaging moving mechanism 14 on moving mechanism's installing plate 13,
Manipulator disengaging moving mechanism 14 is equipped with manipulator installing plate 15, and manipulator installing plate 15 is equipped with mechanical, hand-driven force mechanisms
18, be connected with manipulator on mechanical, hand-driven force mechanisms 18, as shown in sucker 16 and clip claw mechanism 17 etc..
In order to facilitate storage workpiece, temporary storing bin can also be set on matrix 1, left side temporary storing bin 2 as shown and right side
Temporary storing bin 3 etc., the quantity of temporary storing bin and position, size etc. can be designed according to being actually needed, however, how to design, temporary storing bin
Will be with manipulator（Moving area）It is corresponding.The effect for setting temporary storing bin is to can temporarily place the work of manipulator crawl
Part, for example, if there is multiple workspaces, then can capture a workspace（Or storage）After multiple workpiece, robot device is again
Subsequent work zone position is moved in mobile device drive to continue to capture（Or storage）Workpiece, can so be greatly enhanced work
Make efficiency.
Operation principle is sketched.
The movement of Z-direction moving mechanism provides power by Z-direction movement actuating unit 5, and Z-direction moving mechanism is moved along Z-direction
Moved back and forth on the direction of guide rail 4.
Y-direction moving mechanism moves power set 8 by Y-direction and provides power, then by Y-direction mobile gear 9 by power
Pass out, realize that Y-direction moves along Y-direction moving guide rail 10；Since Y-direction moving mechanism passes through Y-direction moving mechanism installing plate 7 and Z
It is connected to moving mechanism's installing plate 6, so Y-direction moving mechanism can realize that Z-direction moves in the case where Z-direction moving mechanism drives.
Manipulator rotating mechanism 12 is flexibly connected with Y-direction moving guide rail 10, i.e., manipulator rotating mechanism 12 can realize Z-direction
And the movement of Y-direction, the manipulator disengaging moving mechanism 14 for being provided with multiple manipulators are installed on manipulator rotating mechanism 12, lead to
The rotary motion of manipulator rotating mechanism 12 is crossed to realize the movement of manipulator any direction in a certain plane.
During work, manipulator reaches some position under the drive of Z-direction moving mechanism and Y-direction moving mechanism, then passes through
Manipulator rotating mechanism 12 is rotated to any direction in plane, and moving mechanism 14 and mechanical, hand-driven force mechanisms 18 are passed in and out by manipulator
Control machinery hand（Such as sucker 16, clip claw mechanism 17）Realize manipulator to workpiece direction movement remove grabbing workpiece, by workpiece from
Former position in storehouse is taken out of, is then transferred into the new position for needing to place, or place in temporary storing bin.
The present apparatus can realize the multiple position grabbing workpieces of manipulator, greatly improve the work effect that manipulator picks and places workpiece
Rate, while set temporary storing bin to be used to temporarily store the workpiece that manipulator is fetched, Manipulator Transportation efficiency is also largely increased.
The moving mechanism for being moved through multiple directions of present apparatus manipulator realizes that the moving mechanism in the utility model can
To use a variety of mechanical structures, such as synchronous belt type, can also be further designed to electric cylinders formula, pneumatic type, fluid pressure type, rack-and-pinion
The various structures such as formula.The manipulator can use sucker mode in order to grabbing workpiece（Such as magnet, vacuum generator
Structure）Or gripper mode, gripper mode can realize pinching action using pneumatic clamper, motor driven gear tooth can also be used
The mode such as bar or screw is realized promptly.
The Y, Z, manipulator pass in and out three direction moving mechanisms and are not limited to diagram combination, can appoint as needed
Meaning collocation.
Claims (2)
1. a kind of band storage space multifunction manipulator, includes matrix（1）, it is characterized in that, in matrix（1）It is equipped with Z-direction moving machine
Structure, Y-direction moving mechanism, manipulator mechanism, wherein,
The Z-direction moving mechanism includes Z-direction moving guide rail（4）, Z-direction moving guide rail（4）With matrix（1）Connection, leads in Z-direction movement
Rail（4）On be movably equipped with Z-direction moving mechanism installing plate（6）, Z-direction moving mechanism installing plate（6）To be connected with Z-direction movement dynamic for bottom
Force mechanisms（5）,
The Y-direction moving mechanism includes Y-direction moving mechanism installing plate（7）, Y-direction moving mechanism installing plate（7）With Z-direction moving mechanism
Installing plate（6）Connection, in Y-direction moving mechanism installing plate（7）It is equipped with Y-direction movement power set（8）, Y-direction movement power set
（8）On be connected with Y-direction mobile gear（9）, in Y-direction moving mechanism installing plate（7）On be additionally provided with Y-direction moving guide rail（10）,
The manipulator mechanism includes manipulator rotating mechanism（12）, manipulator rotating mechanism（12）With Y-direction moving guide rail（10）
It is flexibly connected, in manipulator rotating mechanism（12）It is equipped with manipulator disengaging moving mechanism installing plate（13）, manipulator disengaging shifting
Dynamic mechanism's installing plate（13）Upper flexible connection manipulator disengaging moving mechanism（14）, moving mechanism is passed in and out in manipulator（14）On set
There is manipulator installing plate（15）, manipulator installing plate（15）It is equipped with mechanical, hand-driven force mechanisms（18）, mechanical, hand-driven force mechanisms
（18）On be movably equipped with manipulator.
2. a kind of band storage space multifunction manipulator according to claim 1, it is characterized in that, in matrix（1）It is equipped with temporary
Storehouse, temporary storing bin are corresponding with manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720957756.4U CN207223972U (en) | 2017-08-02 | 2017-08-02 | A kind of band storage space multifunction manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720957756.4U CN207223972U (en) | 2017-08-02 | 2017-08-02 | A kind of band storage space multifunction manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207223972U true CN207223972U (en) | 2018-04-13 |
Family
ID=61855345
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720957756.4U Expired - Fee Related CN207223972U (en) | 2017-08-02 | 2017-08-02 | A kind of band storage space multifunction manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207223972U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720429A (en) * | 2021-01-25 | 2021-04-30 | 北京三快在线科技有限公司 | Carrying manipulator and freight transport system |
| CN113003228A (en) * | 2021-02-10 | 2021-06-22 | 北京二郎神科技有限公司 | Cargo distribution system and distribution method, cargo transfer mechanism and cargo transfer method |
-
2017
- 2017-08-02 CN CN201720957756.4U patent/CN207223972U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720429A (en) * | 2021-01-25 | 2021-04-30 | 北京三快在线科技有限公司 | Carrying manipulator and freight transport system |
| CN112720429B (en) * | 2021-01-25 | 2022-07-05 | 北京三快在线科技有限公司 | Carrying manipulator and freight transport system |
| CN113003228A (en) * | 2021-02-10 | 2021-06-22 | 北京二郎神科技有限公司 | Cargo distribution system and distribution method, cargo transfer mechanism and cargo transfer method |
| CN113003228B (en) * | 2021-02-10 | 2022-12-20 | 北京二郎神科技有限公司 | Cargo distribution system and distribution method, cargo transfer mechanism and cargo transfer method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180820 Address after: 264006 No. 10, 10 floor, Hongyuan business building, 29 Jinsha River Road, Yantai economic and Technological Development Zone, Shandong. Patentee after: SHANDONG KEMAN INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 264006 No. 19, Hong an industrial park, 2 Guangzhou Road, Yantai economic and Technological Development Zone, Shandong Patentee before: SHANDONG LUXIN INTELLIGENT TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180413 Termination date: 20210802 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |