CN208070815U - A kind of flexible manipulator capturing plurality of specifications material unit - Google Patents

A kind of flexible manipulator capturing plurality of specifications material unit Download PDF

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Publication number
CN208070815U
CN208070815U CN201820373943.2U CN201820373943U CN208070815U CN 208070815 U CN208070815 U CN 208070815U CN 201820373943 U CN201820373943 U CN 201820373943U CN 208070815 U CN208070815 U CN 208070815U
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China
Prior art keywords
support plate
clamping
hook
lifting
cylinder
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CN201820373943.2U
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Inventor
李冰
肖春龙
王斌
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Shenzhen Giesecke & Devrient Currency Automation Systems Co Ltd
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Shenzhen Giesecke & Devrient Currency Automation Systems Co Ltd
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Abstract

A kind of flexible manipulator capturing plurality of specifications material unit, stepper motor including being fixed on motor support plate upper surface, stepper motor lower end passes through motor support plate to connect longitudinal ball wire bar pair, and ball wire bar pair can be driven to rotate, ball wire bar pair lower end connects lifting and clamping mechanism, lifting and clamping mechanism includes the lateral lifting support plate being fixedly connected with ball wire bar pair again, lifting support plate is fixedly connected with horizontal clamping cylinder at left and right sides of lower surface, clamping cylinder end connects vertical both sides clamping plate, the outer longitudinal hook cylinder of side elevation setting of both sides clamping plate, hook cylinder lower end axis connection hook, hook has hook shaft to connect again with both sides clamping plate.Motor support plate lower plane is fixedly connected with fixed link and guide rod, and fixed link and lower end of the guide rod are fixedly connected with suction disc support plate, and suction disc support plate is located at the parallel downside of lifting and clamping mechanism, and lower surface connecting sucker, and vacuum control check valve is arranged in sucker upper end.The utility model can capture a variety of different size materials.

Description

A kind of flexible manipulator capturing plurality of specifications material unit
Technical field
The utility model is related to warehouse manipulator arm art, more particularly to a kind of plurality of specifications material unit that captures Flexible manipulator.
Background technology
With the raising of automatization level, automatic control technology widely applies in tiered warehouse facility field, meets Requirement of the people to speed, precision, height, repeated access and carrying etc., makes warehouse overall efficiency and the strain energy of operation Power improves a lot.Manipulator plays a crucial role in stereoscopic warehouse goods access and handling process, while PLC technology Device(PLC)With its function is strong, reliability is high, flexible and convenient to use and a series of advantage such as be easily programmed and transported in Industry Control With extensive.Compared with other kinds of manipulator, Pneumatic manipulator is with simple in structure, cost is relatively low, easy to maintain, speed is fast The features such as.
But manipulator in the prior art, in actual use, the material unit that can be captured is more single, and Different material causes existing manipulator to cannot be satisfied different size material there are differences such as size difference, packaging material differences Stacking demand.It makes troubles to work, and increases the cost of manipulator purchase.
Invention content
The utility model in order to solve its technical problem used by technical solution be:
A kind of flexible manipulator equipment capturing plurality of specifications material unit is provided, this equipment is one kind by first drawing The equipment that the mode of material carries out stacking and de-stacking is clamped afterwards.Equipment includes stepper motor, motor support plate, ball wire bar pair, Lifting and clamping mechanism, sucker, fixed link, guide rod, suction disc support plate, vacuum control check valve;Wherein lifting and clamping mechanism includes folder again Tight cylinder, hook, hook shaft and hook cylinder, both sides clamping plate lift support plate.
This flexible manipulator, including it is fixed on the stepper motor for the motor support plate upper surface being laterally arranged, the stepping Motor lower end is connected with longitudinal ball wire bar pair across the motor support plate, and the ball wire bar pair can be driven to rotate, institute It states ball wire bar pair lower end and is connected with lifting and clamping mechanism, the lifting and clamping mechanism includes to be fixed with the ball wire bar pair again The lateral lifting support plate of connection, the lifting support plate lower surface left and right sides are fixedly connected with the clamping gas being laterally arranged The end of cylinder, the clamping cylinder connects vertical longitudinally disposed both sides clamping plate, is set again on the outer side elevation of the both sides clamping plate It is equipped with longitudinally mounted hook cylinder, the lower end axis connection of the hook cylinder has hook, meanwhile, the hook and the both sides It is connected further through hook shaft between clamping plate, the hook cylinder can push and pull the hook, and the hook is made to turn around the hook The inside and outside rotation of axis.
The motor support plate lower plane is also longitudinally fixed to be connected with fixed link and guide rod, and the fixed link and guide rod are vertical To across the lifting support plate and connectionless, the lifting support plate can move up and down along the fixed link and guide rod, described The lower end of fixed link and guide rod is fixedly connected with lateral suction disc support plate, and the suction disc support plate is located at the lifting clamping machine The parallel downside of structure, the suction disc support plate lower surface are fixedly connected with sucker.
The sucker is used for absorbing material, and the stepper motor is by driving the ball wire bar pair rotation described in driving Lifting and clamping mechanism move up and down, the both sides clamping plate can by the clamping cylinder it is flexible by contract or outward open Open, to clamp or decontrol material, the hook can by the hook cylinder it is flexible by outwardly or inwardly rotate, to hold or Material is put down, grasping movement is completed.
Be between the motor support plate and the stepper motor, the stepper motor lower end and the ball wire bar pair it Between be for bolt and nut connect, between the ball wire bar pair lower end and the lifting and clamping mechanism can be welding can also be spiral shell Bolt nut connect, the ball wire bar pair and it is described laterally lifting support plate between, the lifting support plate lower surface with it is described Between clamping cylinder, between the clamping cylinder and the both sides clamping plate, between the both sides clamping plate and the hook cylinder, It is connected for bolt and nut.
Included angle between the both sides clamping plate and the hook cylinder being arranged outside the both sides clamping plate on side elevation Between 0 ° -90 °.
The sucker quantity is more than 2, and is uniformly arranged on the lower surface of the suction disc support plate.
The sucker upper end is provided with vacuum control check valve.
Camera can be also set on the lifting and clamping mechanism, and the camera is electrically connected with stacking program
The principle of the robotic device is:First by sucker absorbing material(Plastics hopper or canvas bag), in order to prevent individually Sucker gas leakage and lead to whole system gas leakage, increase vacuum control check valve in sucker upper end, sucker is fixed in suction disc support plate, Suction disc support plate is connected and fixed with motor support plate by fixed link, and after material is sucked in sucker, stepper motor drives ball wire Bar pair rotates, to be exercised to the folder for behind designated position, being fixed on lifting support plate to drive lifting and clamping mechanism to move down Tight cylinder is shunk, and is clamped material to drive the clamping plate being connected on clamping cylinder inwardly to shrink, then, is mounted on clamping plate Hook cylinder stretches out, and so that hook is held material bottom, grasping movement finishes.
Description of the drawings
The utility model is further illustrated with example below in conjunction with the accompanying drawings
Fig. 1 is the front view of the utility model
Fig. 2 is the utility model ball wire bar pair(2)Position view
Main appended drawing reference:
1, stepper motor;2, ball wire bar pair;3, lifting and clamping mechanism;4, sucker;5, clamping cylinder;6, hook;7, hook Sub- cylinder;8, clamping plate;9, support plate is lifted;0, fixed link;11, guide rod;12, suction disc support plate;13, vacuum control check valve;14, electric Machine support plate;15, hook shaft.
Specific implementation mode
As depicted in figs. 1 and 2, a kind of flexible manipulator capturing plurality of specifications material unit, including fixation are provided In the motor support plate being laterally arranged(14)The stepper motor of upper surface(1), the stepper motor(1)Lower end passes through the motor Support plate(14)It is connected with longitudinal ball wire bar pair(2), and the ball wire bar pair can be driven(2)Rotation, the ball screw It is secondary(2)Lower end is connected with lifting and clamping mechanism(3), the lifting and clamping mechanism(3)Include and the ball wire bar pair again(2)Gu Surely the lateral lifting support plate connected(9), the lifting support plate(9)It is fixedly connected with lateral setting at left and right sides of lower surface Clamping cylinder(5), the clamping cylinder(5)The vertical longitudinally disposed both sides clamping plate of end connection(8), the both sides clamping plate (8)Outer side elevation on again be provided with longitudinally mounted hook cylinder(7), the hook cylinder(7)Lower end axis connection have hook Son(6), meanwhile, the hook(6)With the both sides clamping plate(8)Between further through hook shaft(15)Connection, the hook gas Cylinder(7)The hook can be pushed and pulled(6), make the hook(6)Around the hook shaft(15)Inside and outside rotation;
The motor support plate(14)Lower plane is also longitudinally fixed to be connected with fixed link(10)And guide rod(11), the fixation Bar(10)And guide rod(11)Longitudinally through the lifting support plate(9)And connectionless, the lifting support plate(9)It can be along described Fixed link(10)And guide rod(11)It moves up and down, the fixed link(10)And guide rod(11)Lower end be fixedly connected with lateral sucker Support plate(12), and the suction disc support plate(12)Positioned at the lifting and clamping mechanism(3)Parallel downside, the suction cup support Plate(12)Lower surface is fixedly connected with sucker(4);
The sucker(4)For absorbing material, the stepper motor(1)By driving the ball wire bar pair(2)Rotation And drive the lifting and clamping mechanism(3)It moves up and down, the both sides clamping plate(8)The clamping cylinder can be passed through(5)It is flexible And to contract or be flared out, to clamp or decontrol material, the hook(6)The hook cylinder can be passed through(7)It is flexible And outwardly or inwardly rotate, to hold or put down material, complete grasping movement.
The motor support plate(14)With the stepper motor(1)Between, the stepper motor(1)Lower end and the ball Screw pair(2)Between be for bolt and nut connect, the ball wire bar pair(2)Lower end and the lifting and clamping mechanism(3)It Between can be welding can also be bolt and nut connection, the ball wire bar pair(2)With the laterally lifting support plate(9)Between, institute State lifting support plate(9)Lower surface and the clamping cylinder(5)Between, the clamping cylinder(5)With the both sides clamping plate(8)It Between, the both sides clamping plate(8)With the hook cylinder(7)Between, it is bolt and nut connection.
The both sides clamping plate(8)With setting in the both sides clamping plate(8)The hook cylinder on outer side elevation(7)Between Between included angle is 0 ° -90 °.
The sucker(4)Quantity is more than 2, and is uniformly arranged on the suction disc support plate(12)Lower surface.
The sucker(4)Upper end is provided with vacuum control check valve(13).
The lifting and clamping mechanism(3)On camera can be also set, the camera is electrically connected with stacking program.
The utility model can realize following functions:
A) plastic box of 25kg or canvas bag can be put in storage from conveyer in stacking to pallet by flexible manipulator Operation, or de-stacking carries out Delivery on code to another pallet again from pallet;
B) by carrying camera, the verification of fixture energy automatic identification currently needs the material category captured, to call difference Stacking program stacking is carried out to current material;
C) different material, packaging type and Package size are all different.Kind of packing is divided into plastic box and canvas bag, packaging Size has 10 kinds, each size has a set of stacking program;
D) when outbound order sorts, different types of packaging can improve outbound efficiency with sized-multiple.
Utility model works principle is as follows:
A) plastic box is handled
I. it picks up
This puma manipulator need to be mounted on portal frame and use.After system receives gripping plastic box instruction, outside is set Standby portal frame can move to designated position, and portal frame drives manipulator integrally to move to sucker down(4)Bottom touches plastics Case upper surface, sucker(4)Plastics hopper is sucked, it is then past to rise to certain altitude, stepper motor(1)By driving ball screw It is secondary(2)Rotation is to drive lifting and clamping mechanism(3)It moves down, to be exercised to behind designated position, clamping cylinder(5)It shrinks, Make both sides clamping plate(8)Grip plastic hopper, gripping plastics hopper finish.It is then transported to portal frame according to system requirements specified Position carries out stacking or de-stacking.
Ii. it puts down
After manipulator completes gripping action, plastic box needs stacking to specified pallet position or de-stacking to designated position.This When, when portal frame moves to stacking or de-stacking position, clamping cylinder(5)It stretches out, makes both sides clamping plate(8)It is detached from plastics hopper, Stepper motor(1)By driving ball wire bar pair(2)Rotation is to drive lifting and clamping mechanism(3)It up moves, portal frame band Dynamic manipulator moves downward, until plastics material bottom portion touches plastics hopper below, sucker(4)It dies, sucker is made to be detached from Plastics hopper, portal frame drive manipulator leaves stacking or de-stacking position, action finish.
B) canvas bag is handled
I. it picks up
After system receives gripping canvas bag instruction, external equipment portal frame can move to designated position, portal frame band Dynamic manipulator integrally moves to sucker down(4)Bottom touches canvas bag upper surface, sucker(4)Canvas bag is sucked, it is then past Rise to certain altitude, stepper motor(1)By driving ball wire bar pair(2)Rotation is to drive lifting and clamping mechanism(3)It is past Lower movement, to be exercised to behind designated position, clamping cylinder(5)It shrinks, makes both sides clamping plate(8)Clamp canvas bag, hook cylinder(7) It stretches out, makes hook(6)Canvas bag bottom is held, gripping canvas bag finishes.Finger is then transported to portal frame according to system requirements Positioning, which is set, carries out stacking or de-stacking.
Ii. it puts down
After manipulator completes gripping action, canvas bag needs stacking to specified pallet position or de-stacking to designated position.This When, when portal frame moves to stacking or de-stacking position, hook cylinder(7)It retracts, makes hook(6)It is detached from canvas bag bottom, folder Tight cylinder(5)It stretches out, makes both sides clamping plate(8)It is detached from canvas bag, stepper motor(1)By driving ball wire bar pair(2)Rotation from And drive lifting and clamping mechanism(3)It up moves, portal frame drives manipulator to move downward, until canvas bag bottom touches it Lower section canvas bag, sucker(4)It dies, sucker is made to be detached from canvas bag, portal frame drives manipulator to leave stacking or de-stacking position, moves It finishes.
The advantages of basic principles and main features and the utility model of the utility model have been shown and described above.One's own profession The technical staff of industry is not it should be appreciated that the utility model is limited by above-mentioned case study on implementation, in above-mentioned case study on implementation and specification Description only illustrates the principles of the present invention, and on the premise of not departing from the spirit and scope of the utility model, this practicality is new Type will also have various changes and improvements, and these various changes and improvements fall within the scope of the claimed invention.

Claims (6)

1. the flexible manipulator of plurality of specifications material unit is captured a kind of, including is fixed on the motor support plate being laterally arranged (14)The stepper motor of upper surface(1), the stepper motor(1)Lower end passes through the motor support plate(14)It is connected with longitudinal rolling Ballscrew pair(2), and the ball wire bar pair can be driven(2)Rotation, the ball wire bar pair(2)Lower end is connected with lifting and clamps Mechanism(3), the lifting and clamping mechanism(3)Include and the ball wire bar pair again(2)The lateral lifting support plate being fixedly connected (9), the lifting support plate(9)It is fixedly connected with the clamping cylinder being laterally arranged at left and right sides of lower surface(5), the clamping Cylinder(5)The vertical longitudinally disposed both sides clamping plate of end connection(8);
It is characterized in that the both sides clamping plate(8)Outer side elevation on again be provided with longitudinally mounted hook cylinder(7), the hook Sub- cylinder(7)Lower end axis connection have hook(6), meanwhile, the hook(6)With the both sides clamping plate(8)Between further through hook Sub- shaft(15)Connection, the hook cylinder(7)The hook can be pushed and pulled(6), make the hook(6)Around the hook shaft (15)Inside and outside rotation;
The motor support plate(14)Lower plane is also longitudinally fixed to be connected with fixed link(10)And guide rod(11), the fixed link (10)And guide rod(11)Longitudinally through the lifting support plate(9)And connectionless, the lifting support plate(9)It can be along described solid Fixed pole(10)And guide rod(11)It moves up and down, the fixed link(10)And guide rod(11)Lower end be fixedly connected with lateral sucker branch Fagging(12), and the suction disc support plate(12)Positioned at the lifting and clamping mechanism(3)Parallel downside, the suction disc support plate (12)Lower surface is fixedly connected with sucker(4);
The sucker(4)For absorbing material, the stepper motor(1)By driving the ball wire bar pair(2)It rotates and drives Move the lifting and clamping mechanism(3)It moves up and down, the both sides clamping plate(8)The clamping cylinder can be passed through(5)It is flexible and to Contract is flared out, to clamp or decontrol material, the hook(6)The hook cylinder can be passed through(7)It is flexible and to It is interior or be turned out, to hold or put down material, complete grasping movement.
2. a kind of flexible manipulator capturing plurality of specifications material unit according to claim 1, it is characterized in that described Motor support plate(14)With the stepper motor(1)Between, the stepper motor(1)Lower end and the ball wire bar pair(2)It Between be for bolt and nut connect, the ball wire bar pair(2)Lower end and the lifting and clamping mechanism(3)Between can be welding But bolt and nut connects, the ball wire bar pair(2)With the laterally lifting support plate(9)Between, the lifting support plate (9)Lower surface and the clamping cylinder(5)Between, the clamping cylinder(5)With the both sides clamping plate(8)Between, the both sides Clamping plate(8)With the hook cylinder(7)Between, it is bolt and nut connection.
3. a kind of flexible manipulator capturing plurality of specifications material unit according to claim 1, it is characterized in that described Both sides clamping plate(8)With setting in the both sides clamping plate(8)The hook cylinder on outer side elevation(7)Between included angle be Between 0 ° -90 °.
4. a kind of flexible manipulator capturing plurality of specifications material unit according to claim 1, it is characterized in that described Sucker(4)Quantity is more than 2, and is uniformly arranged on the suction disc support plate(12)Lower surface.
5. a kind of flexible manipulator capturing plurality of specifications material unit according to claim 1, characterized in that described Sucker(4)Upper end is provided with vacuum control check valve(13).
6. a kind of flexible manipulator capturing plurality of specifications material unit according to claim 1, characterized in that described Lifting and clamping mechanism(3)On camera can be also set, the camera is electrically connected with stacking program.
CN201820373943.2U 2018-03-20 2018-03-20 A kind of flexible manipulator capturing plurality of specifications material unit Active CN208070815U (en)

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Application Number Priority Date Filing Date Title
CN201820373943.2U CN208070815U (en) 2018-03-20 2018-03-20 A kind of flexible manipulator capturing plurality of specifications material unit

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110902380A (en) * 2019-12-10 2020-03-24 胡见见 Stacking manipulator
CN111099373A (en) * 2019-12-31 2020-05-05 山东泰开机器人有限公司 Wide-adaptability rotary grouping machine
CN111137682A (en) * 2020-01-02 2020-05-12 合肥维信诺科技有限公司 Clamping device, product conveying device and display panel manufacturing system
CN111099373B (en) * 2019-12-31 2021-09-03 山东泰开机器人有限公司 Wide-adaptability rotary grouping machine

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110902380A (en) * 2019-12-10 2020-03-24 胡见见 Stacking manipulator
CN111099373A (en) * 2019-12-31 2020-05-05 山东泰开机器人有限公司 Wide-adaptability rotary grouping machine
CN111099373B (en) * 2019-12-31 2021-09-03 山东泰开机器人有限公司 Wide-adaptability rotary grouping machine
CN111137682A (en) * 2020-01-02 2020-05-12 合肥维信诺科技有限公司 Clamping device, product conveying device and display panel manufacturing system

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