CN208323385U - A kind of manipulator sorting equipment - Google Patents

A kind of manipulator sorting equipment Download PDF

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Publication number
CN208323385U
CN208323385U CN201820961092.3U CN201820961092U CN208323385U CN 208323385 U CN208323385 U CN 208323385U CN 201820961092 U CN201820961092 U CN 201820961092U CN 208323385 U CN208323385 U CN 208323385U
Authority
CN
China
Prior art keywords
axis
manipulator
support plate
driving motor
axis support
Prior art date
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.)
Expired - Fee Related
Application number
CN201820961092.3U
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Chinese (zh)
Inventor
马明科
何娟
陆红遵
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Cheng Xin Fresh Intelligent Polytron Technologies Inc
Original Assignee
Shenzhen Cheng Xin Fresh Intelligent Polytron Technologies Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen Cheng Xin Fresh Intelligent Polytron Technologies Inc filed Critical Shenzhen Cheng Xin Fresh Intelligent Polytron Technologies Inc
Priority to CN201820961092.3U priority Critical patent/CN208323385U/en
Application granted granted Critical
Publication of CN208323385U publication Critical patent/CN208323385U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

A kind of manipulator sorting equipment, which is characterized in that including the driving device of support frame and installation on the support frame;The support frame includes Y-axis support frame and the X-axis support plate that is mounted in Y-axis support plate;The both ends of X-axis support plate are installed on Y-axis support frame, the sliding block of X-axis support plate lower end is mounted on the Y-axis sliding rail on Y-axis support frame, X-axis support plate is equipped with Y-axis driving motor, and Y-axis driving motor connects Y-axis gear in X-axis support plate lower end, and Y-axis gear is meshed with Y-axis rack gear;Manipulator is mounted in the X-axis slide rail of X-axis support plate upper end by sliding block, and the manipulator lower end is connect with the Z axis driving motor being mounted on manipulator outer housing by Z axis gear with the Z axis rack gear on the movable hand of X-axis driving motor phase welding manipulator.The beneficial effects of the utility model are the sorting for facilitating manipulator to carry out cargo;Manipulator lower end is equipped with the pick-and-place that sucker is convenient for article, and will not damage product.

Description

A kind of manipulator sorting equipment
Technical field
The utility model relates to automatic vending field more particularly to a kind of manipulator sorting equipments.
Background technique
Cargo carries out article after needing shop-assistant to carry out the sorting of cargo and sells when existing articles-selling.But nobody sells The sorting for sell without shop-assistant article in machine is sold, nobody to be pushed to sell the development of industry with regard to the sorting in unmanned vending machine Device is exactly indispensable.So a kind of currently proposed manipulator sorting equipment fills up the blank of the prior art.
Utility model content
The utility model provides a kind of manipulator sorting equipment.Manipulator XY transformation of axis may be implemented in the present apparatus, is used for The manipulator of goods sorting can be moved to any XY coordinate points in support frame and carry out goods sorting, and manipulator is facilitated to carry out goods The sorting of object;Manipulator lower end is equipped with the pick-and-place that sucker is convenient for article, and will not damage product.
A kind of manipulator sorting equipment, which is characterized in that including the driving device of support frame and installation on the support frame;Institute The support frame stated includes Y-axis support frame and the X-axis support plate that is mounted in Y-axis support plate;The both ends of the X-axis support plate are equal It is mounted on Y-axis support frame, the sliding block of X-axis support plate lower end is mounted on the Y-axis sliding rail on Y-axis support frame, X-axis support plate one End is equipped with Y-axis driving motor, and the Y-axis driving motor is fixed in X-axis support plate, and Y-axis driving motor is in X-axis support plate Lower end connects Y-axis gear, and Y-axis gear is meshed with Y-axis sliding rail side equipped with the Y-axis rack gear for being parallel to Y-axis sliding rail, Y-axis driving Motor driven drives X-axis support plate to move reciprocatingly along Y-axis;
The X-axis support plate is that the hollow of hollow out among all round closure designs, intermediate in the X-axis support plate to engrave Empty part is also equipped with manipulator;The manipulator is mounted in X-axis support plate, and the two sides of manipulator are mounted on X by sliding block In the X-axis slide rail of axis support plate upper end, the manipulator lower end connects with X-axis driving motor, the X-axis driving motor it is defeated The X-axis slide rail of shaft and X-axis support plate upper and lower side is perpendicular, and the output shaft of X-axis driving motor is supported by X-axis gear and X-axis X-axis rack gear connection on plate, the driving of X-axis driving motor drive manipulator to move reciprocatingly along X-axis;
The manipulator includes manipulator outer housing and movable hand, during manipulator outer housing is mounted in X-axis support plate Between hollow-out part, movable hand is mounted in manipulator outer housing, and the Z perpendicular to X-axis support plate is equipped on the inside of manipulator outer housing Axis rail in the Z axis guide rail on the inside of sliding block installation manipulator outer housing on movable hand, is additionally provided on movable hand perpendicular to X-axis The Z axis rack gear of sliding rail, the Z axis rack gear are connected with the Z axis driving motor being mounted on manipulator outer housing by Z axis gear It connects, gear is engaged with Z axis rack gear, and the driving of Z axis driving motor drives movable hand to move reciprocatingly along Z axis;The machine of manipulator lower end Connecting sucker mechanism below tool hand movable end.
Preferably, Y-axis support frame includes the first Y-axis support plate and the second Y-axis support plate, the first Y-axis support plate and the 2nd Y Axis supporting plate structure mirror symmetry, the first Y-axis support plate and the second Y-axis support plate are fixed on the left and right in goods sorting space Two sides.
Preferably, X-axis support plate left and right ends are respectively equipped with Y-axis driving motor and Z axis driving motor, Y-axis driving Motor is identical with the model of Z axis driving motor.
Preferably, the Y-axis driving motor, Z axis driving motor, manipulator and X-axis driving motor are separately connected control Device, the controller control Y-axis driving motor, Z axis driving motor, manipulator and the work of X-axis driving motor respectively.
The beneficial effects of the utility model are that manipulator XY transformation of axis may be implemented in the present apparatus, for goods sorting Manipulator can be moved to any XY coordinate points in support frame and carry out goods sorting, and manipulator is facilitated to carry out the sorting of cargo; Manipulator lower end is equipped with the pick-and-place that sucker is convenient for article, and will not damage product.
Detailed description of the invention
Fig. 1 is the utility model overall structure diagram.
Fig. 2 is the utility model rear side viewing structural schematic diagram.
Fig. 3 is the right side structure schematic view of the utility model.
Fig. 4 is the utility model robot manipulator structure schematic diagram.
Fig. 5 is the utility model manipulator and the second Y-axis support plate connection structure schematic diagram.
Fig. 6 is the utility model robot manipulator structure schematic diagram.
Fig. 7 is the utility model the first Y-axis support plate and Y-axis driving motor attachment structure schematic diagram.
Fig. 8 is the utility model the first Y-axis supporting plate structure schematic diagram.
In figure: 1- the second Y-axis support plate, 2-X axis support plate, 3-X axis sliding rail, 4-Y axis driving motor, 5-X axis rack gear, 6- Z axis driving motor, 7- manipulator, 8-X axis driving motor, 9-Y axis sliding rail, 10- manipulator movable end, 11- sucker, the first Y of 12- Axis support plate, 13-X shaft gear, 14- sliding block, 15-Y axis rack gear, 41-Y shaft gear, 71- manipulator outer housing, 72- movable hand, 73-Z axis rack gear.
Specific embodiment
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width Degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", The orientation or positional relationship of the instructions such as " clockwise ", " counterclockwise " be based on the orientation or positional relationship shown in the drawings, be only for Convenient for description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have specifically Orientation is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected;It can To be mechanical connection, it is also possible to be electrically connected;It can be directly connected, can also can be indirectly connected through an intermediary Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood as the case may be Concrete meaning in the present invention.
The utility model is described further with reference to the accompanying drawing.
As shown, a kind of 7 sorting equipment of manipulator, which is characterized in that on the support frame including support frame and installation Driving device;The support frame includes Y-axis support frame and the X-axis support plate 2 that is mounted in Y-axis support plate;The X-axis branch The both ends of fagging 2 are installed on Y-axis support frame, and it is sliding that the sliding block 14 of 2 lower end of X-axis support plate is mounted on the Y-axis on Y-axis support frame On rail 9,2 one end of X-axis support plate is equipped with Y-axis driving motor 4, and the Y-axis driving motor 4 is fixed in X-axis support plate 2, Y Axis driving motor 4 connects Y-axis gear 41 in 2 lower end of X-axis support plate, and Y-axis gear 41 and 9 side of Y-axis sliding rail, which are equipped with, is parallel to Y-axis The Y-axis rack gear 15 of sliding rail 9 is meshed, and the driving of Y-axis driving motor 4 drives X-axis support plate 2 to move reciprocatingly along Y-axis;
The X-axis support plate 2 is that the hollow of hollow out among all round closure designs, intermediate in the X-axis support plate 2 Hollow-out part is also equipped with manipulator 7;The manipulator 7 is mounted in X-axis support plate 2, and the two sides of manipulator 7 pass through sliding block 14 It is mounted in the X-axis slide rail 3 of 2 upper end of X-axis support plate, 7 lower end of manipulator connects with X-axis driving motor 8, the X-axis The output shaft of driving motor 8 and the X-axis slide rail 3 of 2 upper and lower side of X-axis support plate are perpendicular, and the output shaft of X-axis driving motor 8 passes through X Shaft gear 13 is connect with the X-axis rack gear 5 in X-axis support plate 2, and the driving of X-axis driving motor 8 drives manipulator 7 to do reciprocal fortune along X-axis It is dynamic;
The manipulator 7 includes manipulator outer housing 71 and movable hand 72, and manipulator outer housing 71 is mounted on X-axis support Intermediate hollow-out part, manipulator outer housing 71 are the hollow cylindrical configuration of upper and lower ends opening on plate 2, and movable hand 72 is mounted on machine The Z axis guide rail perpendicular to X-axis support plate 2, the cunning on movable hand 72 are equipped in tool hand outer housing 71, on the inside of manipulator outer housing 71 In the Z axis guide rail of 14 installation manipulator outer housing of block, 71 inside, the Z axis rack gear perpendicular to X-axis slide rail 3 is additionally provided on movable hand 72 73, the Z axis rack gear 73 is connect with the Z axis driving motor 6 being mounted on manipulator outer housing by Z axis gear, gear and Z Axis rack gear 73 engages, and the driving of Z axis driving motor 6 drives movable hand 72 to move reciprocatingly along Z axis;The manipulator of 7 lower end of manipulator 10 lower section connecting sucker of movable end, 11 mechanism.
Preferably, Y-axis support frame includes the first Y-axis support plate 12 and the second Y-axis support plate 1,12 He of the first Y-axis support plate Second Y-axis support plate, 1 structure mirror symmetry, the first Y-axis support plate 12 and the second Y-axis support plate 1 are fixed on goods sorting The left and right sides in space.
Preferably, 2 left and right ends of X-axis support plate are respectively equipped with Y-axis driving motor 4 and Z axis driving motor 6, and Y-axis is driven Dynamic motor 4 is identical with the model of Z axis driving motor 6.
Preferably, the Y-axis driving motor 4, Z axis driving motor 6, manipulator 7 and X-axis driving motor 8 are separately connected Controller, the controller control Y-axis driving motor 4,8 work of Z axis driving motor 6, manipulator 7 and X-axis driving motor respectively Make.
The present embodiment realizes the movement of the position in space coordinates of manipulator 7 by the way of wheel and rack cooperation. The X-axis support plate 2 of the utility model is mounted on Y-axis support frame, forms the first Y-axis support plate 12 and the 2nd Y of Y-axis support frame Y-axis sliding rail 9 is equipped in axis support plate 1;As shown in fig. 7, the first Y-axis support plate 12 is equipped with and 4 output end of Y-axis driving motor The Y-axis rack gear 15 that the Y-axis gear 41 of connection engages, Y-axis driving motor 4 connect controller, and controller controls Y-axis driving motor 4 Work drives X-axis support plate 2 to move in parallel along Y-axis when Y-axis driving motor 4 works, and X-axis support plate 2 is moved in parallel along Y-axis, X Manipulator 7 in axis support plate 2 changes in the position of Y axis coordinate.As shown in Fig. 2, being mounted on the machine in X-axis support plate 2 7 lower end of tool hand is connected with X-axis driving motor 8, the output shaft connection gear of X-axis driving motor 8, and X-axis driving motor 8 is mounted on machine 7 lower end of tool hand and gear is engaged with the X-axis rack gear 5 of 2 lower end of X-axis support plate.X-axis driving motor 8 drives, X-axis driving motor 8 Output shaft rotation drives X-axis gear 13 to rotate, and X-axis gear 13 is engaged with X-axis rack gear 5, and the rotation of X-axis gear 13 drives X-axis driving The movement of motor 8 and manipulator 7 in X-axis, the work of X-axis driving motor 8 change the coordinate position in X-axis of manipulator 7.Y-axis Driving motor 4 and the cooperation of X-axis driving motor 8 change position of the manipulator 7 in XY coordinate.
As shown in Figures 1 to 6, Z axis driving motor 6, the activity of Z axis driving motor 6 and manipulator 7 are connected on manipulator 7 The Z axis rack gear 73 that hand 72 is equipped with is connected by Z axis, and the driving of Z axis driving motor drives movable hand 72 in manipulator outer housing 71 It is interior to be moved up and down along Z-direction.Z axis driving motor 6 connects controller, and controller controls Z axis driving motor 6 and works, Z axis driving Manipulator movable end 10 is moved along Z axis when motor 6 works.When manipulator 7 moves down, manipulator movable end 10, which moves down, to be changed Become sucker 11 in the position of Z axis, sucker 11 is moved to after article area draws article and article is transported to the rest area set, Y Axis driving motor 4, X-axis driving motor 8 and the cooperation of Z axis driving motor 6 can make manipulator 7 realize a support frame lower end still space The pick-and-place of article at coordinate.
The beneficial effects of the utility model are the manipulator that XY transformation of axis may be implemented in the present apparatus, for goods sorting 7 can be moved to any XY coordinate points in support frame, and manipulator 7 is facilitated to carry out the sorting of cargo;7 lower end of manipulator, which is equipped with, inhales Disk 11 is convenient for the pick-and-place of article, and will not damage product.
It can also be using the side of belt transmission or the replacement wheel and rack cooperation of screw rod transmission mode in above-described embodiment Formula.
Embodiment of above is merely to illustrate the utility model, and is not limitation of the utility model, related technology neck The those of ordinary skill in domain, in the case where not departing from the spirit and scope of the utility model, can also make a variety of changes and Modification, therefore all equivalent technical solutions also belong to the scope of the utility model, the scope of patent protection of the utility model is answered It is defined by the claims.

Claims (4)

1. a kind of manipulator sorting equipment, which is characterized in that including the driving device of support frame and installation on the support frame;It is described Support frame include Y-axis support frame and the X-axis support plate that is mounted in Y-axis support plate;Pacify at the both ends of the X-axis support plate On Y-axis support frame, the sliding block of X-axis support plate lower end is mounted on the Y-axis sliding rail on Y-axis support frame, X-axis support plate one end Equipped with Y-axis driving motor, the Y-axis driving motor is fixed in X-axis support plate, and Y-axis driving motor is under X-axis support plate End connection Y-axis gear, Y-axis gear are meshed with Y-axis sliding rail side equipped with the Y-axis rack gear for being parallel to Y-axis sliding rail, Y-axis driving electricity Machine driving drives X-axis support plate to move reciprocatingly along Y-axis;
The X-axis support plate is the hollow design of hollow out among all round closure, intermediate hollow-out parts in the X-axis support plate Divide and is also equipped with manipulator;The manipulator is mounted in X-axis support plate, and the two sides of manipulator are mounted on X-axis branch by sliding block In the X-axis slide rail of fagging upper end, the manipulator lower end connects with X-axis driving motor, the output shaft of the X-axis driving motor Perpendicular with the X-axis slide rail of X-axis support plate upper and lower side, the output shaft of X-axis driving motor passes through on X-axis gear and X-axis support plate X-axis rack gear connection, X-axis driving motor driving drive manipulator move reciprocatingly along X-axis;
The manipulator includes manipulator outer housing and movable hand, and manipulator outer housing is mounted in X-axis support plate intermediate engrave Empty part, movable hand are mounted in manipulator outer housing, and the Z axis being equipped on the inside of manipulator outer housing perpendicular to X-axis support plate is led Rail in the Z axis guide rail on the inside of sliding block installation manipulator outer housing on movable hand, is additionally provided on movable hand perpendicular to X-axis slide rail Z axis rack gear, the Z axis rack gear connect with the Z axis driving motor being mounted on manipulator outer housing by Z axis gear, tooth Wheel is engaged with Z axis rack gear, and the driving of Z axis driving motor drives movable hand to move reciprocatingly along Z axis;The manipulator of manipulator lower end is living Connecting sucker mechanism below moved end.
2. a kind of manipulator sorting equipment according to claim 1, which is characterized in that Y-axis support frame includes the first Y-axis branch Fagging and the second Y-axis support plate, the first Y-axis support plate and the second Y-axis supporting plate structure mirror symmetry, the first Y-axis support Plate and the second Y-axis support plate are fixed on the left and right sides in goods sorting space.
3. a kind of manipulator sorting equipment according to claim 1, which is characterized in that X-axis support plate left and right ends It is respectively equipped with Y-axis driving motor and Z axis driving motor, Y-axis driving motor is identical with the model of Z axis driving motor.
4. a kind of manipulator sorting equipment according to claim 1, which is characterized in that the Y-axis driving motor, Z axis Driving motor, manipulator and X-axis driving motor are separately connected controller, and the controller controls Y-axis driving motor, Z respectively Axis driving motor, manipulator and the work of X-axis driving motor.
CN201820961092.3U 2018-06-21 2018-06-21 A kind of manipulator sorting equipment Expired - Fee Related CN208323385U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201820961092.3U CN208323385U (en) 2018-06-21 2018-06-21 A kind of manipulator sorting equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201820961092.3U CN208323385U (en) 2018-06-21 2018-06-21 A kind of manipulator sorting equipment

Publications (1)

Publication Number Publication Date
CN208323385U true CN208323385U (en) 2019-01-04

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CN201820961092.3U Expired - Fee Related CN208323385U (en) 2018-06-21 2018-06-21 A kind of manipulator sorting equipment

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110170456A (en) * 2019-04-30 2019-08-27 南京邮电大学 Fruit sorting equipment based on image procossing

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110170456A (en) * 2019-04-30 2019-08-27 南京邮电大学 Fruit sorting equipment based on image procossing

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20190104

Termination date: 20190621

CF01 Termination of patent right due to non-payment of annual fee