CN208732072U - Manipulator executive device - Google Patents
Manipulator executive device Download PDFInfo
- Publication number
- CN208732072U CN208732072U CN201821099645.5U CN201821099645U CN208732072U CN 208732072 U CN208732072 U CN 208732072U CN 201821099645 U CN201821099645 U CN 201821099645U CN 208732072 U CN208732072 U CN 208732072U
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- CN
- China
- Prior art keywords
- pallet
- bearing part
- manipulator
- fixture
- pallet load
- 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
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Abstract
The utility model provides a kind of manipulator executive device, is related to manipulator technical field, and single bottle or single tank drinks can only be grabbed and carry technical problem by solving manipulator crawl fixture existing in the prior art.The device includes including telescoping drive mechanism and pallet load-bearing part, telescoping drive mechanism is connected with pallet load-bearing part and pallet load-bearing part can be driven reciprocating and be moved to the position engaged with pallet and release the position engaged with pallet, the pallet can be moved and can be moved in a second direction under the drive of manipulator along first direction under the drive of the pallet load-bearing part after engaging with the pallet load-bearing part, and there are angles between the first direction and the second direction.The utility model can disposably carry more bottles in pallet or multiple tank drinks by pallet.
Description
Technical field
The utility model relates to manipulator technical fields, more particularly, to a kind of manipulator executive device.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.With the continuous hair of robot technology
Exhibition, manipulator on industrial production line using increasingly extensive.In catering field, there are a large amount of drinks to consume daily,
Traditional manual mode of operation carries out storage picking to drinks and is easy error, and efficiency is lower.Manipulator is introduced into drinks
Storage and outbound operation can greatly improve operating efficiency, save the cost.
Applicants have discovered that at least there is following technical problem in the prior art:
Manipulator is introduced into catering field, the storage of drinks and outbound operation are completed by the crawl fixture of manipulator, but
This crawl fixture has a single function, and is typically only capable to that single bottle or single tank drinks are grabbed and carried, can not be by pallet pair
More bottles in pallet or multiple tank drinks are disposably carried.
Summary of the invention
The purpose of this utility model is to provide manipulator executive devices, are grabbed with solving manipulator existing in the prior art
Take fixture that can only carry out grasp handling technical problem to single bottle or single tank drinks.In many technical solutions provided by the utility model
The many technical effects elaboration as detailed below that can be generated of optimal technical scheme.
To achieve the above object, the utility model provides following technical scheme:
Manipulator executive device provided by the utility model, including telescoping drive mechanism and pallet load-bearing part are stretched and are driven
Motivation structure is connected with pallet load-bearing part and pallet load-bearing part can be driven reciprocating and be moved to the position engaged with pallet
And the position engaged is released with pallet, the pallet can be in the band of the pallet load-bearing part after engaging with the pallet load-bearing part
It moves and can be moved in a second direction under the drive of manipulator along first direction under dynamic, the first direction and the second party
There are angles between.
Optionally, the telescoping drive mechanism includes the first cylinder, device noumenon and sliding rail, and first cylinder is set to
Described device ontology rear and driving described device ontology forward movement, the sliding rail and the pallet load-bearing part are set to described
It the lower section of device noumenon and is moved along the sliding rail, the bulge-structure of the pallet load-bearing part is matched with the through-hole structure of pallet
Engaged.
Optionally, the second cylinder drives the pallet load-bearing part to move in a first direction along the sliding rail.
Optionally, the pallet load-bearing part there are two and the both ends that are distributed in below described device ontology.
Optionally, the manipulator executive device further includes vacuum chuck component, and the vacuum chuck is set to the dress
Set the front of ontology.
Optionally, the vacuum chuck component includes sucker and the handgrip for being set to device noumenon two sides, the handgrip to
Front article is pulled back to the position being in contact with the vacuum chuck after preceding stretching described device ontology, the vacuum is inhaled
Disk adsorbs the article and carries to it.
Optionally, manipulator executive device further includes clamp assembly, and the clamp assembly is set to described device ontology
Top.
Optionally, the clamp assembly includes the first fixture and the second fixture.
Optionally, first fixture and second fixture can be moved by third cylinder along first direction, pass through
One hinge and second hinge adjust corresponding clamping angle, clamp respective articles.
It optionally, further include fixture bed course outside first fixture and second fixture.
Any of the above-described technical solution at least can produce following technical effect:
Manipulator executive device is able to achieve by pallet load-bearing part and outer trays cooperation to more bottles or multiple tank in pallet
The disposable carrying of drinks.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is manipulator executive device top view；
Fig. 2 is manipulator executive device front view；
Fig. 3 is manipulator executive device bottom view.
1 in figure, pallet load-bearing part；11, bulge-structure；12, sliding rail；13, the second cylinder；2, device noumenon；3, the first gas
Cylinder；4, sucker；5, handgrip；6, clamp assembly；61, the first fixture；62, the second fixture；63, third cylinder；64, first axle；
65, second hinge；66, fixture bed course.
Specific embodiment
To keep the purpose of this utility model, technical solution and advantage clearer, below by the technology to the utility model
Scheme is described in detail.Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not before making creative work
Obtained all other embodiment is put, the range that the utility model is protected is belonged to.
As shown in Figure 1, Figure 2 and Figure 3, the utility model provides a kind of manipulator executive device, which is characterized in that including
Telescoping drive mechanism and pallet load-bearing part, telescoping drive mechanism are connected with pallet load-bearing part and pallet load-bearing part can be driven to make
It moves back and forth and is moved to the position engaged with pallet and release the position engaged with pallet, the pallet is held with the pallet
Holder can move along first direction under the drive of the pallet load-bearing part after engaging and can be in the drive lower edge second of manipulator
Direction is mobile, and there are angles between the first direction and the second direction.More bottles or multiple tank drinks can be placed in pallet, led to
The movement of pallet load-bearing part in a first direction is crossed to engage with pallet realization, preferable fixed effect can be reached by being connected together, then
It is moved in a second direction by the drive of manipulator, since there are angles to be able to achieve between first direction and the second direction
The movement of all directions, and then more bottles in pallet or multiple tank drinks are disposably carried, improve operating efficiency.
Optionally embodiment, the telescoping drive mechanism include the first cylinder, device noumenon and sliding rail, and described the
One cylinder is set to described device ontology rear and driving described device ontology moves forward, the sliding rail and pallet carrying
Part is set to the lower section of described device ontology and moves along the sliding rail, the bulge-structure of the pallet load-bearing part and leading to for pallet
Pore structure, which matches, to be engaged, and the second cylinder drives the pallet load-bearing part to move in a first direction along the sliding rail.First
Cylinder driver ontology moves forward operating space and the range that can increase manipulator executive device, improves manipulator
The scope of application；Pallet load-bearing part is moved along sliding rail can reduce frictional force, improve the transfer efficiency of cylinder；Pallet load-bearing part
The through-hole structure of bulge-structure and pallet has three pairs of realizations to be connected together, and mutual cooperation can be improved pallet load-bearing part and pallet connects
It the stability that connects and is easier to release this connection, the carrying operation of utility tray load-bearing part improves operating efficiency.
Optionally embodiment, the pallet load-bearing part there are two and be distributed in below described device ontology two
The pallet load-bearing part at end, the left and right sides can realize more preferable cooperation with pallet, further improve stability interconnected, energy
It enough allows manipulator executive device held stationary in the handling process, the rolling of bottle or drinks tank in moving process is avoided to fall.
Optionally embodiment, the manipulator executive device further include vacuum chuck component, the vacuum chuck
It is set to the front of described device ontology, vacuum chuck component is able to achieve the carrying to drinks case or other the square items, improves
The diversity of manipulator executive device operation article.
Optionally embodiment, the vacuum chuck component include sucker and are set to grabbing for device noumenon two sides
Hand, the handgrip pull back front article to the position being in contact with the vacuum chuck after forward extending out described device ontology
It sets, the vacuum chuck adsorbs the article and carries to it.For the article that cannot be directly contacted with sucker, handgrip energy
It is enough that these farther away articles are pulled to position contact with vacuum chuck, so vacuum chuck in the case where atmospheric pressure is acted on article
It is kept in contact to which there are biggish frictional force in vertical position, realizes the carrying of respective articles.
Optionally embodiment, manipulator executive device further include clamp assembly, and the clamp assembly includes first
Fixture and the second fixture, are set to the top of described device ontology.Clamp assembly can be realized to the fast of bottle or drinks tank
Speed clamping, improves the operating efficiency for taking out bottle or drinks tank, has saved cost, while the arcuate structure of inside can expand
The contact area of big fixture and bottle or drinks tank, avoids sliding.
Optionally embodiment, first fixture and second fixture can be by third cylinders along first direction
It is mobile, corresponding clamping angle is adjusted by first axle and second hinge, clamps respective articles.When fixture works, first by the
Three cylinders release forward fixture, corresponding with the position of article is taken, then are adjusted and opened by first axle and second hinge
With the angle of closure, convenient for clamp different bottle mouth size drinks, such as it is canned can happy bottled beer.
It further include fixture bed course, fixture outside optionally embodiment, first fixture and second fixture
Bed course can prevent chuck force from spending havoc bottle or drinks tank, and can increase the area of contact surface, and it is anti-to improve frictional force
The bottle or drinks tank only clamped slides.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation
Or replacement, it should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with the power
Subject to the protection scope that benefit requires.
Claims (9)
1. a kind of manipulator executive device, which is characterized in that including telescoping drive mechanism and pallet load-bearing part, driving machine of stretching
Structure be connected with pallet load-bearing part and pallet load-bearing part can be driven reciprocating and be moved to the position engaged with pallet and
The position engaged is released with pallet, the pallet can be under the drive of the pallet load-bearing part after engaging with the pallet load-bearing part
Move and can be moved in a second direction under the drive of manipulator along first direction, the first direction and the second direction it
Between there are angles；The telescoping drive mechanism includes the first cylinder, device noumenon and sliding rail, and first cylinder is set to described
Device noumenon rear and driving described device ontology forward movement, the sliding rail and the pallet load-bearing part are set to described device
It the lower section of ontology and is moved along the sliding rail, the bulge-structure of the pallet load-bearing part matches progress with the through-hole structure of pallet
Engaging.
2. manipulator executive device according to claim 1, which is characterized in that the second cylinder drives the pallet load-bearing part
It is moved in a first direction along the sliding rail.
3. manipulator executive device according to claim 1, which is characterized in that there are two the pallet load-bearing parts and is distributed
Both ends below described device ontology.
4. manipulator executive device according to claim 1, which is characterized in that the manipulator executive device further includes true
Empty Suction cup assembly, the vacuum chuck are set to the front of described device ontology.
5. manipulator executive device according to claim 4, which is characterized in that the vacuum chuck component include sucker and
Be set to the handgrip of device noumenon two sides, the handgrip forward extend out after described device ontology by front article pull back to
The position that the vacuum chuck is in contact, the vacuum chuck adsorb the article and carry to it.
6. manipulator executive device according to claim 1, which is characterized in that manipulator executive device further includes fixture group
Part, the clamp assembly are set to the top of described device ontology.
7. manipulator executive device according to claim 6, which is characterized in that the clamp assembly include the first fixture and
Second fixture.
8. manipulator executive device according to claim 7, which is characterized in that first fixture and second fixture
It can be moved by third cylinder along first direction, corresponding clamping angle be adjusted by first axle and second hinge, clamping is corresponding
Article.
9. manipulator executive device according to claim 8, which is characterized in that first fixture and second fixture
Outside further includes fixture bed course.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821099645.5U CN208732072U (en) | 2018-07-11 | 2018-07-11 | Manipulator executive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821099645.5U CN208732072U (en) | 2018-07-11 | 2018-07-11 | Manipulator executive device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208732072U true CN208732072U (en) | 2019-04-12 |
Family
ID=66025411
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821099645.5U Expired - Fee Related CN208732072U (en) | 2018-07-11 | 2018-07-11 | Manipulator executive device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208732072U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674972A (en) * | 2018-07-11 | 2018-10-19 | 海底捞控股有限公司 | Manipulator executive device |
| CN113697531A (en) * | 2021-07-30 | 2021-11-26 | 安丘博阳机械制造有限公司 | Multi-chuck type material bag grabbing mechanism |
-
2018
- 2018-07-11 CN CN201821099645.5U patent/CN208732072U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674972A (en) * | 2018-07-11 | 2018-10-19 | 海底捞控股有限公司 | Manipulator executive device |
| CN113697531A (en) * | 2021-07-30 | 2021-11-26 | 安丘博阳机械制造有限公司 | Multi-chuck type material bag grabbing mechanism |
| CN113697531B (en) * | 2021-07-30 | 2024-03-22 | 安丘博阳机械制造有限公司 | Multi-clamp type material bag grabbing mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190412 |