CN209665354U - Certificate grabs mobile manipulator - Google Patents
Certificate grabs mobile manipulator Download PDFInfo
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- CN209665354U CN209665354U CN201920056600.8U CN201920056600U CN209665354U CN 209665354 U CN209665354 U CN 209665354U CN 201920056600 U CN201920056600 U CN 201920056600U CN 209665354 U CN209665354 U CN 209665354U
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- stepper motor
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- synchronous belt
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Abstract
The utility model belongs to Credential production device field, mobile manipulator is grabbed more particularly to certificate, including top plate, X-axis guide rail and X-axis driving device are provided on the top plate, the Y-axis track plates being drivingly connected with X-axis driving device are socketed in the X-axis guide rail, Y-axis driving device is provided on the Y-axis track plates, the Z axis lifting seat being drivingly connected with Y-axis driving device is socketed on Y-axis track plates, lifting stepper motor is provided on the Z axis lifting seat, the lifting stepper motor drive connection has vertical screw rod, screw thread is socketed with sucker mounting plate on the vertical screw rod, sucker mounting plate bottom is provided with multiple suckers.The utility model cooperates dedicated card grasping mechanism using three axis tracks, and Practical significance can be had rapidly and accurately by certificate card in the mobile device of each station grasp handling by providing one kind.
Description
Technical field
The utility model relates to Credential production device technical fields, grab mobile manipulator in particular to certificate.
Background technique
The personalization process of card generally requires printing, chip information write-in, surface by card face information
The operating procedures such as overlay film, inspection, sorting, currently, above-mentioned each in the distributed card Credential production device generallyd use
Operating procedure independently, is not uniformly controlled between each operating procedure, by being manually respectively completed each operating procedure.
The shortcomings that above-mentioned making apparatus are as follows: each operating procedure requires individual operator, and human cost is higher.Card
It is carried frequently between each station, is easily lost abrasion, manually-operated card, which is carried, occupies the plenty of time.However, current market
On automatic manipulator it is again more heavy, the small articles such as crawl card can not be suitable for, hinder the automatic of card manufacture craft
Change development.Therefore, in order to improve certificate making efficiency, guarantee certificate making quality, research and develop a kind of automation, miniaturization will card
The equipment that part card moves on each station has necessity.
Utility model content
In order to solve to need during general certificate making manually by the card of accreditation between each position equipment
The problem of carrying back and forth, taking time and effort and card is be easy to cause to lose abrasion provides certificate crawl mobile manipulator.
Certificate grabs mobile manipulator, including top plate, is provided with X-axis guide rail and X-axis driving device on the top plate, described
It is socketed with the Y-axis track plates being drivingly connected with X-axis driving device in X-axis guide rail, Y-axis driving is provided on the Y-axis track plates
Device is socketed with the Z axis lifting seat being drivingly connected with Y-axis driving device on Y-axis track plates, is provided on the Z axis lifting seat
Stepper motor is gone up and down, the lifting stepper motor drive connection has vertical screw rod, and screw thread is socketed with sucker on the vertical screw rod
Mounting plate, sucker mounting plate bottom are provided with multiple suckers.
Further, the X-axis driving device includes X-axis stepper motor, X-axis driven wheel and X-axis synchronous belt, the X-axis
Stepper motor and X-axis driven wheel correspond to X-axis guide rail and are set to top plate both ends, the X-axis synchronous belt be socketed on X-axis stepper motor with
Between X-axis driven wheel, the Y-axis track plates are fixedly connected with X-axis synchronous belt.
Further, the Y-axis driving device includes y-axis stepper motor, Y-axis driven wheel and Y-axis synchronous belt, the Y-axis
Stepper motor and Y-axis driven wheel are set to Y-axis track board ends, the Y-axis synchronous belt be socketed on y-axis stepper motor and Y-axis from
Between driving wheel, the Z axis lifting seat is fixedly connected with Y-axis synchronous belt.
Further, its quantity of the sucker is four, and sucker is respectively arranged at four angle points of sucker mounting plate bottom.
Further, sucker is corresponded on the sucker mounting plate be provided with monitoring camera.
Utility model has the advantages that
1, operation is automatic quick, and occupied space is few.
2, can three axis move freely, realize material moved between different station, it is adaptable.
3, automatic operation material, avoids error caused by manual operation.
4, structure is simpler, convenient for adjusting.
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 the structural schematic diagram that certificate grabs mobile manipulator；
Fig. 2 is the structural schematic diagram that certificate grabs another angle of mobile manipulator.
Attached drawing mark:
1- top plate, 2-X axis rail, 31-X shaft step motor, 32-X axis driven wheel, 33-X axis synchronous belt, 4-Y axis track
Plate, 51-Y shaft step motor, 52-Y axis driven wheel, 53-Y axis synchronous belt, 6-Z axis lifting seat, 7- go up and down stepper motor, and 8- is vertical
Screw rod, 9- sucker mounting plate, 10- sucker, 11- monitor camera.
Specific embodiment
In order to solve to need during general certificate making manually by the card of accreditation between each position equipment
The problem of carrying back and forth, taking time and effort and card is be easy to cause to lose abrasion provides certificate crawl mobile manipulator.
Keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, below in conjunction with the utility model
Attached drawing in embodiment, the technical solutions in the embodiments of the present invention are clearly and completely described, it is clear that described
Embodiment be the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, the every other embodiment that those of ordinary skill in the art obtain without making creative work belong to this
The range of utility model protection.
As illustrated in fig. 1 and 2, the present embodiment provides certificates to grab mobile manipulator, including top plate 1, is arranged on the top plate
There are X-axis guide rail 2 and X-axis driving device, the Y-axis track plates being drivingly connected with X-axis driving device are socketed in the X-axis guide rail 2
4, Y-axis driving device is provided on the Y-axis track plates 4, is socketed on Y-axis track plates 4 and Y-axis driving device is drivingly connected
Z axis lifting seat 6, is provided with lifting stepper motor 7 on the Z axis lifting seat 6, the lifting stepper motor 7 be drivingly connected have it is perpendicular
Raw silk rings bar 8, screw thread is socketed with sucker mounting plate 9 on the vertical screw rod 8, and 9 bottom of sucker mounting plate is provided with multiple suctions
Disk 10.Sucker 10 is connected with air pump, is operated using the detectable negative-pressure adsorption mode of pressure, it can be ensured that certificate is accurately grabbed.
The X-axis driving device includes X-axis stepper motor 31, X-axis driven wheel 32 and X-axis synchronous belt 33, the X-axis stepping
Motor 31 and the corresponding X-axis guide rail 2 of X-axis driven wheel 32 are set to 1 both ends of top plate, and the X-axis synchronous belt 33 is socketed on X-axis stepping electricity
Between machine 31 and X-axis driven wheel 32, the Y-axis track plates 4 are fixedly connected with X-axis synchronous belt 33.
The Y-axis driving device includes y-axis stepper motor 51, Y-axis driven wheel 52 and Y-axis synchronous belt 53, the Y-axis stepping
Motor 51 and Y-axis driven wheel 52 are set to 4 both ends of Y-axis track plates, and the Y-axis synchronous belt 53 is socketed on y-axis stepper motor 51 and Y
Between axis driven wheel 52, the Z axis lifting seat 6 is fixedly connected with Y-axis synchronous belt 53.
Described its quantity of sucker 10 is four, and sucker 10 is respectively arranged at four angle points of 9 bottom of sucker mounting plate.It is distributed in
The sucker 10 of four angle points can stablize the small articles such as crawl card certificate, and can guarantee every time in the card stacked when feeding
It only grabs a piece of.
Sucker 10 is corresponded on the sucker mounting plate 9 is provided with monitoring camera 11.Monitoring camera 11 can monitor material
Crawl situation, when avoiding not grabbing material equipment continue to operation cause the accident.
In actual use, by being electrically connected X-axis stepper motor 31, Y-axis using control equipment (industrial personal computer, server etc.)
Stepper motor 51 and lifting stepper motor 7, i.e., controllable manipulator is according to the card of production requirement crawl certificate making each
It is mobile by processing sequence three-dimensional between station.Wherein, X-axis and the mobile structure for using synchronous pulley of Y-axis, it is ensured that manipulator is left
Quick and stable is moved right, Z axis then ensure that movement precisely using the driving structure of screw rod rotation, and sucker 10 can accurately drop to thickness
Degree grabs individual certificate card with the manufacturing process gradually thinning stacked on side of certificate card.
It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined
Assert that the specific implementation of the utility model is only limited to these instructions, i.e., it is all according to the made equivalent changes and modifications of the application range,
It should still belong in the utility model covering scope.
Claims (5)
1. certificate grabs mobile manipulator, including top plate, which is characterized in that be provided with X-axis guide rail and X-axis driving on the top plate
Device is socketed with the Y-axis track plates being drivingly connected with X-axis driving device in the X-axis guide rail, is arranged on the Y-axis track plates
There is Y-axis driving device, the Z axis lifting seat being drivingly connected with Y-axis driving device, the Z axis lifting seat are socketed on Y-axis track plates
On be provided with lifting stepper motor, the lifting stepper motor drive connection has vertical screw rod, thread bush on the vertical screw rod
It is connected to sucker mounting plate, sucker mounting plate bottom is provided with multiple suckers.
2. certificate according to claim 1 grabs mobile manipulator, which is characterized in that the X-axis driving device includes X-axis
Stepper motor, X-axis driven wheel and X-axis synchronous belt, the X-axis stepper motor and X-axis driven wheel correspond to X-axis guide rail and are set to top plate
Both ends, the X-axis synchronous belt are socketed between X-axis stepper motor and X-axis driven wheel, and the Y-axis track plates and X-axis synchronous belt are solid
Fixed connection.
3. certificate according to claim 1 grabs mobile manipulator, which is characterized in that the Y-axis driving device includes Y-axis
Stepper motor, Y-axis driven wheel and Y-axis synchronous belt, the y-axis stepper motor and Y-axis driven wheel are set to Y-axis track board ends,
The Y-axis synchronous belt is socketed between y-axis stepper motor and Y-axis driven wheel, the Z axis lifting seat and the fixed company of Y-axis synchronous belt
It connects.
4. certificate according to claim 1 grabs mobile manipulator, which is characterized in that its quantity of the sucker is four, is inhaled
Disk is respectively arranged at four angle points of sucker mounting plate bottom.
5. certificate according to claim 1 grabs mobile manipulator, which is characterized in that corresponding on the sucker mounting plate to inhale
Disk is provided with monitoring camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920056600.8U CN209665354U (en) | 2019-01-14 | 2019-01-14 | Certificate grabs mobile manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920056600.8U CN209665354U (en) | 2019-01-14 | 2019-01-14 | Certificate grabs mobile manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209665354U true CN209665354U (en) | 2019-11-22 |
Family
ID=68565490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920056600.8U Active CN209665354U (en) | 2019-01-14 | 2019-01-14 | Certificate grabs mobile manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209665354U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673719A (en) * | 2020-07-06 | 2020-09-18 | 杭州科泽尔工业设计有限公司 | Manipulator for industrial production line and working method thereof |
| CN114476666A (en) * | 2021-12-29 | 2022-05-13 | 厦门阿匹斯智能制造系统有限公司 | Unordered feed mechanism of robot based on 3D vision |
-
2019
- 2019-01-14 CN CN201920056600.8U patent/CN209665354U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673719A (en) * | 2020-07-06 | 2020-09-18 | 杭州科泽尔工业设计有限公司 | Manipulator for industrial production line and working method thereof |
| CN114476666A (en) * | 2021-12-29 | 2022-05-13 | 厦门阿匹斯智能制造系统有限公司 | Unordered feed mechanism of robot based on 3D vision |
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