CN209758483U - Manipulator grabbing device - Google Patents
Manipulator grabbing device Download PDFInfo
- Publication number
- CN209758483U CN209758483U CN201920505419.0U CN201920505419U CN209758483U CN 209758483 U CN209758483 U CN 209758483U CN 201920505419 U CN201920505419 U CN 201920505419U CN 209758483 U CN209758483 U CN 209758483U
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- moving mechanism
- manipulator
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- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 238000005096 rolling process Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000009347 mechanical transmission Effects 0.000 abstract description 3
- 230000003116 impacting effect Effects 0.000 abstract description 2
- 230000005012 migration Effects 0.000 description 6
- 238000013508 migration Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The utility model discloses a manipulator grabbing device, which comprises a manipulator, a support, a horizontal moving mechanism and a vertical moving mechanism, wherein the horizontal moving mechanism is arranged on the support, the horizontal moving mechanism is used for driving the vertical moving mechanism to horizontally move, the manipulator is arranged on the vertical moving mechanism, and the vertical moving mechanism is used for driving the manipulator to vertically move; the utility model can control the manipulator to stop at any position in the vertical plane through the cooperation of the horizontal moving mechanism and the vertical moving mechanism, thereby realizing the product grabbing; and through the mutual cooperation of guide dish and slider, adopt pure mechanical transmission, realized the synchro operation to a plurality of sliders, guaranteed stability and reliability when the manipulator snatchs the product. And the sensor is added, so that the guide block is prevented from directly impacting the guide groove to cause damage to the guide block. In addition, the sensor adopts a contact switch, so that the size is small, the price is low, and the production cost of the manipulator is greatly reduced.
Description
Technical Field
the utility model relates to an automatic field, in particular to manipulator grabbing device.
background
In the product processing and production of the present society, mechanical arms are already popular, but different products are often clamped by matching with special mechanical arms, so that a lot of mechanical arms are required to be prepared, and the equipment cost of enterprises is greatly increased. In addition, the manipulator is usually driven in a pneumatic or hydraulic mode, so that asynchronous grippers can be caused, and the product can shake in the gripping process.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects in the prior art, the utility model discloses a manipulator grabbing device, which comprises a manipulator, a support, a horizontal moving mechanism and a vertical moving mechanism, wherein the horizontal moving mechanism is arranged on the support, the horizontal moving mechanism is used for driving the vertical moving mechanism to move horizontally, the manipulator is arranged on the vertical moving mechanism, and the vertical moving mechanism is used for driving the manipulator to move up and down; wherein,
the manipulator comprises a shell, a sliding block, a guide disc, an actuator and a gripper, wherein at least two sliding grooves are radially formed in the shell, the sliding block is arranged in the sliding grooves in a sliding mode, the guide disc is arranged in the shell and is in rolling connection with the shell, a guide block is arranged on the sliding block, a guide groove is formed in the guide disc, the guide block is arranged in the guide groove, the actuator is used for driving the guide disc to rotate, the sliding block is enabled to move along the guide direction of the sliding grooves, and the gripper is arranged on the sliding block.
Further, the vertical moving mechanism comprises a vertical guide rod, a vertical sliding rail, a vertical sliding block, a rack, a gear and a motor, the vertical sliding rail and the rack are vertically arranged on the vertical guide rod, the vertical sliding block is installed on the horizontal moving mechanism, the gear is meshed with the rack, and the motor is used for driving the gear to rotate so that the vertical guide rod vertically moves along the guiding direction of the vertical sliding rail.
Further, the horizontal movement mechanism comprises a horizontal guide rail, a horizontal sliding block, a moving platform, a rack, a gear and a motor, the horizontal guide rail and the rack are arranged on the support in parallel, the moving platform is arranged on the horizontal guide rail through the horizontal sliding block in a sliding mode, the motor is installed on the moving platform, the gear is meshed with the rack, and the motor is used for driving the gear to rotate so as to enable the moving platform to move horizontally.
Further, still include the sensor, the sensor sets up the both ends at the guiding groove.
further, the sensor is a contact switch.
Furthermore, the sliding groove is a T-shaped groove, and the sliding block is a T-shaped block.
Further, the actuator is a servo motor.
Further, the guide disc is in rolling connection with the housing through a bearing.
The utility model discloses the beneficial effect who gains:
The utility model can control the manipulator to stop at any position in the vertical plane through the cooperation of the horizontal moving mechanism and the vertical moving mechanism, thereby realizing the product grabbing; and through the mutual cooperation of guide dish and slider, adopt pure mechanical transmission, realized the synchro operation to a plurality of sliders, guaranteed stability and reliability when the manipulator snatchs the product. And the sensor is added, so that the guide block is prevented from directly impacting the guide groove to cause damage to the guide block. In addition, the sensor adopts a contact switch, so that the size is small, the price is low, and the production cost of the manipulator is greatly reduced.
Drawings
Fig. 1 is a schematic structural view of a manipulator gripping device of the present invention;
FIG. 2 is a schematic structural view of a vertical moving mechanism;
FIG. 3 is a schematic structural view of a horizontal moving mechanism;
FIG. 4 is a perspective view of the robot;
FIG. 5 is an internal structural view of the robot;
FIG. 6 is a schematic structural view of a guide plate;
FIG. 7 is a view showing a state of use when the robot grips;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
The utility model discloses a manipulator grabbing device, as shown in fig. 1, including manipulator 1, support 2, horizontal migration mechanism 3, vertical moving mechanism 4, horizontal migration mechanism 3 sets up on support 2, and vertical moving mechanism 4 sets up on horizontal migration mechanism 3, through the whole horizontal migration of 3 drive vertical moving mechanism 4 of horizontal migration mechanism. The manipulator 1 is arranged on the vertical moving mechanism 4, and the manipulator 1 is driven to move up and down by the vertical moving mechanism 4.
Specifically, as shown in fig. 2, the vertical moving mechanism 4 includes a vertical guide rod 41, a vertical slide rail 42, a vertical slider 43, a rack 44, a gear 45 and a motor 46, the vertical slide rail 42 and the rack 44 are vertically disposed on the vertical guide rod 41, the vertical slider 43 is mounted on the horizontal moving mechanism 3, and the vertical guide rod 41 is vertically moved by the vertical slider 43 and the vertical slide rail 42 being engaged with each other. The gear 45 is engaged with the rack 44, and the gear 45 is driven to rotate by the motor 46, so that the vertical guide rod 41 moves vertically in the guiding direction of the vertical slide rail 42.
As shown in fig. 3, the horizontal moving mechanism 3 includes a horizontal guide rail 31, a horizontal slider 32, a moving platform 33, a rack 34, a gear 35 and a motor 36, the horizontal guide rail 31 and the rack 34 are disposed on the bracket 2 in parallel, the moving platform 33 is slidably disposed on the horizontal guide rail 31 through the horizontal slider 32, the motor 36 is mounted on the moving platform 33, the gear 34 is engaged with the rack 35, the gear 34 is driven by the motor 36 to rotate, so that the moving platform 33 moves horizontally, and the vertical moving mechanism 4 is driven to move horizontally.
As shown in fig. 4 to 6, the robot 1 includes a housing 11, a slider 12, a guide plate 13, an actuator 14, and a gripper 15, and the slider 12 is provided in at least two pieces and slidably provided on the housing 11 to move in a radial direction of the housing 11. The guide disc 13 is arranged in the shell 11 and is connected with the shell 11 in a rolling way; a guide groove 131 is provided on the guide disk 13, and a guide block 121 that matches the guide groove 131 is provided on the slider 12. In use, the guide block 12 is placed in the guide slot 131, and the actuator 14 drives the guide disc 13 to rotate, so that the guide block 12 moves in the guide slot 131, and the slider 12 moves on the housing 11. The gripper 15 is mounted on the slide block 12, and the gripper 15 is moved by driving the slide block 12 to move, so as to grip the product.
in one embodiment, three radially disposed sliding grooves 111 are equally spaced around the housing 11; correspondingly, three sliders 12 are provided, each of which is slidably provided in the slide groove 11, and three guide grooves 131 are provided in the guide plate 13. The guide block 121 is disposed in the guide groove 131. preferably, the guide groove 131 is a T-shaped groove, and the slider 12 is a T-shaped block. The actuator 14 may be a servo motor, an output shaft of the servo motor is fixed to a center of the guide disc 13, and the servo motor rotates to drive the guide disc 13 to rotate, and the slider 12 can only move along the sliding groove 111, so that the slider 12 is driven to move along the guiding direction of the sliding groove 111 by changing the relative positions of the guide groove 131 and the guide block 121.
The sensor 16 may be a contact switch that is depressed to signal the controller to stop rotation of the actuator 14. The sensors 16 are installed at both ends of the guide groove 131, and signals of the guide block 121 moved to the end positions are collected by the two sensors, respectively. The sensor 16 may be installed in only one guide groove 131, or may be installed in each guide groove 131.
in order to ensure smooth rotation between the guide disc 13 and the housing 11, the housing 11 and the guide disc 13 are connected by rolling through a bearing.
In addition, different hand grips 15 can be selected for mounting according to different product shapes. The connection mode of the hand grip 15 and the sliding block 12 can be fixed by screws or key slots. As shown in fig. 7, the robot is used to grasp a product, which is internally circular and externally irregular. Therefore, the preferred gripping manner is to place the robot at the center of the circle and drive the grippers 15 to push outward from the center of the circle, so that the grippers 15 are simultaneously in contact with the inner wall of the product. Through adopting the utility model discloses a manipulator adopts pure mechanical transmission's mode, has guaranteed slider 12's synchronous operation. If the product is not gripped simultaneously, for example, one of the grippers first contacts the product and the product is placed on the rack, the product may be damaged.
The casing radially sets up two piece at least sliding tray, and the gliding setting of slider is in the sliding tray, and the guide dish sets up in the casing to with casing roll connection, set up the guide block on the slider, set up the guiding groove on the guide dish, in the guiding groove is arranged in to the guide block, utilize actuator drive guide dish to rotate, make the slider remove along sliding tray direction of guidance, the tongs is installed on the slider.
The utility model discloses when using, as shown in fig. 1-7, support 2 sets up in the feed bin top, through the motion of 3 drive vertical moving mechanism 4 of horizontal migration mechanism, after removing to the assigned position, vertical moving mechanism 4 drive manipulator 1 moves down, then drives guide disc 13 through actuator 14 and rotates, and then changes the relative position of guide block 121 and guiding groove 131, and drive slider 12 removes along the guide direction of sliding tray 111, realizes snatching the product through tongs 15. The vertical moving mechanism 4 lifts the mechanical arm 1, simultaneously lifts the product, then moves to a designated position through the horizontal moving mechanism, drives the mechanical arm 1 to move downwards through the vertical moving mechanism 3, then the actuator 14 rotates reversely to open the mechanical arm 1, and finally the mechanical arm 1, the horizontal moving mechanism 3 and the vertical moving mechanism 4 are reset to enter the next cycle operation.
The above are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; the scope of the appended claims should be accorded the broadest interpretation so as to encompass all such modifications and equivalent arrangements as is within the spirit and scope of the present invention.
Claims (8)
1. The manipulator grabbing device is characterized by comprising a manipulator, a support, a horizontal moving mechanism and a vertical moving mechanism, wherein the horizontal moving mechanism is arranged on the support, the horizontal moving mechanism is used for driving the vertical moving mechanism to move horizontally, the manipulator is arranged on the vertical moving mechanism, and the vertical moving mechanism is used for driving the manipulator to move up and down; wherein,
The manipulator comprises a shell, a sliding block, a guide disc, an actuator and a gripper, wherein at least two sliding grooves are radially formed in the shell, the sliding block is arranged in the sliding grooves in a sliding mode, the guide disc is arranged in the shell and is in rolling connection with the shell, a guide block is arranged on the sliding block, a guide groove is formed in the guide disc, the guide block is arranged in the guide groove, the actuator is used for driving the guide disc to rotate, the sliding block is enabled to move along the guide direction of the sliding grooves, and the gripper is arranged on the sliding block.
2. The manipulator grabbing device according to claim 1, wherein the vertical moving mechanism comprises a vertical guide rod, a vertical slide rail, a vertical slider, a rack, a gear and a motor, the vertical slide rail and the rack are vertically arranged on the vertical guide rod, the vertical slider is mounted on the horizontal moving mechanism, the gear is meshed with the rack, and the motor is used for driving the gear to rotate so that the vertical guide rod vertically moves along the guiding direction of the vertical slide rail.
3. The manipulator grabbing device according to claim 1, wherein the horizontal moving mechanism comprises a horizontal guide rail, a horizontal slider, a moving platform, a rack, a gear and a motor, the horizontal guide rail and the rack are arranged on the bracket in parallel, the moving platform is arranged on the horizontal guide rail in a sliding manner through the horizontal slider, the motor is mounted on the moving platform, the gear is meshed with the rack, and the motor drives the gear to rotate so as to enable the moving platform to move horizontally.
4. The manipulator gripping device according to claim 1, further comprising sensors disposed at both ends of the guide groove.
5. A manipulator grasping device according to claim 4, wherein the sensor is a contact switch.
6. The manipulator grabbing device according to claim 1, wherein the sliding groove is a T-shaped groove, and the sliding block is a T-shaped block.
7. a manipulator grasping device according to claim 1, wherein the actuator is a servo motor.
8. The manipulator grasping device according to claim 1, wherein the guide plate is in rolling contact with the housing via a bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920505419.0U CN209758483U (en) | 2019-04-15 | 2019-04-15 | Manipulator grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920505419.0U CN209758483U (en) | 2019-04-15 | 2019-04-15 | Manipulator grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209758483U true CN209758483U (en) | 2019-12-10 |
Family
ID=68759109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920505419.0U Active CN209758483U (en) | 2019-04-15 | 2019-04-15 | Manipulator grabbing device |
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| Country | Link |
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| CN (1) | CN209758483U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114986645A (en) * | 2022-04-20 | 2022-09-02 | 杭州庄宜家具有限公司 | Full-automatic assembling equipment for furniture tray box and assembling method thereof |
| CN115258651A (en) * | 2022-07-01 | 2022-11-01 | 国网江西省电力有限公司电力科学研究院 | Silver-plated with transporting support of power transmission and transformation equipment |
-
2019
- 2019-04-15 CN CN201920505419.0U patent/CN209758483U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114986645A (en) * | 2022-04-20 | 2022-09-02 | 杭州庄宜家具有限公司 | Full-automatic assembling equipment for furniture tray box and assembling method thereof |
| CN115258651A (en) * | 2022-07-01 | 2022-11-01 | 国网江西省电力有限公司电力科学研究院 | Silver-plated with transporting support of power transmission and transformation equipment |
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