CN210139410U

CN210139410U - Quick vertical adsorbed manipulator

Info

Publication number: CN210139410U
Application number: CN201921008760.1U
Authority: CN
Inventors: 李全杰; 刘斌
Original assignee: Friends Of Suzhou Group Pml Precision Mechanism Ltd
Current assignee: Friends Of Suzhou Group Pml Precision Mechanism Ltd
Priority date: 2019-07-01
Filing date: 2019-07-01
Publication date: 2020-03-13
Anticipated expiration: 2029-07-01

Abstract

The utility model discloses a quick vertical adsorption manipulator, including displacement device and the grabbing device that sets up on displacement device, displacement device includes horizontal displacement device and vertical displacement device, horizontal displacement device includes first crossbeam, the movable slide that sets up on first crossbeam and the first drive arrangement of drive slide motion, vertical displacement device includes sliding support, slide bar and the second drive arrangement of drive slide bar motion; the gripping device further comprises a third driving device for driving the bottom plate to rotate. This quick vertical absorbent manipulator adopts elevator motor to promote the bottom plate and rotates to the sucking disc of installation on the bottom plate can set up in the guide slot is nimble, and elevator motor drive bottom plate rotates, and the material is got to vertical direction, and the material is got to the horizontal direction blowing, reduces unnecessary operation, and it is convenient to get the material.

Description

Quick vertical adsorbed manipulator

Technical Field

The utility model relates to an article haulage equipment technical field specifically is a quick vertical absorbent manipulator.

Background

In the middle of the automation of mill even intellectuality, the quick automatic transport of product work piece is an indispensable link, and degree of automation and the speed of transport have apparent influence again to production efficiency, and current manipulator can't be fast get the material and be the level to the product of vertical placing and place.

SUMMERY OF THE UTILITY MODEL

The utility model provides a technical problem lie in overcoming current manipulator and can't get the material and be the problem that the level was placed to the vertical product of placing fast.

In order to achieve the above object, the utility model provides a following technical scheme: a manipulator capable of achieving rapid vertical adsorption comprises a displacement device and a grabbing device arranged on the displacement device, wherein the displacement device comprises a horizontal displacement device and a vertical displacement device, the horizontal displacement device comprises a first cross beam, a sliding seat movably arranged on the first cross beam and a first driving device for driving the sliding seat to move, and the vertical displacement device comprises a sliding support, a sliding rod and a second driving device for driving the sliding rod to move; the grabbing device further comprises a third driving device used for driving the bottom plate to rotate, a first driving device is fixed on a driving device fixing base at the upper end of the first cross beam, the front end of the first driving device is connected with a sliding seat, a first sensor is installed on the driving device fixing base above the first driving device, a second driving device is installed at the front end of the sliding seat through a support, a driving device fixing plate connected with the front end of the second driving device is fixed on a sliding rod, and the front end of the sliding rod is movably installed on a hinge seat on the bottom plate through a pin rod;

linear bearing is installed through sliding support in the slide left side, and the inside slidable mounting of linear bearing has the guide bar, and third drive arrangement is installed through the motor mount to the slide bar front end, and the third drive arrangement front end is connected with articulated frame, and articulated frame is connected with the connector through the axostylus axostyle, and the connector is fixed on the pin pole.

Preferably, the guide rail of T type is openly installed to first crossbeam, and slidable mounting has the slider of C type on the guide rail to the slider is fixed on the slide fixed plate of slide rear end, and the slide middle part is square hole groove simultaneously, and evenly is provided with curved elasticity clamping piece on the slide inside wall, and the elasticity clamping piece contacts with the slide bar side.

Preferably, the second sensor mounted on the sliding support and the first sensor mounted on the driving device fixing base are both TOF laser ranging sensors of SK-Z-10 type, and the third driving device mounted inside the sliding rod is a miniature lifting motor of ZWBMD 003003-5.

Preferably, the first driving device mounted on the driving device fixing base is arranged in parallel with the first cross beam, the guide rod and the second driving device are arranged in parallel with the sliding rod structure, the guide rod slides in the linear bearing, and meanwhile, the guide rod fixing plate fixed at the front end of the guide rod and the driving device fixing plate fixed at the front end of the second driving device are on the same plane.

Preferably, the bottom plate is provided with guide grooves, the front surface of the bottom plate is provided with the light eyes, four groups of suckers are arranged in each guide groove, and the sliding rod at the rear side of the bottom plate is fixed with the supporting pad.

Preferably, the front end of the guide rod is fixed on a guide rod fixing plate, the guide rod fixing plate is fixed on the sliding rod, and a second sensor is mounted on a sliding support behind the guide rod fixing plate.

Preferably, the length of slide is greater than the width of first crossbeam, and the bottom plate of slide bar lower extreme installation and articulated seat become T type structure, and the fixed supporting pad on the slide bar is the rubber material simultaneously.

Preferably, the third driving device pushes the connector to rotate 90 degrees, the pin rod drives the bottom plate to rotate 90 degrees, the pin rod is rotatably connected with the front end of the sliding rod, and two ends of the pin rod are fixedly connected with the hinge base fixed on the bottom plate.

Preferably, the bottom plate includes first auxiliary panel, installation panel and second auxiliary panel, and the installation panel upper end is connected with first auxiliary panel through the pin rod to the installation panel lower extreme is connected with second auxiliary panel through the pin rod, and the second auxiliary panel left side articulates through the support has the screw thread pull rod simultaneously, and the screw thread pull rod rear end articulates on the installation panel through the support, and first auxiliary panel left side articulates through the support has another screw thread pull rod, and another screw thread pull rod rear end articulates on the installation panel through the support.

Preferably, an auxiliary plate is fixed at the upper end of a sliding seat fixing plate arranged behind the sliding seat, an arc-shaped sliding block is arranged on the auxiliary plate, and the auxiliary plate is lapped on the top of the first cross beam.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the driving device is adopted to move the sucker horizontally and vertically to replace the traditional driving device for pushing, and the driving device is matched with the distance measuring sensor on the side surface, so that the moving accuracy is higher, and the running length can be controlled more accurately relative to the arrangement of the driving device;

2. the lifting motor is adopted to push the bottom plate to rotate, the suckers arranged on the bottom plate can be flexibly arranged in the guide grooves, the lifting motor drives the bottom plate to rotate, materials are taken in the vertical direction, materials are taken in the horizontal direction, redundant operation is reduced, and the materials are taken conveniently;

3. the adoption sets up the elasticity clamping piece in the slide inside, installs the slide bar inside the slide, avoids influencing the accuracy because of long-time friction, sets up at slide bar and guide bar level simultaneously, plays the effect of direction, improves the stability of lifting work.

Drawings

FIG. 1 is a perspective view of the structure of the present invention;

FIG. 2 is a schematic cross-sectional view of the slide seat of the present invention;

FIG. 3 is a schematic front view of the structure of the present invention;

FIG. 4 is a schematic side view of the structure of the present invention;

FIG. 5 is a schematic view of the installation of the bottom plate of the structure of the present invention;

FIG. 6 is a perspective view of the bottom plate of the present invention;

fig. 7 is a schematic view of the slide seat of the structure of the present invention.

Reference numbers in the figures: 1. a first cross member; 2. a guide rail; 3. a sliding support; 4. a slide bar; 5. a second driving device; 6. a first sensor; 7. a first driving device; 8. the driving device is fixed on the base; 9. a drive device fixing plate; 10. a hinged seat; 11. a guide groove; 12. a base plate; 13. a suction cup; 14. a guide bar; 15. a slide base; 16. a second sensor; 17. an elastic clip; 18. a slide fixing plate; 19. a support pad; 20. a pin rod; 21. a slider; 22. a guide rod fixing plate; 23. a linear bearing; 24. a third driving device; 25. a connector; 26. a photo eye; 27. a hinged frame; 28. a motor fixing frame; 29. a threaded pull rod; 30. a first auxiliary panel; 31. installing a panel; 32. a second auxiliary panel; 33. an arc-shaped sliding block; 34. an auxiliary plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-7, the present invention provides a technical solution: a manipulator capable of achieving rapid vertical adsorption comprises a displacement device and a grabbing device arranged on the displacement device, wherein the displacement device comprises a horizontal displacement device and a vertical displacement device, the horizontal displacement device comprises a first cross beam 1, a sliding seat 15 movably arranged on the first cross beam 1 and a first driving device 7 for driving the sliding seat 15 to move; a first driving device 7 is fixed on a driving device fixing base 8 at the upper end of a first beam 1, the front end of the first driving device 7 is connected with a slide carriage 15, the first driving device 7 arranged on the driving device fixing base 8 is arranged in parallel with the first beam 1, a guide rod 14 and a second driving device 5 are arranged in parallel with a slide rod 4 structure, the guide rod 14 slides in a linear bearing 23, a guide rod fixing plate 22 fixed at the front end of the guide rod 14 and a driving device fixing plate 9 fixed at the front end of the second driving device 5 are on the same plane for enabling the motion of the slide rod to be more stable, a T-shaped guide rail 2 is arranged on the front surface of the first beam 1, a C-shaped sliding block 21 is arranged on the guide rail 2 in a sliding manner, the sliding block 21 is fixed on a slide carriage fixing plate 18 at the rear end of the slide carriage 15, meanwhile, the middle part of the slide carriage 15 is a square hole groove, and arc-shaped elastic, the elastic clamping piece 17 contacts with the side surface of the sliding rod 4, the upper end of a sliding seat fixing plate 18 arranged at the rear part of the sliding seat 15 is fixed with an auxiliary plate 34, the auxiliary plate 34 is provided with an arc-shaped sliding block 33, the auxiliary plate 34 is lapped at the top part of the first beam 1, the length of the sliding seat 15 is larger than the width of the first beam 1, a bottom plate 12 arranged at the lower end of the sliding rod 4 and a hinged seat 10 form a T-shaped structure, a supporting pad 19 fixed on the sliding rod 4 is made of rubber, a driving device fixing base 8 arranged above the first driving device 7 is provided with a first sensor 6, the front end of the sliding seat 15 is provided with a second driving device 5 through a support, a driving device fixing plate 9 connected with the front end of the second driving device 5 is fixed on the sliding rod 4, the sliding support 3 comprises a through hole penetrating through the thickness direction of the sliding support, the sliding rod 4 is arranged in the, so that the sliding rod 4 moves along the direction defined by the through hole, the matching means is that the cross-sectional shape and size of the sliding rod 4 are matched with the cross-sectional shape and size of the through hole, in addition, the extending direction of the through hole is parallel to the vertical direction, the second driving device 5 can be one of an air cylinder, a hydraulic cylinder, an electric cylinder, a linear motor or an electromagnet, and the front end of the sliding rod 4 is movably installed on the hinge seat 10 on the bottom plate 12 through the pin rod 20;

the vertical displacement device comprises a sliding support 3, a sliding rod 4 and a second driving device 5 for driving the sliding rod 4 to move, a linear bearing 23 is mounted on the left side of a sliding seat 15 through the sliding support 3, a guide rod 14 is slidably mounted in the linear bearing 23, the front end of the guide rod 14 is fixed on a guide rod fixing plate 22, the guide rod fixing plate 22 is fixed on the sliding rod 4, a second sensor 16 is mounted on the sliding support 3 behind the guide rod fixing plate 22, and the second sensor 16 mounted on the sliding support 3 and a first sensor 6 mounted on a driving device fixing base 8 are all TOF laser ranging sensors of the SK-Z-10 model;

further, the position sensor is used for acquiring the position of the sliding seat 15 on the first cross beam 1 and/or the position of the sliding rod 4 in the vertical direction, and the first driving device 7 drives the sliding seat 15 and/or the second driving device 5 drives the sliding rod 4 to a preset position; it can be understood that the position sensors include a first sensor 6 disposed on the horizontal displacement device and a second sensor 16 disposed on the vertical displacement device, specifically, the first sensor 6 and the second sensor 16 may be TOF laser ranging sensors of type SK-Z-10, but of course, the first sensor 6 and the second sensor 16 may also be other suitable position sensors;

the gripping device also comprises a third driving device 24 for driving the bottom plate 12 to rotate, the bottom plate 12 is provided with a row guide groove 11, the front surface of the bottom plate 12 is provided with a light eye 26, four groups of suckers 13 are arranged inside each row of guide groove 11, the suckers 13 can be arranged on the bottom plate 12 in an array manner so as to enable workpieces to be evenly stressed, the suckers 13 are arranged on the guide groove 11 in an adjustable manner, when the gripping device needs to adapt to different workpieces, the positions of the suckers 13 can be moved along the length direction of the guide groove, meanwhile, a supporting pad 19 is fixed on a sliding rod 4 at the rear side of the bottom plate 12, the third driving device 24 arranged inside the sliding rod 4 is a miniature lifting motor of ZWBMD003003-5, the front end of the sliding rod 4 is provided with the third driving device 24 through a motor fixing frame 28, the front end of the third driving device 24 is connected with a hinge frame 27, the hinge frame 27, the third driving device 24 pushes the connector 25 to rotate 90 degrees, the bottom plate 12 is movable towards the horizontal direction and the vertical direction, it can be understood that, when the bottom plate 12 is arranged towards the horizontal direction, the suction cup 13 can grab the workpiece from the vertical direction, when the bottom plate 12 is arranged towards the vertical direction, the suction cup 13 can release the workpiece along the horizontal direction, so that the manipulator can grab the workpiece from the vertical direction and release the workpiece in the horizontal direction quickly, and the pin 20 drives the bottom plate 12 to rotate 90 degrees, meanwhile, the pin 20 is rotatably connected with the front end of the sliding rod 4, and both ends of the pin 20 are fixedly connected with the hinge base 10 fixed on the bottom plate 12, the bottom plate 12 comprises a first auxiliary panel 30, a mounting panel 31 and a second auxiliary panel 32, and the upper end of the mounting panel 31 is connected with the first auxiliary panel 30 through the pin, and the lower end of the mounting panel 31 is connected with the second auxiliary panel 32 through the pin, and the left side of the second, and the rear end of the threaded pull rod 29 is hinged on the mounting panel 31 through a support, the left side of the first auxiliary panel 30 is hinged with another threaded pull rod 29 through a support, and the rear end of the other threaded pull rod 29 is hinged on the mounting panel 31 through a support.

Further, in order to adapt to the shapes of different workpieces, the gripping device further comprises an auxiliary panel, in this embodiment, the auxiliary panel comprises a pair of a first auxiliary panel 30 and a second auxiliary panel 32 which are hinged to the upper end and the lower end of the mounting panel 31 respectively, the auxiliary panel is rotated to enable the suction cups 13 to be attached to the shapes of the workpieces, if one side of the workpiece facing the bottom plate is circular, the auxiliary panels positioned at the upper end and the lower end of the mounting panel 31 are rotated towards the direction close to the workpieces, so that when the workpieces are gripped, the suction cups positioned on the bottom plate and the auxiliary panels can be attached to the surfaces of the workpieces to grip the workpieces, and in addition, the auxiliary panels can be set to be 1 or 3 or more to adapt to the requirements of different; in order to enable the auxiliary panel to maintain a stable state, a stabilizing device is further arranged between the installation panel 31 and the auxiliary panel, the stabilizing device comprises a threaded pull rod 29 arranged between the installation panel 31 and the auxiliary panel, two ends of the threaded pull rod 29 are respectively connected with the installation panel 31 and the auxiliary panel, when the length of the threaded pull rod is adjusted, an included angle between the installation panel 31 and the auxiliary panel is adjusted, specifically, the installation panel 31 comprises a first side wall, the auxiliary panel comprises a second side wall, the first side wall and the second side wall face the same side, preferably, the first side wall and the second side wall are coplanar, a first connecting part is arranged on the first side wall, a second connecting part is arranged on the second side wall, one end of the two ends of the threaded pull rod 29 is in threaded connection with the first connecting part, the other end of the two ends of the threaded pull rod 29 is in threaded connection with the second connecting part, the direction of the threads of one end of the threaded pull rod 29 connected with the, when the threaded pull rod 29 is rotated, the distance between the first connecting portion and the second connecting portion changes, the auxiliary panel rotates around the hinge axis, and the included angle between the auxiliary panel and the bottom plate is adjusted.

When the manipulator capable of fast vertical adsorption is used, the threaded pull rod 29 is rotated according to the radian of the surface of a product, so that the first auxiliary panel 30 and the second auxiliary panel 32 form an included angle with the installation panel 31 to adapt to the radian of the surface of the product, firstly, the equipment is connected with a power supply, the suction cup 13 is arranged at an adjusting position in a sliding manner on the guide groove 11, the first driving device 7 pushes the sliding seat 15 to move forwards, meanwhile, the first sensor 6 detects the distance of the sliding seat 15, meanwhile, the optical eye 26 on the bottom plate 12 moves, when the optical eye 26 detects the product, the suction cup 13 acts to adsorb the vertically placed product, then the first driving device 7 pulls the sliding seat 15 back, then the third driving device 24 pushes the hinge frame 27 to move forwards, then the pin rod 20 is driven to rotate, the bottom plate 12 is driven to rotate by 90 degrees, then the second driving device 5 pushes the sliding rod 4 to slide inside the sliding, the second sensor 16 arranged on the side detects the vertical distance, and then the product is horizontally placed, which is the working principle of the manipulator with the rapid vertical adsorption.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a quick vertical adsorbed manipulator, includes displacement device and sets up the grabbing device on the displacement device, its characterized in that: the displacement device comprises a horizontal displacement device and a vertical displacement device, the horizontal displacement device comprises a first cross beam (1), a sliding seat (15) movably arranged on the first cross beam (1) and a first driving device (7) for driving the sliding seat (15) to move, and the vertical displacement device comprises a sliding support (3), a sliding rod (4) and a second driving device (5) for driving the sliding rod (4) to move; the grabbing device further comprises a third driving device (24) for driving the bottom plate (12) to rotate, a first driving device (7) is fixed on a driving device fixing base (8) at the upper end of the first cross beam (1), the front end of the first driving device (7) is connected with a sliding base (15), a first sensor (6) is installed on the driving device fixing base (8) above the first driving device (7), a second driving device (5) is installed at the front end of the sliding base (15) through a support, a driving device fixing plate (9) connected with the front end of the second driving device (5) is fixed on the sliding rod (4), and the front end of the sliding rod (4) is movably installed on a hinge seat (10) on the bottom plate (12) through a pin rod (20);

linear bearing (23) are installed through sliding support (3) in slide (15) left side, and the inside slidable mounting of linear bearing (23) has guide bar (14), and third drive arrangement (24) are installed through motor mount (28) to slide bar (4) front end, and third drive arrangement (24) front end is connected with articulated frame (27), and articulated frame (27) are connected with connector (25) through the axostylus axostyle, and connector (25) are fixed on pin pole (20).

2. The manipulator of claim 1, wherein the manipulator is characterized in that: guide rail (2) of T type are openly installed to first crossbeam (1), and slidable mounting has slider (21) of C type on guide rail (2) to slider (21) are fixed on slide fixed plate (18) of slide (15) rear end, and slide (15) middle part is square hole groove simultaneously, and evenly is provided with curved elastic clamping piece (17) on slide (15) inside wall, and elastic clamping piece (17) contact with slide bar (4) side.

3. The manipulator of claim 1, wherein the manipulator is characterized in that: and a second sensor (16) arranged on the sliding support (3) and a first sensor (6) arranged on the driving device fixing base (8) are TOF laser ranging sensors of SK-Z-10 type, and a third driving device (24) arranged inside the sliding rod (4) is a ZWBMD003003-5 miniature lifting motor.

4. The manipulator of claim 1, wherein the manipulator is characterized in that: the first driving device (7) installed on the driving device fixing base (8) is arranged in parallel with the first cross beam (1), the guide rod (14) and the second driving device (5) are arranged in parallel with the sliding rod (4) in structure, the guide rod (14) slides inside the linear bearing (23), and meanwhile, a guide rod fixing plate (22) fixed at the front end of the guide rod (14) and a driving device fixing plate (9) fixed at the front end of the second driving device (5) are arranged on the same plane.

5. The manipulator of claim 1, wherein the manipulator is characterized in that: the novel multifunctional cleaning machine is characterized in that the bottom plate (12) is provided with guide grooves (11), the front surface of the bottom plate (12) is provided with a light eye (26), four groups of suckers (13) are arranged in each guide groove (11), and meanwhile, a supporting pad (19) is fixed on the sliding rod (4) at the rear side of the bottom plate (12).

6. The manipulator of claim 1, wherein the manipulator is characterized in that: the front end of the guide rod (14) is fixed on a guide rod fixing plate (22), the guide rod fixing plate (22) is fixed on the sliding rod (4), and a second sensor (16) is installed on the sliding support (3) behind the guide rod fixing plate (22).

7. The manipulator of claim 3, wherein the manipulator is characterized in that: the length of slide (15) is greater than the width of first crossbeam (1), and bottom plate (12) and articulated seat (10) of slide bar (4) lower extreme installation become T type structure, and fixed supporting pad (19) are the rubber material on slide bar (4) simultaneously.

8. The manipulator of claim 1, wherein the manipulator is characterized in that: third drive arrangement (24) promote connector (25) and rotate 90 degrees, and pin rod (20) drive bottom plate (12) and rotate 90 degrees, and pin rod (20) rotate with slide bar (4) front end simultaneously and be connected, and fixed articulated seat (10) fixed connection on pin rod (20) both ends and bottom plate (12).

9. The manipulator of claim 1, wherein the manipulator is characterized in that: bottom plate (12) include first auxiliary panel (30), installation panel (31) and second auxiliary panel (32), and installation panel (31) upper end is connected with first auxiliary panel (30) through the pin rod, and installation panel (31) lower extreme is connected with second auxiliary panel (32) through the pin rod, second auxiliary panel (32) left side articulates through the support has screw thread pull rod (29) simultaneously, and screw thread pull rod (29) rear end articulates on installation panel (31) through the support, first auxiliary panel (30) left side articulates through the support has another screw thread pull rod (29), and another screw thread pull rod (29) rear end articulates on installation panel (31) through the support.

10. The manipulator of claim 1, wherein the manipulator is characterized in that: an auxiliary plate (34) is fixed at the upper end of a sliding seat fixing plate (18) arranged behind the sliding seat (15), an arc-shaped sliding block (33) is arranged on the auxiliary plate (34), and the auxiliary plate (34) is overlapped at the top of the first cross beam (1).