CN210173604U

CN210173604U - Rotary manipulator feeding and discharging device

Info

Publication number: CN210173604U
Application number: CN201920933989.XU
Authority: CN
Inventors: Xiaoyi Tan; 谭孝益
Original assignee: Jiangsu Leiyi Machinery Technology Co ltd
Current assignee: Jiangsu Leiyi Machinery Technology Co ltd
Priority date: 2019-06-20
Filing date: 2019-06-20
Publication date: 2020-03-24
Anticipated expiration: 2029-06-20

Abstract

The utility model discloses a rotary manipulator feeding and discharging device, which comprises an equipment main body, wherein the bottom of the equipment main body is provided with a support structure, the upper part of the support structure is provided with a rotary mechanism, a rotary support is arranged between the rotary mechanism and the support structure, the upper part of the rotary mechanism is provided with a sliding device, the side surface of the sliding device is provided with a support rod, one end of the support rod is provided with a mechanical arm, a vacuum shaft rod is arranged in a grabbing mechanism, and the bottom of the vacuum shaft rod is provided with a buffer sucker, so that the grabbing mechanism can provide a buffer force for a workpiece when grabbing; meanwhile, by arranging the rotating mechanism and the lifting mechanism, the grabbing mechanism is kept synchronous with the circular motion through the following motion so as to grab the workpiece, and the workpiece is placed to the target position through lifting or rotating, so that the manual operation is omitted, the operation is simple, the cost is reduced, and the production efficiency is improved.

Description

Rotary manipulator feeding and discharging device

Technical Field

The utility model relates to the field of machinary, more specifically the utility model relates to a unloader on rotation type manipulator.

Background

Along with the progress of electronic products, the electronic products are widely applied to industrial production, and at present, when products or workpieces are taken and placed, the products or the workpieces are taken and placed manually, however, the labor intensity of a manual operation mode is high, the working efficiency is low, the cost is relatively high, the workpieces are easily damaged when the existing mechanical hand is used for grabbing, and the stability is not high in the grabbing process.

SUMMERY OF THE UTILITY MODEL

One of the purposes of the utility model is to solve the above-mentioned not enough, provide a unloader on rotation type manipulator to expect to solve and snatch the mechanism and snatch the lower scheduling problem of in-process stability of work piece.

In order to solve the technical problem, the utility model adopts the following technical scheme:

the utility model provides a unloader on rotation type manipulator, including the equipment principal, its characterized in that: the bottom of the equipment main body is provided with a support structure, the upper part of the support structure is provided with a rotating mechanism, a fixed support is arranged between the rotating mechanism and the support structure, the upper part of the rotating mechanism is provided with a lifting mechanism, the side surface of the lifting mechanism is provided with a connecting rod, and one end of the connecting rod is provided with a grabbing mechanism.

Preferably, the further technical scheme is as follows: the grabbing mechanism comprises a connecting shaft rod, a sucker adjusting frame is arranged at the bottom end of the connecting shaft rod, a vacuum shaft rod is arranged on the sucker adjusting frame, a buffer sucker is arranged at the bottom of the vacuum shaft rod, a first motor is arranged at the top end of the connecting shaft rod, and the first motor is arranged at one end of the connecting rod.

The further technical scheme is as follows: the lifting mechanism comprises a rotating plate, a first lifting rod and a second lifting rod are arranged at two ends of the rotating plate respectively, a first bidirectional chute is arranged on the same side face of each of the first lifting rod and the second lifting rod, and a rack is arranged on one side of each of the first lifting rods.

The further technical scheme is as follows: the connecting rod one side is equipped with the two-way spout of second, the two-way spout of second with first motor looks adaptation, the top of the connecting rod other end is equipped with first slider, first slider setting is in the upper portion of the connecting rod other end, the middle part of first slider one side is equipped with the gear, first slider opposite side is equipped with the second motor.

The further technical scheme is as follows: the side of the other end of the connecting rod is provided with a fixed plate, two second sliding blocks are arranged on one side of the fixed plate at intervals, the distance between the second sliding blocks is consistent with the distance between the first lifting rod and the second lifting rod and corresponds to the first lifting rod, and the second sliding blocks are matched with the first bidirectional sliding grooves.

The further technical scheme is as follows: the bottom of the rotating plate is provided with a rotating shaft rod, the rotating shaft rod is respectively sleeved with an upper supporting plate and a lower supporting plate, the bottom of the upper supporting plate is provided with a third motor, a synchronizing wheel is arranged between the third motor and the rotating shaft rod, a rotating supporting shaft is arranged in the middle of the lower supporting plate, a rotating support is arranged at the bottom of the lower supporting plate, and horizontal supporting pieces are symmetrically arranged on two sides of the rotating support at intervals.

The further technical scheme is as follows: the support structure comprises an electric appliance cabinet, a horizontal adjusting base is arranged at the bottom of the electric appliance cabinet, and an equipment frame is arranged outside the electric appliance cabinet.

The further technical scheme is as follows: and the control system is arranged at the top end of the lifting mechanism at intervals and is respectively in signal connection with a power motor and a sensor in the manipulator feeding and discharging device.

The further technical scheme is as follows: the rack and the gear are mutually inosculated.

Compared with the prior art, one of the beneficial effects of the utility model is that: the vacuum shaft lever is arranged in the grabbing mechanism, and the buffer sucker is arranged at the bottom of the vacuum shaft lever, so that a buffer force is provided for the workpiece when the grabbing mechanism grabs the workpiece, and the grabbing stability is improved; simultaneously through setting up rotary mechanism and elevating system, be convenient for make snatch the mechanism and keep in step in order to snatch the work piece with circular motion through following the motion to place the target position with the work piece through going up and down or rotatory, saved manual operation, simultaneously the utility model provides a manipulator easy operation, reduce cost has improved production efficiency.

Drawings

Fig. 1 is a schematic perspective view illustrating an apparatus main body according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram illustrating a front view of an apparatus main body according to another embodiment of the present invention.

Fig. 3 is a schematic structural diagram illustrating a side view of an apparatus main body according to still another embodiment of the present invention.

In the figure, 1 is an apparatus main body, 2 is a support structure, 3 is a rotating mechanism, 4 is a fixed support, 5 is a lifting mechanism, 6 is a connecting rod, 7 is a grabbing mechanism, 8 is a linking shaft rod, 9 is a suction cup adjusting frame, 10 is a vacuum shaft rod, 11 is a buffer suction cup, 12 is a first motor, 13 is a rotating plate, 14 is a first lifting rod, 15 is a second lifting rod, 16 is a first bidirectional sliding groove, 17 is a rack, 18 is a second bidirectional sliding groove, 19 is a first sliding block, 20 is a gear, 21 is a second motor, 22 is a fixed plate, 23 is a second sliding block, 24 is a rotating shaft rod, 25 is an upper support plate, 26 is a lower support plate, 27 is a third motor, 28 is a rotating support shaft, 29 is a rotating support, 30 is a horizontal support, 31 is an electrical cabinet, 32 is a horizontal adjusting base, 33 is an apparatus frame, and 34 is a control system.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings.

Referring to fig. 1, an embodiment of the present invention is a rotary manipulator loading and unloading device, including an apparatus main body 1, a support structure 2 is provided at the bottom of the apparatus main body 1 for supporting the apparatus main body 1, a rotary mechanism 3 is installed on the support structure 2 for increasing the control range, a fixing support 4 is provided between the rotary mechanism 3 and the support structure 2 for supporting the rotary mechanism 3 in the rotating process, an elevating mechanism 5 is provided on the upper portion of the rotary mechanism 3, and a connecting rod 6 is installed on the side of the elevating mechanism 5 for making the connecting rod 6 slide up and down along the elevating mechanism 5 to adjust the grabbing height, and a grabbing mechanism 7 is provided at one end of the connecting rod 6 for grabbing a workpiece.

The vacuum shaft lever 10 is arranged in the grabbing mechanism 7, and the buffer sucker 11 is arranged at the bottom of the vacuum shaft lever 10, so that a buffer force is provided for a workpiece when the grabbing mechanism 7 grabs the workpiece, and the grabbing stability is improved; meanwhile, the rotating mechanism 3 and the lifting mechanism 5 are arranged, so that the grabbing mechanism 7 can grab the workpiece after keeping synchronization with the circular motion through following motion, the workpiece is lifted or rotated, and the workpiece is placed at a target position, and manual operation is omitted.

Referring to fig. 1 and 2, in another embodiment of the present invention, the above-mentioned grabbing mechanism 7 includes a link shaft 8, and a suction cup adjusting frame 9 is installed at the bottom end of the link shaft 8 for adjusting the angle of grabbing the workpiece, so as to better grab the workpiece, and a vacuum shaft 10 is installed in the suction cup adjusting frame 9 for allowing the grabbing mechanism 7 to draw air out of the vacuum shaft 10 to form a pressure difference when grabbing the workpiece, so as to increase the pressure for grabbing the workpiece, so that the grabbing mechanism 7 can grab the workpiece more stably, and a buffer suction cup 11 is installed at the bottom of the vacuum shaft 10, so that the grabbing mechanism 7 provides a buffer action force to the grabbed workpiece through the buffer suction cup 11 when grabbing the workpiece, thereby avoiding the workpiece from being impacted due to too fast descending or too large descending amplitude of the grabbing mechanism 7, affecting the integrity of the workpiece, and improving the grabbing quality, by installing the first motor 12 on the top end of the aforementioned link shaft 8, and connecting the first motor 12 to the control system 34, the start and stop of the first motor 12 can be controlled by the control system 34, and simultaneously, the forward and reverse rotation of the first motor 12 can be controlled by the control system 34, so as to control and regulate the grabbing mechanism 7 to slide left and right on the aforementioned connecting rod 6, so as to control the grabbing mechanism 7 to better grab or place the workpiece, and installing sensors at intervals at the first motor 12, and the sensors are still connected to the control system 34, and can be used for receiving the sensing signal sent by the sensors through the control system 34 to control the first motor 12 to make the grabbing mechanism 7 slide on the connecting rod 6, so as to make the grabbing mechanism 7 grab or place the workpiece more accurately, the first motor 12 is slidably installed on the aforementioned connecting rod 6 and is engaged with the aforementioned connecting rod 6, and the aforementioned first motor 12 can be purchased from the market, the first motor 12 is also controlled by the control system 34 to draw and suck air from the vacuum shaft 10 to facilitate the gripping or placing of a workpiece.

Referring to fig. 1 and 2, in another embodiment of the present invention, in order to make the grasping mechanism 7 slide up and down to grasp a workpiece, a rotating plate 13 is provided at the bottom end of the elevating mechanism 5, and a first elevating rod 14 and a second elevating rod 15 are respectively fixedly mounted at both ends of the upper portion of the rotating plate 13, the first elevating rod 14 and the second elevating rod 15 are symmetrical about the central axis of the rotating plate 13, and a first bidirectional sliding slot 16 is respectively provided on the same side of the first elevating rod 14 and the second elevating rod 15 for making the slider slide up and down along the first bidirectional sliding slot 16, and a rack 17 is provided on one side of the first elevating rod 14, and a second bidirectional sliding slot 18 is provided on one side of the connecting rod 6, and the second bidirectional sliding slot 18 is matched with the first motor 12 for making the first motor 12 slide left and right along the second bidirectional sliding slot 18, the first sliding block 19 is fixedly arranged at the upper part of the other end of the connecting rod 6, a gear 20 is fixedly arranged in the middle of one side of the first sliding block 19, the gear 20 is matched with the rack 17, the second motor 21 is fixedly arranged on the other side of the first sliding block 19, the second motor 21 is connected to a control system 34, the control system 34 can control the start and stop of the second motor 21, and the control system 34 can control the forward and reverse rotation of the second motor 21 to control the first sliding block 19, so that the connecting rod 6 can slide up and down along the first lifting rod 14 and the second lifting rod 15, and the height of the workpiece grabbed by the grabbing mechanism 7 can be controlled to be adjusted.

Referring to fig. 2 and 3, in another embodiment of the present invention, by providing a fixing plate 22 at a side of the other end of the connecting rod 6, a width of the fixing plate 22 is identical to a width of the connecting rod 6, a length of the fixing plate 22 is 1.5 times of a distance between the first lifting rod 14 and the second lifting rod 15, two second sliders 23 are spaced apart from one side of the fixing plate 22, a distance between the second sliders 23 is identical to a distance between the first lifting rod 14 and the second lifting rod 15 and corresponds to each other, and the second sliders 23 are engaged with the first bidirectional sliding groove 16, so that the second sliders 23 slide along the first bidirectional sliding groove 16.

The rotating shaft 24 is installed at the bottom of the rotating plate 13, the upper support plate 25 and the lower support plate 26 are fixedly sleeved on the rotating shaft 24, the third motor 27 is installed at the bottom of the upper support plate 25 at intervals, the third motor 27 is connected to the control system 34, the start and stop of the third motor 27 can be controlled by the control system 34, the forward and reverse rotation of the third motor 27 can be controlled by the control system 34 so as to control and adjust the rotating shaft 24, the sensor is installed at the bottom of the rotating shaft 24 at intervals, the sensor is still connected to the control system 34, the sensor can be used for receiving a sensing signal sent by the sensor through the control system 34 to control the third motor 27 to enable the rotating shaft 24 to rotate forward or reverse, so as to enable the grasping mechanism 7 to grasp a workpiece more accurately, the third motor 27 can be purchased from the market, a synchronizing wheel is fixedly installed between the third motor 27 and the rotating shaft 24, for rotating the rotating shaft 24, the aforementioned third motor 27 can rotate simultaneously and drive the upper support plate 25 and the lower support plate 26 to rotate simultaneously, and a rotating support shaft 28 is installed at the middle of the lower support plate 26.

Referring to fig. 2, in another embodiment of the present invention, the support structure 2 includes an electrical cabinet 31, and horizontal adjusting bases 32 are installed at four corners of the bottom of the electrical cabinet 31 for adjusting the height of the device body 1, and an equipment frame 33 is installed outside the electrical cabinet 31 for fixing the electrical cabinet 31, the control system 34 is disposed at the top end of the lifting mechanism 5 at intervals, connected to the lifting mechanism 5 through a pipeline, and the control system 34 is fixed on the support structure 2 through a fixing rod for controlling the device body 1.

Referring to fig. 1, fig. 2, fig. 3, in a preferred embodiment of the present invention, the control system 34 is used to control the grabbing mechanism 7, and the second motor 21 is connected to the control system 34, the control system 34 is used to control the start and stop of the second motor 21, and the control system 34 is used to control the forward and reverse rotation of the second motor 21 to control the first sliding block 19, so as to rotate the gear 20 on the rack 17, drive the second sliding block 23 to slide on the first bidirectional sliding chute 16, and drive the grabbing mechanism 7 to move up and down through the connecting rod 6, so as to adjust the height of the grabbing mechanism 7 for grabbing the workpiece, when the grabbing mechanism 7 contacts the workpiece, the grabbing mechanism can tightly attach to the workpiece through the buffering effect of the buffering suction cup 11, and play the buffering and protecting effects on the workpiece, and connect the first motor 12 to the control system 34, and control the start and stop of the first motor 23 through the control system 34, meanwhile, the control system 34 can control the forward and reverse rotation of the first motor 12 to control and adjust the grabbing mechanism 7 to slide left and right on the connecting rod 6, so as to control the grabbing mechanism 7 to grab or place a workpiece better, the sensors are arranged at intervals on the first motor 12 and are still connected to the control system 34, and the control system 34 can be used for receiving a sensing signal sent by the sensors to control the first motor 12 to control the grabbing mechanism 7 to slide on the connecting rod 6 through the control system 34, so as to enable the grabbing mechanism 7 to grab or place the workpiece more accurately, and simultaneously, the control system controls the vacuum shaft lever 10 by adjusting the first motor 12 to exhaust air in the vacuum shaft lever 10, so as to increase the adsorption force of the buffer suction cup 11, improve the grabbing effect on the workpiece, reduce the influence on the workpiece in the grabbing process, and simultaneously, the third motor 27 is arranged at the bottom of the upper supporting plate 25 at intervals, the third motor 27 is connected to the control system 34, the control system 34 can control the start and stop of the third motor 27, and the control system 34 can control the forward and reverse rotation of the third motor 27 to control and adjust the rotating shaft 24, and the sensors are installed at the bottom of the rotating shaft 24 at intervals and still connected to the control system 34, and can be used for receiving the sensing signal sent by the sensor through the control system 34 to control the third motor 27 to rotate the rotating shaft 24 forward or backward so as to make the grasping mechanism 7 grasp the workpiece more accurately, the control system 34 can adjust the third motor 27 to drive the rotating shaft 24 to rotate, so that the upper support plate 25 and the lower support plate 26 rotate simultaneously under the driving of the third motor 27, and the rotating support 29 is installed at the bottom of the lower support plate 26 to rotate the rotating shaft 24 and drive the third motor 27, Go up backup pad 25 and lower support plate 26 rotatory to it is rotatory to drive elevating system 5, so that it does circular motion for rotatory axostylus axostyle 24 to snatch mechanism 7, improve the scope of snatching mechanism 7, simultaneously accessible rotating support 29 provides the holding power to slewing mechanism 3 at rotatory in-process, hard both sides interval symmetry installation horizontal support 30 at rotating support 29, so that support lower support plate 26 so that make rotary device at the steady rotation of pivoted in-process, so that the work piece is getting put more steadily with rotatory in-process, improve the stability that the manipulator snatched.

Reference throughout this specification to "one embodiment," "another embodiment," "an embodiment," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment described generally in this application. The appearances of the same phrase in various places in the specification are not necessarily all referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is submitted that it is within the scope of the invention to effect such feature, structure, or characteristic in connection with other embodiments.

Although the invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this invention. More specifically, various variations and modifications are possible in the component parts and/or arrangements of the subject combination arrangement within the scope of the disclosure, the drawings and the appended claims. In addition to variations and modifications in the component parts and/or arrangements, other uses will also be apparent to those skilled in the art.

Claims

1. The utility model provides a unloader on rotation type manipulator, includes equipment main part (1), its characterized in that: equipment main part (1) bottom is equipped with support structure (2), support structure (2) upper portion is equipped with rotary mechanism (3), rotary mechanism (3) with be equipped with fixing support (4) between support structure (2), rotary mechanism (3) upper portion is equipped with elevating system (5), elevating system (5) side is equipped with connecting rod (6), connecting rod (6) one end is equipped with snatchs mechanism (7).

2. The rotary manipulator loading and unloading device according to claim 1, wherein: snatch mechanism (7) including linking axostylus axostyle (8), linking axostylus axostyle (8) bottom is equipped with sucking disc alignment jig (9), be equipped with vacuum axostylus axostyle (10) on sucking disc alignment jig (9), vacuum axostylus axostyle (10) bottom is equipped with buffering sucking disc (11), it is equipped with first motor (12) to link axostylus axostyle (8) top, first motor (12) set up the one end of connecting rod (6).

3. The rotary manipulator loading and unloading device according to claim 2, wherein: the lifting mechanism (5) comprises a rotating plate (13), a first lifting rod (14) and a second lifting rod (15) are arranged at two ends of the rotating plate (13) respectively, a first bidirectional chute (16) is formed in the same side face of each of the first lifting rod (14) and the second lifting rod (15), and a rack (17) is arranged on one side of each of the first lifting rods (14).

4. The rotary manipulator loading and unloading device according to claim 3, wherein: the connecting rod (6) one side is equipped with second bidirectional chute (18), second bidirectional chute (18) with first motor (12) looks adaptation, the top of connecting rod (6) other end is equipped with first slider (19), the middle part of first slider (19) one side is equipped with gear (20), first slider (19) opposite side is equipped with second motor (21).

5. The rotary manipulator loading and unloading device according to claim 3, wherein: the other side of the connecting rod (6) is provided with a fixing plate (22), two second sliding blocks (23) are arranged on one side of the fixing plate (22) at intervals, the distance between the second sliding blocks (23) is consistent with the distance between the first lifting rod (14) and the second lifting rod (15) and corresponds to each other, and the second sliding blocks (23) are matched with the first bidirectional sliding grooves (16).

6. The rotary manipulator loading and unloading device according to claim 3, wherein: the rotating plate is characterized in that a rotating shaft rod (24) is arranged at the bottom of the rotating plate (13), an upper supporting plate (25) and a lower supporting plate (26) are respectively sleeved on the rotating shaft rod (24), a third motor (27) is arranged at the bottom of the upper supporting plate (25), a synchronizing wheel is arranged between the third motor (27) and the rotating shaft rod (24), a rotating supporting shaft (28) is arranged in the upper middle of the lower supporting plate (26), a rotating support (29) is arranged at the bottom of the lower supporting plate (26), and horizontal supporting members (30) are symmetrically arranged on two sides of the rotating support (29) at intervals.

7. The rotary manipulator loading and unloading device according to claim 1, wherein: the support structure (2) comprises an electric appliance cabinet (31), a horizontal adjusting base (32) is arranged at the bottom of the electric appliance cabinet (31), and an equipment frame (33) is arranged outside the electric appliance cabinet (31).

8. The rotary manipulator loading and unloading device according to claim 1, wherein: the top end of the lifting mechanism (5) is provided with a control system (34) at intervals, and the control system (34) is respectively in signal connection with a power motor and a sensor in the manipulator loading and unloading device.

9. The rotary manipulator loading and unloading device according to claim 4, wherein: the rack (17) and the gear (20) are mutually inosculated.