CN210795033U

CN210795033U - Carrying and stacking manipulator

Info

Publication number: CN210795033U
Application number: CN201921904223.5U
Authority: CN
Inventors: 李剑峰; 杨虎祥
Original assignee: Strike Industrial Machinery Kunshan Co ltd
Current assignee: Strike Industrial Machinery Kunshan Co ltd
Priority date: 2019-11-07
Filing date: 2019-11-07
Publication date: 2020-06-19
Anticipated expiration: 2029-11-07

Abstract

The utility model belongs to the technical field of pile up neatly equipment and specifically relates to transport pile up neatly machinery hand. The manipulator comprises an X-axis horizontal linear driving mechanism, a Y-axis linear lifting mechanism, a Z-axis horizontal linear driving mechanism, a rotating mechanism and a rotating angle sensing mechanism, wherein the moving end of the X-axis horizontal linear driving mechanism is fixed on a cylinder body of the Y-axis linear lifting mechanism, the moving end of the Y-axis linear lifting mechanism is fixed at the moving end of the Z-axis horizontal linear driving mechanism, the moving end of the Z-axis horizontal linear driving mechanism is fixed with the rotating mechanism, and the rotating angle sensing mechanism is fixed on the end surface of the cylinder body of the rotating mechanism. The utility model discloses a horizontal straight line actuating mechanism of X axle orders about the tongs and removes. The Y-axis linear lifting mechanism drives the gripper to move up and down. And the Z-axis horizontal linear driving mechanism drives the gripper to move back and forth. The rotating mechanism drives the gripper to rotate by an angle. The rotation angle sensing mechanism limits the rotation range of the gripper. This application has improved the efficiency of object transport pile up neatly.

Description

Carrying and stacking manipulator

Technical Field

The utility model belongs to the technical field of pile up neatly equipment and specifically relates to transport pile up neatly machinery hand.

Background

The existing object carrying and stacking are mostly finished manually. However, the carrying and stacking method has low working efficiency and needs to consume a lot of manpower.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem described in the background art, the utility model provides a transport pile up neatly machinery hand. The gripper is driven to move back and forth through the X-axis horizontal linear driving mechanism. The Y-axis linear lifting mechanism drives the gripper to move up and down. And the Z-axis horizontal linear driving mechanism drives the gripper to move left and right. The rotating mechanism can drive the gripper to rotate angularly. The rotation angle sensing mechanism can limit the rotation range of the hand grip. This application has improved the efficiency of object transport pile up neatly.

The utility model provides a technical scheme that its technical problem adopted is:

the utility model provides a transport pile up neatly machinery hand, includes horizontal linear driving mechanism of X axle, Y axle straight line elevating system, the horizontal linear driving mechanism of Z axle, rotary mechanism and rotation angle response mechanism, the removal end of the horizontal linear driving mechanism of X axle is fixed on the cylinder body of Y axle straight line elevating system, and the removal end of Y axle straight line elevating system is fixed in the removal end of the horizontal linear driving mechanism of Z axle, and the removal end of the horizontal linear driving mechanism of Z axle is fixed with rotary mechanism, is fixed with rotation angle response mechanism on the cylinder body terminal surface of rotary mechanism.

Specifically, the X-axis horizontal linear driving mechanism comprises a cylinder body I, a rack I, a sliding seat I, a motor I and a gear I, wherein the sliding seat I is connected to the cylinder body I in a sliding mode, the rack I is fixed on the cylinder body I, the motor I is fixed on the sliding seat I, the gear I is fixed on an output shaft of the motor I, and the gear I is meshed with the rack I.

Specifically, the Y-axis linear lifting mechanism comprises a second cylinder body, a second rack, a second sliding seat, a second motor and a second gear, the second sliding seat is connected to the second cylinder body in a sliding mode, the second rack is fixed on the second cylinder body, the second motor is fixed on the second sliding seat, the second gear is fixed on an output shaft of the second motor, the second gear is meshed with the second rack, and the bottom end of the second cylinder body is fixed on the first sliding seat.

Specifically, the Z-axis horizontal linear driving mechanism comprises a third cylinder body, a third rack, a third sliding seat, a third motor and a third gear, wherein the third sliding seat is connected to the third cylinder body in a sliding manner, the third rack is fixed on the third cylinder body, the third motor is fixed on the third sliding seat, the third gear is fixed on an output shaft of the third motor, the third gear is meshed with the third rack, one end of the cylinder body of the third cylinder body is fixed on the second sliding seat, and the rotating mechanism is fixed on the third sliding seat.

Specifically, the rotating mechanism is a rotating cylinder or a motor.

Specifically, a weight box is fixed on a second cylinder body of the Y-axis linear lifting mechanism, and the weight box and the Z-axis horizontal linear driving mechanism are respectively positioned on the left side and the right side of the second cylinder body.

Specifically, the rotation angle sensing mechanism is composed of two photoelectric sensors, and the two light spot sensors are distributed on the end face of the cylinder body of the rotation mechanism.

The utility model has the advantages that: the utility model provides a transport pile up neatly machinery hand. The gripper is driven to move left and right through the X-axis horizontal linear driving mechanism. The Y-axis linear lifting mechanism drives the gripper to move up and down. And the Z-axis horizontal linear driving mechanism drives the gripper to move back and forth. The rotating mechanism can drive the gripper to rotate angularly. The rotation angle sensing mechanism can limit the rotation range of the hand grip. This application has improved the efficiency of object transport pile up neatly.

Drawings

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

Fig. 1 is a schematic structural diagram of the present invention;

fig. 2 is a schematic structural view of the rotation angle sensing mechanism of the present invention;

in the figure, 1, an X-axis horizontal linear driving mechanism, 2, a Y-axis linear lifting mechanism, 3, a Z-axis horizontal linear driving mechanism, 4, a rotating mechanism, 5, a rotating angle sensing mechanism, 6, a weight box, 11, a cylinder body I, 12, a rack I, 13, a sliding seat I, 14, a motor I, 21, a cylinder body II, 22, a rack II, 23, a sliding seat II, 24, a motor II, 31, a cylinder body III, 32, a rack III, 33, a sliding seat III, 34 and a motor III are arranged.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.

Fig. 1 is a schematic structural diagram of the present invention, and fig. 2 is a schematic structural diagram of the rotation angle sensing mechanism of the present invention.

The utility model provides a transport pile up neatly machinery hand, includes horizontal linear driving mechanism 1 of X axle, Y axle sharp elevating system 2, the horizontal linear driving mechanism 3 of Z axle, rotary mechanism 4 and rotation angle response mechanism 5, the removal end of the horizontal linear driving mechanism 1 of X axle is fixed on the cylinder body of Y axle sharp elevating system 2, and the removal end of Y axle sharp elevating system 2 is fixed at the removal end of the horizontal linear driving mechanism 3 of Z axle, and the removal end of the horizontal linear driving mechanism 3 of Z axle is fixed with rotary mechanism 4, is fixed with rotation angle response mechanism 5 on the cylinder body terminal surface of rotary mechanism 4. The X-axis horizontal linear driving mechanism 1 is composed of a cylinder body I11, a rack I12, a sliding seat I13, a motor I14 and a gear I, wherein the sliding seat I13 is connected to the cylinder body I11 in a sliding mode, the rack I12 is fixed on the cylinder body I11, the motor I14 is fixed on the sliding seat I13, the gear I is fixed on an output shaft of the motor I14, and the gear I is meshed with the rack I12. The Y-axis linear lifting mechanism 2 is composed of a second cylinder body 21, a second rack 22, a second sliding seat 23, a second motor 24 and a second gear, the second sliding seat 23 is connected to the second cylinder body 21 in a sliding mode, the second rack 22 is fixed on the second cylinder body 21, the second motor 24 is fixed on the second sliding seat 23, the second gear is fixed on an output shaft of the second motor 24, the second gear is meshed with the second rack 22, and the bottom end of the second cylinder body 21 is fixed on the first sliding seat 13. The Z-axis horizontal linear driving mechanism 3 is composed of a third cylinder body 31, a third rack 32, a third sliding seat 33, a third motor 34 and a third gear, the third sliding seat 33 is connected to the third cylinder body 31 in a sliding mode, the third rack 32 is fixed to the third cylinder body 31, the third motor 34 is fixed to the third sliding seat 33, the third gear is fixed to an output shaft of the third motor 34, the third gear is meshed with the third rack 32, one end of a cylinder body of the third cylinder body 31 is fixed to the second sliding seat 23, and the rotating mechanism 4 is fixed to the third sliding seat 33. The rotating mechanism 4 is a rotating cylinder or a motor. And a weight box 6 is fixed on the second cylinder body 21 of the Y-axis linear lifting mechanism 2, and the weight box 6 and the Z-axis horizontal linear driving mechanism 3 are respectively positioned at the left side and the right side of the second cylinder body 21. The rotation angle sensing mechanism 5 is composed of two photoelectric sensors, and the two light spot sensors are distributed on the end face of the cylinder body of the rotation mechanism 4.

Referring to fig. 1 and 2, the gripper is fixed to the rotating mechanism 4, and an output shaft of the rotating mechanism 4 can drive the gripper to rotate by a rotating angle. The rotation angle sensing mechanism 5 is two light point sensors, one of which is an initial point and the other is an end point. And when the induction block is rotated to the front of one of the photoelectric sensors, the photoelectric sensor transmits a signal to the control machine, so that the hand grip is always rotated between the two light spot sensors, and the rotation angle is controlled.

The X-axis horizontal linear driving mechanism 1 can drive the gripper to horizontally and linearly move back and forth. A motor 14 drives a gear wheel to rotate, and the rotating gear wheel moves horizontally along a rack 12 meshed with the rotating gear wheel, so that a sliding seat 13 is driven to move horizontally along a cylinder 11.

The Y-axis linear lifting mechanism 2 can drive the gripper to move linearly up and down. The second motor 24 drives the second gear to rotate, and the rotating second gear moves up and down along the second rack 22 engaged with the rotating second gear, so as to drive the second sliding seat 23 to move up and down along the second cylinder 21.

The Z-axis horizontal linear driving mechanism 3 can drive the gripper to move horizontally and linearly left and right. The third motor 34 drives the third gear to rotate, and the rotating third gear moves up and down along the third rack 32 engaged with the third gear, so that the third sliding seat 33 is driven to move up and down along the third cylinder 31.

In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. The utility model provides a transport pile up neatly machinery hand, characterized by, includes horizontal linear driving mechanism of X axle (1), Y axle sharp elevating system (2), horizontal linear driving mechanism of Z axle (3), rotary mechanism (4) and rotation angle response mechanism (5), the removal end of horizontal linear driving mechanism of X axle (1) is fixed on the cylinder body of Y axle sharp elevating system (2), and the removal end of Y axle sharp elevating system (2) is fixed at the removal end of horizontal linear driving mechanism of Z axle (3), and the removal end of horizontal linear driving mechanism of Z axle (3) is fixed with rotary mechanism (4), is fixed with rotation angle response mechanism (5) on the cylinder body terminal surface of rotary mechanism (4).

2. The transfer palletizing robot as claimed in claim 1, wherein: the X-axis horizontal linear driving mechanism (1) is composed of a cylinder body I (11), a rack I (12), a sliding seat I (13), a motor I (14) and a gear I, the sliding seat I (13) is connected to the cylinder body I (11) in a sliding fit mode, the rack I (12) is fixed on the cylinder body I (11), the motor I (14) is fixed on the sliding seat I (13), the gear I is fixed on an output shaft of the motor I (14), and the gear I is meshed with the rack I (12).

3. The transfer palletizing robot as claimed in claim 1, wherein: the Y-axis linear lifting mechanism (2) is composed of a second cylinder body (21), a second rack (22), a second sliding seat (23), a second motor (24) and a second gear, the second sliding seat (23) is connected to the second cylinder body (21) in a sliding mode, the second rack (22) is fixed on the second cylinder body (21), the second motor (24) is fixed on the second sliding seat (23), the second gear is fixed on an output shaft of the second motor (24), the second gear is meshed with the second rack (22), and the bottom end of the second cylinder body (21) is fixed on the first sliding seat (13).

4. The transfer palletizing robot as claimed in claim 1, wherein: the Z-axis horizontal linear driving mechanism (3) is composed of a cylinder body III (31), a rack III (32), a sliding seat III (33), a motor III (34) and a gear III, the sliding seat III (33) is connected to the cylinder body III (31) in a sliding fit mode, the rack III (32) is fixed on the cylinder body III (31), the motor III (34) is fixed on the sliding seat III (33), the gear III is fixed on an output shaft of the motor III (34), the gear III is meshed with the rack III (32), one end of a cylinder body of the cylinder body III (31) is fixed on the sliding seat II (23), and the rotating mechanism (4) is fixed on the sliding seat III (33).

5. The transfer palletizing robot as claimed in claim 1, wherein: the rotating mechanism (4) is a rotating cylinder or a motor.

6. The transfer palletizing robot as claimed in claim 1, wherein: and a weight box (6) is fixed on a second cylinder body (21) of the Y-axis linear lifting mechanism (2), and the weight box (6) and the Z-axis horizontal linear driving mechanism (3) are respectively positioned at the left side and the right side of the second cylinder body (21).

7. The transfer palletizing robot as claimed in claim 1, wherein: the rotating angle sensing mechanism (5) is composed of two photoelectric sensors, and the two light spot sensors are distributed on the end face of the cylinder body of the rotating mechanism (4).