CN211197847U - Feeding manipulator device - Google Patents
Feeding manipulator device Download PDFInfo
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- CN211197847U CN211197847U CN201921595733.9U CN201921595733U CN211197847U CN 211197847 U CN211197847 U CN 211197847U CN 201921595733 U CN201921595733 U CN 201921595733U CN 211197847 U CN211197847 U CN 211197847U
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Abstract
A loading robot apparatus comprising: the device comprises a horizontal frame, a moving assembly, a central frame, a driving assembly, a lifting assembly and a manipulator assembly; the moving assembly is horizontally movably arranged on the horizontal frame; two ends of the central frame are connected with moving components; the driving component is used for driving the moving component to horizontally move on the horizontal frame; the lifting assembly is arranged on the center frame, and the output end of the lifting assembly can be vertically connected with the manipulator assembly in a lifting manner; the mechanical frame is connected with the lifting assembly; the guide shell is vertically fixed on the horizontal frame; the guide post is vertically arranged on the mechanical frame and can be lifted up and down and stretched in the guide shell; the grabbing piece is arranged on the mechanical frame. The feeding manipulator device can move horizontally on the horizontal frame and automatically move at a certain horizontal distance, and the manipulator assembly is picked up by the lifting assembly, so that the effect of feeding and discharging of an automatic machine is achieved; but also has the characteristics of simple structure and stable transmission.
Description
Technical Field
The utility model relates to a manipulator technical field especially relates to a material loading manipulator device.
Background
The existing common feeding manipulator has low conveying efficiency, and can not ensure that the feeding movement is more stable under the condition of high conveying efficiency; therefore, a feeding manipulator with a complex structure is often required to be selected, but on one hand, the feeding manipulator is high in cost and large in power consumption, and is cost which cannot be borne by many small enterprises; meanwhile, the parts in the prior art are complex, slow in response and not beneficial to the processing efficiency of the workpiece.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a material loading manipulator device, both ends the movable plate passes through the synchronizing bar and connects.
To achieve the purpose, the utility model adopts the following technical proposal:
a loading robot apparatus comprising: the device comprises a horizontal frame, a moving assembly, a central frame, a driving assembly, a lifting assembly and a manipulator assembly;
the moving assembly is horizontally movably arranged on the horizontal frame; the two ends of the center frame are connected with the moving assemblies; the driving component is used for driving the moving component to horizontally move on the horizontal frame; the lifting assembly is arranged on the center frame, and the output end of the lifting assembly can be vertically connected with the manipulator assembly in a lifting manner;
the moving assembly includes: the moving track, the moving plate and the moving slide block;
the moving track is arranged on the horizontal frame; the bottom of the moving plate is connected with the moving slide block, and the moving slide block can be horizontally movably arranged on the moving track;
the two ends of the central frame are respectively provided with the moving plates; the moving plates at the two ends are connected through a synchronous rod;
the drive assembly includes: the clamping rack, the moving motor and the moving gear;
the driving assembly is arranged on one of the moving plates; the latch rack is arranged on the horizontal frame and is parallel to the moving track; the moving motor is arranged on the moving plate, and the output end of the moving motor is connected with the horizontally arranged moving gear; the moving gear is meshed with the gear clamping rack;
the robot assembly includes: the device comprises a mechanical frame, a guide shell, a guide column and a grabbing piece;
the mechanical frame is connected to the lifting assembly; the guide shell is vertically fixed on the horizontal frame; the guide post is vertically arranged on the mechanical frame and can be lifted up and down and stretched in the guide shell; the grabbing piece is arranged on the mechanical frame.
Stated further, the lifting assembly includes: the lifting mechanism comprises a lifting seat, a lifting motor, a driven wheel, a rotating nut and a lifting screw rod;
the lifting seat is arranged on the central frame; the lifting motor is arranged on the lifting seat and is used for driving the driven wheel to rotate; the rotating nut is fixed with the same axle center in the driven wheel; the rotating nut is rotatably arranged on the lifting seat through a bearing and is matched with the lifting screw rod through an internal thread structure; the mechanical frame is connected to the lifting screw rod.
Stated further, the lifting assembly includes: a driving wheel and a conveying belt;
the driving wheel is arranged at the output end of the lifting motor; the driving wheel is connected with the driven wheel through the conveying belt, so that the driving wheel drives the driven wheel to rotate.
Stated further, the grasping member includes: mounting a bracket and a sucker;
the mounting bracket is vertically mounted on the mechanical frame; the sucker is arranged at the bottom of the mounting bracket.
In a further description, the mechanical frame is a rectangular frame; the grabbing pieces are arranged on each side edge of the mechanical frame.
Further, the method further comprises the following steps: a lifting lower limit detection assembly;
the lift lower limit detection assembly includes: a detection seat and a detection column;
the detection seat is arranged on the mechanical frame; the detection column is vertically arranged on the detection seat.
More specifically, the number of the moving tracks is at least 2.
More specifically, the moving tracks are located on two sides of the card rack.
In a further description, the moving motor is a reduction motor.
Stated further, the lifting assembly includes: a lifting positioning component; the lift locating component includes: the lifting positioning seat, the positioning horizontal column and the positioning switch are arranged on the base;
the lifting positioning seat is arranged on the lifting seat; the positioning horizontal column is horizontally arranged on the lifting positioning seat;
the positioning switch is matched with the lifting screw rod.
The utility model has the advantages that:
the feeding manipulator device can move horizontally on the horizontal frame and automatically move at a certain horizontal distance, and the manipulator assembly is picked up by the lifting assembly, so that the effect of feeding and discharging of an automatic machine is achieved; but also has the characteristics of simple structure and stable transmission.
Drawings
Fig. 1 is a schematic structural view of a loading robot apparatus;
fig. 2 is a schematic structural view of the feeding robot device;
FIG. 3 is a schematic structural view of the lift assembly;
fig. 4 is a schematic structural view of the moving assembly.
Wherein:
the device comprises a horizontal frame 1, a moving assembly 2, a central frame 3, a driving assembly 4, a lifting assembly 5, a manipulator assembly 6, a synchronous rod 7 and a lifting lower limit detection assembly 8;
a moving rail 21, a moving plate 22, and a moving slider 23;
a rack bar 41, a moving motor 42, and a moving gear 43;
a lifting seat 51, a lifting motor 52, a driven wheel 53, a rotating nut 54, a lifting screw rod 55, a driving wheel 56 and a conveyor belt 57;
the mechanical frame 61, the guide shell 62, the guide column 63 and the grabbing piece 64; mounting bracket 641, suction cup 642;
a detection seat 81 and a detection column 82.
Detailed Description
The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.
A loading robot apparatus comprising: the device comprises a horizontal frame 1, a moving assembly 2, a central frame 3, a driving assembly 4, a lifting assembly 5 and a manipulator assembly 6;
the moving assembly 2 is horizontally movably arranged on the horizontal frame 1; the two ends of the central frame 3 are connected with the moving assemblies 2; the driving component 4 is used for driving the moving component 2 to horizontally move on the horizontal frame 1; the lifting assembly 5 is arranged on the central frame 3, and the output end of the lifting assembly 5 can be vertically connected with the manipulator assembly 6 in a lifting way;
the moving assembly 2 comprises: a moving rail 21, a moving plate 22, and a moving slider 23;
the moving track 21 is arranged on the horizontal frame 1; the bottom of the moving plate 22 is connected with the moving slider 23, and the moving slider 23 can be horizontally installed on the moving track 21;
the two ends of the central frame 3 are respectively provided with the moving plate 22; the moving plates 22 at two ends are connected through a synchronous rod 7;
the drive assembly 4 comprises: a rack bar 41, a moving motor 42, and a moving gear 43;
the driving assembly 4 is arranged on one of the moving plates 22; the clamping rack 41 is arranged on the horizontal frame 1 and is parallel to the moving track 21; the moving motor 42 is arranged on the moving plate 22, and the output end of the moving motor 42 is connected with the horizontally arranged moving gear 43; the moving gear 43 is engaged with the latch rack 41;
the robot assembly 6 includes: a machine frame 61, a guide housing 62, a guide post 63, and a grasping member 64;
the mechanical frame 61 is connected to the lifting assembly 5; the guide shell 62 is vertically fixed on the horizontal frame 1; the guide post 63 is vertically arranged on the mechanical frame 61 and can be lifted up and down and stretched in the guide shell 62; the gripping member 64 is mounted to the machine frame 61.
Further, the feeding manipulator device can horizontally move on the horizontal frame 1 and automatically move at a certain horizontal distance, and the lifting assembly 5 is used for picking up goods from the manipulator assembly 6, so that the effect of feeding and discharging of an automatic machine is achieved; but also has the characteristics of simple structure and stable transmission.
Specifically, the moving plate 22 is slidable on the moving rail 21 by a moving slider 23; when the moving motor 42 is rotated, the moving gear 43 is rotated, and the moving gear 43 is engaged with the teeth on the latch rack 41, so that the driving unit 4 moves the moving plate 22 on the horizontal frame 1 along the guiding direction of the moving rail 21. One end of the central frame 3 is a moving plate 22 with a driving assembly 4, the other end is a moving plate 22, the two moving plates 22 are connected through a synchronizing rod 7, therefore, the two moving plates 22 can move, and the central frame 3 moves horizontally on the moving track 21 on the horizontal frame 1. Lifting unit 5 has raising and lowering functions, and when 1 horizontal migration of horizontal bracket was to a certain position, accessible lifting unit 5 carried out the regulation on the vertical position to manipulator subassembly 6, and manipulator subassembly 6 then can snatch the goods, reached automatic feeding's effect.
This material loading manipulator device to can utilize under drive assembly 4's the drive effect, connect the removal subassembly 2 at both ends through synchronizing bar 7, make removal subassembly 2 ability synchronous movement, compare with the relatively heavy truss in the past, simple to operate, when ability synchronous movement, its motion response is faster.
To illustrate, the lifting assembly 5 includes: a lifting seat 51, a lifting motor 52, a driven wheel 53, a rotating nut 54 and a lifting screw rod 55;
the lifting seat 51 is mounted on the central frame 3; the lifting motor 52 is mounted on the lifting seat 51 and is used for driving the driven wheel 53 to rotate; the driven wheel 53 is internally and coaxially fixed with the rotating nut 54; the rotating nut 54 is rotatably mounted on the lifting seat 51 through a bearing, and is matched with the lifting screw rod 55 through an internal thread structure; the machine frame 61 is connected to the elevation screw 55.
To explain further, the lifting motor 52 indirectly drives the driven wheel 53 to rotate; the driven wheel 53 rotates, and as the driven wheel 53 rotates and is provided with the rotating nut 54, the rotating nut 54 is internally matched with the lifting screw rod 55 through a thread structure; the rotating nut 54 is rotatably fixed on the lifting seat 51, and when the rotating driven wheel 53 rotates coaxially with the rotating nut 54, the lifting screw 55 is lifted up and down, so that the effect of lifting the manipulator assembly 6 up and down is achieved.
To illustrate, the lifting assembly 5 includes: a drive wheel 56 and a conveyor belt 57;
the driving wheel 56 is arranged at the output end of the lifting motor 52; the transmission belts 57 respectively connect the driving wheels 56 with the driven wheels, so that the driving wheels 56 drive the driven wheels to rotate.
The output end of the lifting motor 52 is connected with a driving wheel 56, and the driving wheel 56 drives the driven wheel 53 to rotate through a conveyor belt 57; the driven wheel 53 rotates, and as the driven wheel 53 rotates and is provided with the rotating nut 54, the rotating nut 54 is internally matched with the lifting screw rod 55 through a thread structure; the rotating nut 54 is rotatably fixed on the lifting seat 51, and when the rotating driven wheel 53 rotates coaxially with the rotating nut 54, the lifting screw 55 is lifted up and down, so that the effect of lifting the manipulator assembly 6 up and down is achieved. And after the transmission belt 57 is added, the driven wheel 53 is enabled to rotate more stably and is not easy to deviate.
Stated further, the grasping member 64 includes: mounting bracket 641 and suction cup 642;
the mounting bracket 641 is vertically mounted on the machine frame 61; the suction cup 642 is mounted to the bottom of the mounting bracket 641.
To be further described, the mounting bracket 641 is used for fixing the suction cup 642 on the mechanical frame 61, and the suction cup 642 is used for grabbing goods; of course, the suction cup 642 may also be connected to a vacuum to increase suction.
More specifically, the mechanical frame 61 is a rectangular frame; the gripping members 64 are provided on respective sides of the machine frame 61.
To be more specific, after the rectangular frame 61 is rectangular, the grabbing parts 64 are disposed behind the rectangular frame 61 to increase grabbing points, so that the goods will not fall off during the moving process after being grabbed.
Further, the method further comprises the following steps: a lifting lower limit detection component 8;
the lifting lower limit detection assembly 8 includes: a detection seat 81 and a detection column 82;
the detection seat 81 is mounted on the machine frame 61; the detecting column 82 is vertically installed on the detecting base 81.
To be further described, the detection column 82 is used to detect the distance below the machine frame 61; the detection column 82 feeds back the lower limit of the lowering of the robot frame 61 by contacting an object below the robot frame 61; if a certain height is reached, the feedback is sent to the lifting motor 52, the lifting motor 52 is turned off or the output end of the lifting motor 52 is controlled to rotate reversely, so that the mechanical frame 61 cannot descend continuously.
More specifically, the number of the moving tracks 21 is at least 2.
To explain further, the greater number of moving rails 21 allows the moving plate 22 to move more smoothly to meet the weight of different goods.
To explain further, the moving rails 21 are located on both sides of the rack bar 41.
To be more specific, the moving track 21 is located at the front and rear positions of the latch rack 41, so that the stability of the moving plate 22 can be improved, and the engagement between the moving gear 43 and the latch rack 41 is more stable during the moving process of the moving plate 22.
Further, the moving motor 42 is a speed reduction motor.
To illustrate, the lifting assembly 5 includes: a lift positioning assembly 58; the lift locating component includes: a lifting positioning seat 581, a positioning horizontal column 582 and a positioning switch 583;
the lifting positioning seat is mounted on the lifting seat 51; the positioning horizontal column 582 is horizontally arranged on the lifting positioning seat;
the positioning switch 583 is fitted to the elevation screw 55.
To be more specific, the positioning switch 583 can contact the horizontal column 582 when rising to the top end under the action of the lifting screw 55; the positioning switch 583 can stop the lifting motor 52 or control the output end of the lifting motor 52 to rotate in the opposite direction, so as to limit the lifting screw 55 to continuously rise, and ensure the safety of loading and unloading.
In the description of the present invention, it is to be understood that the terms "front", "back", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "side", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
The technical principle of the present invention is described above with reference to specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. A loading manipulator device, comprising: the device comprises a horizontal frame, a moving assembly, a central frame, a driving assembly, a lifting assembly and a manipulator assembly;
the moving assembly is horizontally movably arranged on the horizontal frame; the two ends of the center frame are connected with the moving assemblies; the driving component is used for driving the moving component to horizontally move on the horizontal frame; the lifting assembly is arranged on the center frame, and the output end of the lifting assembly can be vertically connected with the manipulator assembly in a lifting manner;
the moving assembly includes: the moving track, the moving plate and the moving slide block;
the moving track is arranged on the horizontal frame; the bottom of the moving plate is connected with the moving slide block, and the moving slide block can be horizontally movably arranged on the moving track;
the two ends of the central frame are respectively provided with the moving plates; the moving plates at the two ends are connected through a synchronous rod;
the drive assembly includes: the clamping rack, the moving motor and the moving gear;
the driving assembly is arranged on one of the moving plates; the latch rack is arranged on the horizontal frame and is parallel to the moving track; the moving motor is arranged on the moving plate, and the output end of the moving motor is connected with the horizontally arranged moving gear; the moving gear is meshed with the gear clamping rack;
the robot assembly includes: the device comprises a mechanical frame, a guide shell, a guide column and a grabbing piece;
the mechanical frame is connected to the lifting assembly; the guide shell is vertically fixed on the horizontal frame; the guide post is vertically arranged on the mechanical frame and can be lifted up and down and stretched in the guide shell; the grabbing piece is arranged on the mechanical frame.
2. A loading robot apparatus as claimed in claim 1, wherein the lifting assembly comprises: the lifting mechanism comprises a lifting seat, a lifting motor, a driven wheel, a rotating nut and a lifting screw rod;
the lifting seat is arranged on the central frame; the lifting motor is arranged on the lifting seat and is used for driving the driven wheel to rotate; the rotating nut is fixed with the same axle center in the driven wheel; the rotating nut is rotatably arranged on the lifting seat through a bearing and is matched with the lifting screw rod through an internal thread structure; the mechanical frame is connected to the lifting screw rod.
3. A loading robot apparatus as claimed in claim 2, wherein the lifting assembly comprises: a driving wheel and a conveying belt;
the driving wheel is arranged at the output end of the lifting motor; the driving wheel is connected with the driven wheel through the conveying belt, so that the driving wheel drives the driven wheel to rotate.
4. A loading robot apparatus as claimed in claim 3, wherein the gripping member comprises: mounting a bracket and a sucker;
the mounting bracket is vertically mounted on the mechanical frame; the sucker is arranged at the bottom of the mounting bracket.
5. A loading robot apparatus as claimed in claim 3, wherein the robot frame is a rectangular frame; the grabbing pieces are arranged on each side edge of the mechanical frame.
6. A loading robot apparatus as claimed in claim 3, further comprising: a lifting lower limit detection assembly;
the lift lower limit detection assembly includes: a detection seat and a detection column;
the detection seat is arranged on the mechanical frame; the detection column is vertically arranged on the detection seat.
7. A loading robot apparatus as claimed in claim 1, wherein the number of moving tracks is at least 2.
8. A loading manipulator apparatus as claimed in claim 7, wherein the movement tracks are located on either side of the rack bar.
9. A loading robot apparatus as claimed in claim 1, wherein the moving motor is a reduction motor.
10. A loading robot apparatus as claimed in claim 6, wherein the lift assembly comprises: a lifting positioning component; the lift locating component includes: the lifting positioning seat, the positioning horizontal column and the positioning switch are arranged on the base;
the lifting positioning seat is arranged on the lifting seat; the positioning horizontal column is horizontally arranged on the lifting positioning seat;
the positioning switch is matched with the lifting screw rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921595733.9U CN211197847U (en) | 2019-09-24 | 2019-09-24 | Feeding manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921595733.9U CN211197847U (en) | 2019-09-24 | 2019-09-24 | Feeding manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211197847U true CN211197847U (en) | 2020-08-07 |
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ID=71884874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921595733.9U Active CN211197847U (en) | 2019-09-24 | 2019-09-24 | Feeding manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211197847U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454330A (en) * | 2020-11-16 | 2021-03-09 | 苏州恒旺达信息科技有限公司 | High grabbing and conveying manipulator of stability |
-
2019
- 2019-09-24 CN CN201921595733.9U patent/CN211197847U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454330A (en) * | 2020-11-16 | 2021-03-09 | 苏州恒旺达信息科技有限公司 | High grabbing and conveying manipulator of stability |
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