CN212449638U

CN212449638U - Manipulator material taking structure of automatic transplanter

Info

Publication number: CN212449638U
Application number: CN202021331027.6U
Authority: CN
Inventors: 林信智
Original assignee: Zhongshan Yanfeng Electromechanical Equipment Co ltd
Current assignee: Zhongshan Yanfeng Electromechanical Equipment Co ltd
Priority date: 2020-07-09
Filing date: 2020-07-09
Publication date: 2021-02-02
Anticipated expiration: 2030-07-09

Abstract

The utility model discloses a manipulator taking structure of an automatic transplanter, which comprises a base, wherein a support frame is fixedly arranged on the base, and a cross beam is fixedly arranged on the support frame; the beam is provided with a guide rail, the guide rail is provided with a driving device and a moving frame, and the driving device is in driving connection with the moving frame capable of horizontally moving along the guide rail; a vertical lifting mechanism is arranged on the moving frame; the bottom of the vertical lifting mechanism is provided with a manipulator mechanism; the utility model drives the moving frame to move horizontally along the guide rail by the driving device to adjust the horizontal position of the mechanical arm mechanism, simultaneously drives the mechanical arm mechanism to do vertical motion by utilizing the vertical lifting mechanism to adjust the vertical position of the mechanical arm mechanism, uses the mechanical arm to grasp an object to be grasped when the position of the mechanical arm mechanism is adjusted to a proper position, and then accurately sends the object to a specified position; the moving and grabbing device has the beneficial effects of higher moving and grabbing efficiency, simple structure and lower manufacturing cost.

Description

Manipulator material taking structure of automatic transplanter

Technical Field

The utility model relates to a manipulator specifically is an automatic material structure is got to manipulator of transplanter.

Background

An automatic operating device capable of simulating certain motion functions of human hands and arms for grasping, carrying objects or operating tools according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

The manipulator is a novel device developed in the process of mechanization and automation production. In the modern production process, the mechanical arm is widely applied to an automatic production line, the development and production of a robot become a new technology which is rapidly developed in the high-tech field, and the development of the mechanical arm is promoted, so that the mechanical arm can be organically combined with mechanization and automation better. Although the manipulator is not as flexible as a human hand, it has the characteristics of repeated work and labor, no fatigue, danger resistance, and larger force for grabbing heavy objects than the human hand, so the manipulator has received attention from many departments and is more and more widely used. Plastic machinery in China becomes one of the fastest-developing industries of the machinery manufacturing industry, and the annual demand is continuously increased. The rapid development of the plastic mechanical industry in China mainly has the following two major factors that equipment is updated and old equipment is eliminated due to the requirement of high-technology-content equipment; secondly, the demand for plastic machinery is vigorous due to the high-speed development of the plastic processing industry in the sea.

In the automatic transplanting production process of the automatic transplanting machine, a manipulator is needed to convey an object to be transplanted, however, the manipulator of the existing automatic transplanting machine has low production efficiency and also has the defects of complex structure and high cost.

Therefore, the inventor provides a manipulator material taking structure of the automatic transplanter by integrating various factors.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic material structure is got to manipulator of transplanter to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a manipulator material taking structure of an automatic transplanter comprises a base, wherein a support frame is fixedly arranged on the base, and a cross beam is fixedly arranged on the support frame; the beam is provided with a guide rail, the guide rail is provided with a driving device and a moving frame, and the driving device is in driving connection with the moving frame capable of horizontally moving along the guide rail; a vertical lifting mechanism is arranged on the moving frame; and a manipulator mechanism is arranged at the bottom of the vertical lifting mechanism.

The during operation, remove the frame through the drive arrangement drive and move the horizontal position in order to adjust manipulator mechanism along guide rail horizontal migration, utilize vertical elevating system to drive manipulator mechanism and do vertical motion in order to adjust the vertical position of manipulator mechanism simultaneously, use the manipulator to grasp the object that waits to snatch when adjusting the position of manipulator mechanism to suitable position, remove the frame through the drive arrangement drive again and move the horizontal position in order to adjust manipulator mechanism along guide rail horizontal migration, utilize vertical elevating system to drive manipulator mechanism to do vertical motion in order to adjust manipulator mechanism's vertical position simultaneously, the object that snatchs with manipulator mechanism moves appointed position.

As a further aspect of the present invention: the vertical lifting mechanism comprises a lifting cylinder, the lifting cylinder is fixedly arranged in the middle of the movable frame, the lifting cylinder is connected with an air pressure rod in a driving mode, the air pressure rod is fixedly arranged on a bottom support in front of the movable frame, and a through hole is formed in the middle of the bottom support; the lifting rod is movably mounted in the air pressure rod, the through hole through which the lifting rod downwards penetrates through the middle position of the bottom support is connected to the manipulator mechanism, and the lifting rod is conveniently used for adjusting the vertical position of the manipulator mechanism.

As a further aspect of the present invention: the manipulator mechanism comprises two mechanical claws and a telescopic cylinder, the two mechanical claws are symmetrically arranged on telescopic rods at two ends of the telescopic cylinder, the telescopic rods are movably arranged in the telescopic cylinder, and the telescopic cylinder is conveniently utilized to drive the mechanical claws on the telescopic rod to be inwards folded or outwards separated so as to clamp or release an object to be grabbed.

As a further aspect of the present invention: the left side edge of the air pressure rod is fixedly provided with two clamping seats at a vertical position on the moving frame, the clamping seats are vertically and fixedly provided with guide rods, vertical guide grooves are formed in the middle positions of the guide rods, guide blocks are movably arranged in the guide grooves, the bottoms of the guide blocks are fixedly arranged above the telescopic cylinders, the manipulator mechanism can conveniently move vertically and reciprocally along the guide rods, and the manipulator mechanism is prevented from horizontally shifting during vertical movement, so that the manipulator mechanism can capture objects and can be positioned inaccurately.

As a further aspect of the present invention: the utility model discloses a mechanical arm mechanism, including pneumatic cylinder, telescopic cylinder, pneumatic cylinder, flexible telescopic bar, slat fixed mounting are passed through to flexible telescopic bar one end on the frame is removed to the pneumatic cylinder right side, flexible telescopic bar one end is passed through on the frame is removed, the flexible cylinder top is installed to the 180 degrees extension downwards again of the flexible telescopic bar other end bending-up, conveniently restricts the stroke that mechanical arm mechanism moved in vertical direction, prevents to lead to mechanical arm mechanism to snatch the object and fix a position inac.

As a further aspect of the present invention: be provided with spacing hole on the guide rail, spacing hole evenly distributed is convenient for set up the displacement who removes the frame for removing the frame and providing route guide on the guide rail.

As a further aspect of the present invention: a limiting block is fixedly mounted at the top of the guide rod, so that the stroke of the guide block is limited conveniently, and the guide block is prevented from being separated from the top of the guide groove.

As a further aspect of the present invention: the relative position of the inner side of the mechanical claw is provided with a certain radian, so that the mechanical claw is convenient to clamp an object.

Compared with the prior art, the utility model discloses the beneficial effect of following several aspects has:

1. the utility model provides a manipulator taking structure of an automatic transplanter, which is skillfully arranged and reasonably arranged, and the utility model drives a moving frame to horizontally move along a guide rail by a driving device so as to adjust the horizontal position of a manipulator mechanism, and simultaneously utilizes a vertical lifting mechanism to drive the manipulator mechanism to vertically move so as to adjust the vertical position of the manipulator mechanism, so that when the position of the manipulator mechanism is adjusted to a proper position, the manipulator is used to grasp an object to be grasped, and then the object is accurately sent to a specified position; the moving and grabbing device has the beneficial effects of higher moving and grabbing efficiency, simple structure and lower manufacturing cost.

2. The utility model discloses a vertical fixed mounting has the guide bar on the cassette of further design, and the guide bar intermediate position is provided with vertical guide way, and movable mounting has the guide block in the guide way, and guide block bottom fixed mounting is above telescopic cylinder; the manipulator mechanism is enabled to do vertical reciprocating motion along the guide rod, horizontal deviation of the manipulator mechanism during vertical movement is prevented, and therefore the manipulator mechanism can grab objects and cannot be accurately positioned, and the manipulator mechanism has the beneficial effect of keeping the manipulator mechanism moving vertically.

3. The utility model discloses be provided with spacing hole on the guide rail of further design, spacing hole evenly distributed conveniently provides the route guide for removing the frame on the guide rail, has the beneficial effect of being convenient for set up the displacement of removing the frame.

4. The utility model discloses a guide bar top fixed mounting who further designs has the stopper, is convenient for restrict the stroke of guide block, has the beneficial effect that prevents the guide block and break away from the guide way top.

Drawings

Fig. 1 is a schematic structural view of a manipulator material taking structure of an automatic transplanter.

Fig. 2 is a schematic structural diagram of a vertical lifting mechanism in a manipulator material taking structure of an automatic transplanter.

Fig. 3 is a schematic structural diagram of a manipulator mechanism in a manipulator taking structure of an automatic transplanter.

Fig. 4 is a schematic structural diagram of a movable frame in a manipulator material taking structure of an automatic transplanter.

In the figure: 1. a base; 2. a support frame; 3. a guide rail; 31. a limiting hole; 4. a movable frame; 5. a lifting cylinder; 6. an elastic expansion strip; 7. a pneumatic rod; 8. a limiting block; 9. a guide bar; 10. a guide groove; 11. a guide block; 12. laths; 13. A telescopic cylinder; 14. a gripper; 15. a telescopic rod; 16. a card holder; 17. a bottom support; 18. and a through hole.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

Referring to fig. 1-4, a manipulator material taking structure of an automatic transplanter comprises a base 1, wherein a support frame 2 is fixedly installed on the base 1, and a cross beam is fixedly installed on the support frame 2; the beam is provided with a guide rail 3, the guide rail 3 is provided with a driving device and a moving frame 4, and the driving device is in driving connection with the moving frame 4 which can horizontally move along the guide rail 3; a vertical lifting mechanism is arranged on the movable frame 4; the bottom of the vertical lifting mechanism is provided with a manipulator mechanism; the vertical lifting mechanism comprises a lifting cylinder 5, the lifting cylinder 5 is fixedly arranged in the middle of the movable frame 4, the lifting cylinder 5 is in driving connection with a pneumatic rod 7, the pneumatic rod 7 is fixedly arranged on a bottom support 17 in front of the movable frame 4, and a through hole 18 is formed in the middle of the bottom support 17; a lifting rod is movably arranged in the air pressure rod 7, the lifting rod downwards passes through a through hole 18 in the middle of a bottom support 17 and is connected to the manipulator mechanism, and the lifting rod is conveniently used for adjusting the vertical position of the manipulator mechanism; the manipulator mechanism comprises two mechanical claws 14 and a telescopic cylinder 13, the two mechanical claws 14 are symmetrically arranged on telescopic rods 15 at two ends of the telescopic cylinder 13, the telescopic rods 15 are movably arranged in the telescopic cylinder 13, and the telescopic cylinder 13 is conveniently utilized to drive the mechanical claws 14 on the telescopic rods 15 to fold inwards or separate outwards so as to clamp or release an object to be grabbed; two clamping seats 16 are fixedly arranged at the left side edge of the air pressure rod 7 at the vertical position on the moving frame 4, guide rods 9 are vertically and fixedly arranged on the clamping seats 16, a vertical guide groove 10 is formed in the middle of each guide rod 9, a guide block 11 is movably arranged in each guide groove 10, and the bottom of each guide block 11 is fixedly arranged above a telescopic cylinder 13, so that the mechanical hand mechanism can conveniently vertically reciprocate along the guide rods 9, and the mechanical hand mechanism is prevented from horizontally shifting during vertical movement, and accordingly the mechanical hand mechanism can grasp objects and cannot be accurately positioned; an elastic telescopic strip 6 is arranged on the moving frame 4 on the right side edge of the air pressure rod 7, one end of the elastic telescopic strip 6 is fixedly arranged on the moving frame 4 through a ribbon board 12, and the other end of the elastic telescopic strip 6 extends upwards and bends 180 degrees and then extends downwards to be arranged above a telescopic cylinder 13, so that the stroke of the manipulator mechanism moving in the vertical direction is conveniently limited, and the phenomenon that the manipulator mechanism grabs objects and is positioned inaccurately due to the fact that the vertical lifting mechanism drives the manipulator mechanism to excessively lift is prevented; the guide rail 3 is provided with limiting holes 31, the limiting holes 31 are uniformly distributed on the guide rail 3, so that path guidance is conveniently provided for the moving frame 4, and the moving distance of the moving frame 4 is conveniently set; the top of the guide rod 9 is fixedly provided with a limiting block 8, so that the stroke of the guide block 11 is conveniently limited, and the guide block 11 is prevented from being separated from the top of the guide groove 10; the relative position of the inner side of the mechanical claw 14 is provided with a certain radian, so that the mechanical claw is convenient to clamp an object.

The utility model discloses a theory of operation is: when the manipulator mechanism works, the driving device drives the moving frame 4 to horizontally move along the guide rail 3 so as to adjust the horizontal position of the manipulator mechanism, meanwhile, the vertical lifting mechanism is utilized to drive the manipulator mechanism to vertically move so as to adjust the vertical position of the manipulator mechanism, the position of the manipulator mechanism is adjusted to enable an object to be grabbed by using a manipulator when the object is between two mechanical claws 14, and specifically, the telescopic cylinder 13 is controlled to drive the mechanical claws 14 to inwards fold through the telescopic rods 15 at the two ends so as to clamp the object; after an object to be grabbed is clamped, the movable frame 4 is driven by the driving device to horizontally move along the guide rail 3 again so as to adjust the horizontal position of the mechanical arm mechanism, meanwhile, the vertical lifting mechanism is utilized to drive the mechanical arm mechanism to vertically move so as to adjust the vertical position of the mechanical arm mechanism, and the object grabbed by the mechanical arm mechanism is moved to a specified position.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", 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 simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.

Claims

1. A manipulator material taking structure of an automatic transplanter comprises a base (1) and is characterized in that a support frame (2) is fixedly arranged on the base (1), and a cross beam is fixedly arranged on the support frame (2); the beam is provided with a guide rail (3), the guide rail (3) is provided with a driving device and a moving frame (4), and the driving device is in driving connection with the moving frame (4) capable of horizontally moving along the guide rail (3); a vertical lifting mechanism is arranged on the moving frame (4); and a manipulator mechanism is arranged at the bottom of the vertical lifting mechanism.

2. The manipulator taking structure of the automatic transplanter according to claim 1, wherein the vertical lifting mechanism comprises a lifting cylinder (5), the lifting cylinder (5) is fixedly installed in the middle of the movable frame (4), the lifting cylinder (5) is in driving connection with a pneumatic rod (7), the pneumatic rod (7) is fixedly installed on a bottom support (17) in front of the movable frame (4), and a through hole (18) is formed in the middle of the bottom support (17); the pneumatic rod (7) is movably provided with a lifting rod, and the lifting rod downwards passes through a through hole (18) in the middle of the bottom support (17) and is connected to the manipulator mechanism.

3. The manipulator taking structure of the automatic transplanter according to claim 2, wherein the manipulator mechanism comprises two mechanical claws (14) and two telescopic cylinders (13), the two mechanical claws (14) are symmetrically arranged on the telescopic rods (15) at two ends of the telescopic cylinders (13), and the telescopic rods (15) are movably arranged in the telescopic cylinders (13).

4. The manipulator taking structure of the automatic transplanter according to claim 2, wherein two clamping seats (16) are fixedly installed at the left side of the pneumatic rod (7) at the vertical position on the moving frame (4), a guide rod (9) is vertically and fixedly installed on each clamping seat (16), a vertical guide groove (10) is formed in the middle of each guide rod (9), a guide block (11) is movably installed in each guide groove (10), and the bottom of each guide block (11) is fixedly installed above the telescopic cylinder (13).

5. The manipulator taking structure of the automatic transplanter according to claim 4, wherein the pneumatic rod (7) is provided with an elastic telescopic bar (6) on the right side of the moving frame (4), one end of the elastic telescopic bar (6) is fixedly mounted on the moving frame (4) through a slat (12), and the other end of the elastic telescopic bar (6) extends upwards and bends 180 degrees and then extends downwards to be mounted above the telescopic cylinder (13).

6. The manipulator taking structure of the automatic transplanter according to any one of claims 1-5, wherein the guide rail (3) is provided with limiting holes (31), and the limiting holes (31) are uniformly distributed on the guide rail (3).

7. The manipulator taking structure of the automatic transplanter according to claim 4, wherein a limiting block (8) is fixedly mounted at the top of the guide rod (9).

8. The manipulator take-out structure of an automatic transplanter, as claimed in claim 3, wherein the relative position of the inner side of the gripper (14) is a certain arc.