CN212798695U

CN212798695U - Five fluorescent tube pile up neatly manipulators

Info

Publication number: CN212798695U
Application number: CN202021404325.3U
Authority: CN
Inventors: 李玮
Original assignee: Foshan Fukesi Automation Equipment Co ltd
Current assignee: Foshan Fukesi Automation Equipment Co ltd
Priority date: 2020-07-16
Filing date: 2020-07-16
Publication date: 2021-03-26
Anticipated expiration: 2030-07-16

Abstract

The utility model relates to a five-shaft lamp tube stacking manipulator, a grabbing mechanism is arranged on a portal frame, a horizontal rotating part is arranged at the bottom of a lifting rod, a rotating rod is connected at the bottom of the horizontal rotating part, a clamping seat comprises a rotating plate and a first clamping plate, a first telescopic part is arranged at the top of the rotating plate, a mounting plate is vertically connected at the bottom of the rotating plate, a guide rail is arranged at the bottom of the mounting plate, a third telescopic part is fixed at the top of the mounting plate, the third telescopic part is connected with a pull rod, a slide block is connected at the bottom of the guide rail, a drawing plate is arranged at the bottom of the slide block, a supporting plate is arranged at one side of the rotating plate, a second clamping plate is arranged at the other side of the rotating plate, the second clamping plate is connected with a second telescopic part, the goods are clamped by the first clamping plate and the second clamping plate, the goods can be adapted to different sizes of goods, the goods are pulled out backwards through the pulling plate, and meanwhile, the first clamping plate is tightly attached to the top of the goods and pressed downwards, so that the goods are vertically put down.

Description

Five fluorescent tube pile up neatly manipulators

Technical Field

The utility model belongs to the technical field of pile up neatly machinery people equipment and specifically relates to a five fluorescent tube pile up neatly manipulators.

Background

Modern lamp tube production is increasingly frequent, and transportation of lamp tube can not be accomplished by manpower, because the fragility of lamp tube, will cause unsafe factor when colliding with slightly when carrying, so need have a machine that can horizontally transport and place the lamp tube, reduce manpower output and unsafe factor, improve work efficiency.

The mode that the working method of present fluorescent tube pile up neatly manipulator adopted to snatch mostly carries the goods, and the design is more single, and is more to the transport technology application of fixed dimension box, along with research and development product variety's variety and complexity, need design an applicable manipulator in unidimensional and selection different mode, satisfies the needs of the automatic transport of box.

And because each driving device of the traditional light tube stacking manipulator is unreasonably arranged, the defects of complex structure, unstable movement and low movement precision exist, the personal safety cannot be guaranteed in the operation process of the light tube stacking manipulator of the stacker crane, the stack is easy to collapse, and the like, so that the application of the light tube stacking manipulator to occasions with high technological requirements is limited.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model aims to provide a five-axis lamp tube stacking manipulator which has simple structure, high applicability, stable motion and high motion precision.

The utility model discloses the technical scheme who adopts does:

a five-axis lamp tube stacking manipulator comprises a portal frame, wherein a grabbing mechanism which moves horizontally along the portal frame is arranged on the portal frame, the grabbing mechanism comprises a lifting rod, a clamping seat and a vertical rotating piece, the bottom of the lifting rod is provided with the horizontal rotating piece, the bottom of the horizontal rotating piece is connected with a rotating rod, the rotating rod is connected with the vertical rotating piece, and the output end of the vertical rotating piece is connected with the clamping seat;

the clamping seat comprises a rotating plate and a first clamping plate, a first telescopic piece is arranged at the top of the rotating plate, the bottom of the rotating plate is vertically connected with a mounting plate, a guide rail is arranged at the bottom of the mounting plate, a third telescopic piece is fixed at the top of the mounting plate, the output end of the third telescopic piece is connected with a pull rod, the output end of the first telescopic piece is connected with the first clamping plate, a sliding block is slidably connected with the bottom of the guide rail, a drawing plate is arranged at the bottom of the sliding block, and the drawing plate is fixedly connected with the pull rod and arranged below the first clamping plate;

one side of the rotating plate is provided with a supporting plate which is vertically connected with the rotating plate, the other side of the rotating plate is provided with a second clamping plate, the second clamping plate is connected with a second telescopic piece, and the second telescopic piece is fixed on the rotating plate.

Preferably, an X-axis moving table is arranged on the portal frame, an X-axis driving motor is arranged at the bottom of the X-axis moving table, an output end of the X-axis driving motor is connected with a driving gear, the driving gear is connected with a connecting rod, the connecting rod is connected with a driven gear, first racks are arranged on two sides of the top of the portal frame, and the driving gear and the driven gear are respectively meshed with the first racks on two sides.

Preferably, a Y-axis moving table is arranged on the X-axis moving table, a guide pipe is arranged in the middle of the Y-axis moving table, a lifting rod penetrates through the guide pipe, a Z-axis driving motor is arranged on one side of the guide pipe, a groove is formed in the inner side of the guide pipe, a convex rail in sliding connection with the groove is arranged on one side of the lifting rod, a second rack is arranged on the other side of the lifting rod, and the output end of the Z-axis driving motor is meshed with the second rack.

Preferably, a third rack is arranged at the top of the X-axis moving table, and a Y-axis driving motor meshed with the third rack is arranged at the other side of the guide pipe.

Preferably, the vertical rotating member and the horizontal rotating member are both servo motors.

Preferably, the first telescopic part, the second telescopic part and the third telescopic part are all cylinders.

The beneficial effects of the utility model reside in that:

the five-axis lamp tube stacking manipulator drives the clamping seat to rotate to be in a horizontal state through the vertical rotating part, then the clamping seat is moved to one side of a cargo, the lifting rod rises to drive the supporting plate to support a stack of packed lamp tubes, the first telescopic part drives the first clamping plate to clamp the end part of the stack of lamp tubes, the second telescopic part drives the second clamping plate to clamp the side surface of the stack of lamp tubes, so that the five-axis lamp tube stacking manipulator can adapt to cargoes with different sizes, the picking and placing are stable, the moving smoothness and precision are improved, the horizontal cargoes are rotated to be in a vertical state through the vertical rotating part, the space is saved, the lamp tubes are prevented from being crushed due to horizontal stacking, the horizontal rotating part drives the clamping seat to rotate to a specified direction, then the cargoes are moved to a storage position through the X-axis moving platform and the Y-axis moving platform, the height is adjusted through the lifting rod, the third telescopic part drives the pull rod, so that the pull, meanwhile, the first telescopic piece drives the first clamping plate to be tightly attached to the top of the goods and to be pressed downwards, and then the goods are vertically put down.

Drawings

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

Fig. 2 is a schematic structural view of the holder.

Fig. 3 is a front view of the cartridge.

Fig. 4 is a left side view of the cartridge.

Fig. 5 is a schematic structural view of the grasping mechanism.

FIG. 6 is a cross-sectional view of the catheter and lifter.

In the figure: 1. a gantry; 2. a grabbing mechanism; 3. a lifting rod; 4. a holder; 5. a vertical rotating member; 6. a horizontal rotation member; 7. rotating the rod; 8. a rotating plate; 9. a first splint; 10. a first telescoping member; 11. mounting a plate; 12. a guide rail; 13. a third telescoping member; 14. a pull rod; 15. a slider; 16. drawing the plate; 17. a support plate; 18. a second splint; 19. a second telescoping member; an X-axis moving stage; an X-axis drive motor; 22. a driving gear; 23. a connecting rod; 24. a driven gear; 25. a first rack; a Y-axis motion stage; 27. a conduit; a Z-axis drive motor; 29. a groove; 30. a raised rail; 31. a second rack; 32. a third rack; y-axis drive motor.

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. 1-6, the present invention provides a technical solution: a five-axis lamp tube stacking manipulator comprises a portal frame 1, wherein a grabbing mechanism 2 which moves horizontally along the portal frame 1 is arranged on the portal frame 1, the grabbing mechanism 2 comprises a lifting rod 3, a clamping seat 4 and a vertical rotating part 5, the bottom of the lifting rod 3 is provided with the horizontal rotating part 6, the bottom of the horizontal rotating part 6 is connected with a rotating rod 7, the rotating rod 7 is connected with the vertical rotating part 5, and the output end of the vertical rotating part 5 is connected with the clamping seat 4;

the clamping seat 4 comprises a rotating plate 8 and a first clamping plate 9, a first telescopic piece 10 is arranged at the top of the rotating plate 8, the bottom of the rotating plate 8 is vertically connected with a mounting plate 11, a guide rail 12 is arranged at the bottom of the mounting plate 11, a third telescopic piece 13 is fixed at the top of the mounting plate 11, the output end of the third telescopic piece 13 is connected with a pull rod 14, the output end of the first telescopic piece 10 is connected with the first clamping plate 9, the bottom of the guide rail 12 is slidably connected with a sliding block 15, a drawing plate 16 is arranged at the bottom of the sliding block 15, and the drawing plate 16 is fixedly connected with the pull rod 14 and arranged below the first clamping plate 9;

one side of the rotating plate 8 is provided with a supporting plate 17 which is vertically connected with the rotating plate, the other side of the rotating plate 8 is provided with a second clamping plate 18, the second clamping plate 18 is connected with a second telescopic piece 19, and the second telescopic piece 19 is fixed on the rotating plate 8.

In order to facilitate the movement in the X-axis direction, in this embodiment, preferably, the gantry 1 is provided with an X-axis moving table 20, the bottom of the X-axis moving table 20 is provided with an X-axis driving motor 21, an output end of the X-axis driving motor 21 is connected with a driving gear 22, the driving gear 22 is connected with a connecting rod 23, the connecting rod 23 is connected with a driven gear 24, two sides of the top of the gantry 1 are both provided with first racks 25, and the driving gear 22 and the driven gear 24 are respectively engaged with the first racks 25 on two sides.

In order to facilitate the lifting in the Z-axis direction, in this embodiment, preferably, the Y-axis moving stage 26 is disposed on the X-axis moving stage 20, a guide tube 27 is disposed in the middle of the Y-axis moving stage 26, the lifting rod 3 penetrates through the guide tube 27, a Z-axis driving motor 28 is disposed on one side of the guide tube 27, a groove 29 is disposed on the inner side of the guide tube 27, a protruding rail 30 slidably connected with the groove 29 is disposed on one side of the lifting rod 3, a second rack 31 is disposed on the other side of the lifting rod, and an output end of the Z-axis driving motor 28 is engaged with the second rack 31.

In order to facilitate the movement in the Y-axis direction, in the present embodiment, it is preferable that a third rack 32 is provided on the top of the X-axis moving stage 20, and a Y-axis driving motor 33 engaged with the third rack 32 is provided on the other side of the guide pipe 27.

In order to facilitate the driving rotation, in the present embodiment, it is preferable that the vertical rotating member 5 and the horizontal rotating member 6 are both servo motors.

In order to facilitate the driving of the extension and retraction, in the present embodiment, it is preferable that the first extensible member 10, the second extensible member 19 and the third extensible member 13 are all cylinders.

The utility model discloses a theory of operation and use flow: the vertical rotating piece 5 drives the clamping seat 4 to rotate to a horizontal state, then the rotating plate 8 moves to one side of a cargo, the supporting plate 17 moves to the bottom of the cargo, the Z-axis driving motor 28 drives the second rack 31 to ascend, and the lifting rod 3 ascends to drive the supporting plate 17 to support a stack of packaged lamp tubes.

The end part of a stack of lamp tubes is clamped tightly by the first clamping plate 9 driven by the first telescopic piece 10, the side surface of the stack of lamp tubes is clamped tightly by the second clamping plate 18 driven by the second telescopic piece 19, so that the stack of lamp tubes can adapt to goods of different sizes, the picking and placing are stable, the moving stability and precision are improved, the goods transversely arranged are rotated to be in a vertical state by the vertical rotating piece 5, the space is saved, the lamp tubes are prevented from being crushed due to transverse stacking, and the clamp seat 4 is driven by the horizontal rotating piece 6 to rotate to a specified direction.

Then, the driving gear 22 is driven by the X-axis driving motor 21, the driven gear 24 is driven by the connecting rod 23, the driving gear 22 and the driven gear 24 both move along the first rack 25, the moving stability is improved, the X-axis moving table 20 moves, the Y-axis moving table 26 moves along the third rack 32 by driving the Y-axis driving motor 33, and the goods are moved to the storage position.

Through the lift of Z axle driving motor 28 drive second rack 31, and then adjust the height of lifter 3, and slide along recess 29 through protruding rail 30, make the lift more steady, the stroke is more accurate, through third extensible member 13 drive pull rod 14, makes pull rod 14 will take out board 16 and pull out backward, and first extensible member 10 drives first splint 9 simultaneously and pastes tight goods top and push down, and then puts down the goods perpendicularly.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a five fluorescent tube pile up neatly manipulators, includes portal frame (1), its characterized in that: the gantry crane is characterized in that a grabbing mechanism (2) which moves horizontally along the gantry crane is arranged on the gantry crane (1), the grabbing mechanism (2) comprises a lifting rod (3), a clamping seat (4) and a vertical rotating part (5), a horizontal rotating part (6) is arranged at the bottom of the lifting rod (3), a rotating rod (7) is connected to the bottom of the horizontal rotating part (6), the rotating rod (7) is connected with the vertical rotating part (5), and the output end of the vertical rotating part (5) is connected with the clamping seat (4);

the clamping seat (4) comprises a rotating plate (8) and a first clamping plate (9), a first telescopic piece (10) is arranged at the top of the rotating plate (8), the bottom of the rotating plate is vertically connected with a mounting plate (11), a guide rail (12) is arranged at the bottom of the mounting plate (11), a third telescopic piece (13) is fixed at the top of the mounting plate, the output end of the third telescopic piece (13) is connected with a pull rod (14), the output end of the first telescopic piece (10) is connected with the first clamping plate (9), a sliding block (15) is slidably connected at the bottom of the guide rail (12), a pulling plate (16) is arranged at the bottom of the sliding block (15), the pulling plate (16) is fixedly connected with the pull rod (14), and the pulling plate is arranged below the first clamping plate (9);

one side of the rotating plate (8) is provided with a supporting plate (17) which is vertically connected with the rotating plate, the other side of the rotating plate is provided with a second clamping plate (18), the second clamping plate (18) is connected with a second telescopic piece (19), and the second telescopic piece (19) is fixed on the rotating plate (8).

2. The five-axis lamp tube stacking manipulator as claimed in claim 1, wherein: be equipped with X axle mobile station (20) on portal frame (1), the bottom of X axle mobile station (20) is equipped with X axle driving motor (21), the output of X axle driving motor (21) is connected with driving gear (22), driving gear (22) are connected with connecting rod (23), connecting rod (23) are connected with driven gear (24), the top both sides of portal frame (1) all are equipped with first rack (25), driving gear (22) and driven gear (24) are connected with the first rack (25) meshing of both sides respectively.

3. The five-axis lamp tube stacking manipulator as claimed in claim 2, wherein: be equipped with Y axle mobile station (26) on X axle mobile station (20), the middle part of Y axle mobile station (26) is equipped with pipe (27), lifter (3) run through pipe (27), one side of pipe (27) is equipped with Z axle driving motor (28), the inboard of pipe (27) is equipped with recess (29), one side of lifter (3) is equipped with protruding rail (30) with recess (29) sliding connection, and its opposite side is equipped with second rack (31), the output and the second rack (31) meshing of Z axle driving motor (28) are connected.

4. The five-axis lamp tube stacking manipulator as claimed in claim 3, wherein: the top of the X-axis moving table (20) is provided with a third rack (32), and the other side of the guide pipe (27) is provided with a Y-axis driving motor (33) which is meshed and connected with the third rack (32).

5. The five-axis lamp tube stacking manipulator as claimed in claim 1, wherein: the vertical rotating part (5) and the horizontal rotating part (6) are both servo motors.

6. The five-axis lamp tube stacking manipulator as claimed in claim 1, wherein: the first telescopic piece (10), the second telescopic piece (19) and the third telescopic piece (13) are all cylinders.