CN213264573U - Transplanting device - Google Patents

Abstract

The utility model relates to a transplanting device, it is including snatching the subassembly, snatchs the subassembly and connects on the davit, snatchs the subassembly and includes clamping jaw mechanism, and clamping jaw mechanism includes first clamping jaw and second clamping jaw, prescribes a limit to the centre gripping space between first clamping jaw and the second clamping jaw. The three-dimensional grabbing mechanism further comprises a structure for driving the grabbing assembly to move in the three-dimensional direction, and the helical gear and the rack with helical teeth are matched in the structure, so that the moving precision can be improved compared with a straight gear and a straight rack.

Description

Transplanting device

Technical Field

The utility model relates to a transplanting device.

Background

In automated production, it is necessary to use a transplanting device to move an article from one location to another nearby. One consideration is how to improve the accuracy of the movement.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a transplanting device can improve and remove the precision.

In order to achieve the above purpose, the utility model adopts the technical scheme that:

the utility model provides a transplanting device, it includes:

the rack I is provided with helical teeth;

the rack I is arranged on the guide rail I in a sliding mode, a helical gear I and a motor I are arranged on the rack I, the helical gear I is meshed with the rack I, the helical gear I is connected to the driving end of the motor I, the rack I is also provided with a guide rail II and a rack II accompanying the guide rail II, and helical teeth are arranged on the rack II;

the bracket II is arranged on the guide rail II in a sliding mode, a bevel gear II and a motor II are arranged on the bracket II, the bevel gear II is meshed with the rack II, the bevel gear II is connected to the driving end of the motor II, a sliding block, a bevel gear III and a motor III are further arranged on the bracket II, and the bevel gear III is connected to the driving end of the motor III;

the suspension arm is provided with a rack III, the rack III is provided with helical teeth, the rack III is meshed with the helical teeth III, the suspension arm is also provided with a guide rail III, and the guide rail III is combined with the sliding block;

snatch the subassembly, it connects to snatch the subassembly on the davit, it includes gripper mechanism to snatch the subassembly, gripper mechanism includes first clamping jaw and second clamping jaw, first clamping jaw with inject the centre gripping space between the second clamping jaw.

Preferably, guide rail I is provided with two, just guide rail I sets up respectively I both ends position of support.

Preferably, a sleeve hole is formed in the support II, and the suspension arm can be arranged in the sleeve hole in a sliding mode.

Preferably, the grasping assembly further includes a rotation adjustment mechanism including:

a fixed mount;

the motor V is arranged on the fixing frame, and a first driving wheel is arranged at the output end of the motor V;

the bearing is arranged on the fixed frame;

the rotating shaft is arranged in the bearing, and a second driving wheel is further arranged on the rotating shaft;

the transmission belt is of a closed loop structure and is sleeved on the first transmission wheel and the second transmission wheel simultaneously;

the limiting unit comprises a limiting groove and a limiting column, the limiting column is arranged in the limiting groove in a sliding mode, the limiting groove is arc-shaped, one of the limiting groove and the limiting column is arranged on the fixing frame, and the other limiting groove is arranged on the object to be rotated.

Preferably, the jaw mechanism comprises:

a fixing plate;

the guide rail IV is arranged on the fixing plate;

the motor IV is arranged on the fixing plate;

the driving wheel is arranged at the output end of the motor IV;

the driven wheel is arranged corresponding to the driving wheel;

the transmission belt is of a closed-loop structure, is sleeved on the driving wheel and the driven wheel at the same time and is used for transmission between the driving wheel and the driven wheel;

the first clamping jaw is arranged on the guide rail IV in a sliding mode;

the second clamping jaw is arranged on the guide rail IV in a sliding mode;

and a clamping space is defined between the first clamping jaw and the second clamping jaw, and the first clamping jaw and the second clamping jaw are respectively connected to two opposite side parts of the transmission belt.

Because of the application of the technical scheme, compared with the prior art, the utility model has the following advantages:

the utility model discloses a transplanting device, because I removal of guide rail can be followed to support I, II removals of guide rail II on the support I are followed to support II, and III removals of slider on II of guide rail on the davit to realize the ascending removal in clamping jaw mechanism three-dimensional side, in addition, realize removing the regulation through helical gear and the rack that has skewed tooth, compare in straight-teeth gear and straight-teeth rack, this precision that can improve the removal.

Drawings

Some specific embodiments of the present invention will be described in detail hereinafter, by way of illustration and not by way of limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:

fig. 1 is a schematic perspective view of a preferred embodiment of the present invention;

FIG. 2 is an enlarged view at A in FIG. 1;

FIG. 3 is an enlarged view at B in FIG. 1;

FIG. 4 is another view of FIG. 3;

FIG. 5 is a perspective view of the grasping assembly;

FIG. 6 is a perspective view of the rotary adjustment mechanism;

FIG. 7 is a perspective schematic view of the jaw mechanism;

wherein the reference numerals are as follows:

1. a frame;

2. a guide rail I;

3. a rack I;

4. a bracket I;

5. a helical gear I;

6. a motor I;

7. a guide rail II;

8. a jaw mechanism;

81. a fixing plate;

82. a guide rail IV;

83. a motor IV;

84. a driving wheel;

85. a driven wheel;

86. a transmission belt II;

87. a first jaw;

88. a second jaw;

89. a sensing unit;

9. a rotation adjustment mechanism;

91. a fixed mount; 101. an upper cover plate; 102. a lower cover plate; 103. a side plate; 104. an accommodating space; 105. an adjustment hole;

92. a motor V;

93. a first drive pulley;

94. a bearing;

95. a rotating shaft;

96. a second transmission wheel;

97. a transmission belt I;

98. a limiting unit; 981. a limiting groove; 982. a limiting column;

10. a rack II;

11. a bracket II; 111. trepanning;

12. a helical gear II;

13. a motor II;

14. a slider;

15. a bevel gear III;

16. a motor III;

17. a suspension arm;

18. a rack III;

19. a guide rail III;

20. a grasping assembly;

21. and a material rack.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. 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.

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.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

The transplanting apparatus shown in fig. 1 includes a frame 1. The frame 1 is provided with a gripping mechanism 20. The gripper assembly 20 is used to grip the material in the stack 21 and move the material. The grasping assembly 20 is capable of movement in a horizontal plane and movement in a vertical direction, i.e., movement in three dimensions, by some structure.

Referring to fig. 2, fig. 2 is an enlarged view of a position a in fig. 1, and a guide rail i 2 and a rack i 3 are arranged on the frame 1. The guide rail I2 and the rack I3 accompany. The guide rail I2 is provided with a support I4 in a sliding mode. Be provided with helical gear I5 and motor I6 on support I4. Helical gear I5 meshes with rack I3 mutually, and helical gear I5 connects at the drive end of I6 motor. The motor I6 drive helical gear I5 is rotatory to drive support I4 slides on guide rail I2, adjusts the horizontal position of support I4. And helical gear I5 all is provided with the skewed tooth on with rack I3, compares in straight-teeth gear and straight rack, and this precision that can improve displacement distance. The grasping assembly 20 moves with the support i 4.

Guide rail I2 is provided with two, and guide rail I2 sets up respectively at I4 both ends position of support to it slides more steadily to improve support I4.

Referring to fig. 3 and fig. 3, which is an enlarged view of B in fig. 1, a guide rail ii 7 and a rack ii 10 are disposed on the bracket i 4, and the guide rail ii 7 is accompanied with the rack ii 10. And a bracket II 11 is arranged on the guide rail II 7 in a sliding manner. And a bevel gear II 12 and a motor II 13 are arranged on the bracket II 11. And the bevel gear II 12 is meshed with the rack II 10, and the bevel gear II 12 is connected to the driving end of the motor II 13. And the helical gear II 12 and the rack II 10 are both provided with helical teeth, so that the precision of the moving distance can be improved. And the motor II 13 drives the bevel gear II 12 to rotate, so that the bracket II 11 is driven to slide and adjust on the guide rail II 7. The grabbing component 20 is arranged on the bracket II 11 and can move along with the bracket II 11. The cooperation of support I4 and support II 11 allows the gripper assembly 20 to move in a horizontal plane.

Referring to fig. 3 and 4, a sleeve hole 111 is formed in the bracket ii 11, the suspension arm 17 is sleeved in the sleeve hole 111, and the suspension arm 17 is not easy to loosen and shake under the limiting action of the sleeve hole 111. The lower end of the suspension arm 17 is connected with a grabbing component 20, and the grabbing component 20 is lifted along with the up-and-down movement of the suspension arm 17. The support II 11 is provided with a sliding block 14, the suspension arm 17 is provided with a guide rail III 19, and the guide rail III 19 is combined with the sliding block 14 to realize that the suspension arm 17 moves in a strict vertical direction. As shown in FIG. 4, a bevel gear III 15 and a motor III 16 are arranged on the bracket II 11, and the bevel gear III 15 is connected to the driving end of the motor III 16. The suspension arm 17 is provided with a rack III 18. The bevel gear III 15 is meshed with the rack III 18. And the helical gear III 15 and the rack III 18 are both provided with helical teeth, so that the precision of the moving distance can be improved. The motor III 16 drives the bevel gear III 15 to rotate, so that the suspension arm 17 can move in the vertical direction.

The boom 17 is connected at its lower end to a gripper assembly 20, as shown in fig. 5. The grabbing component 20 is used for grabbing materials.

As shown in fig. 5, the gripper assembly 20 includes a rotation adjustment mechanism 9 and a gripper mechanism 8. The rotary adjustment mechanism 9 is used to rotate the gripper mechanism 8. The jaw mechanism 8 is in direct contact with the material.

The adjustment mechanism 9 is rotated as shown in fig. 6. The rotation adjusting mechanism 9 includes a fixing frame 91, and the fixing frame 91 includes an upper cover plate 101, a lower cover plate 102, and two side plates 103 (one of the side plates 103 is hidden in fig. 6 for convenience of illustration). The upper cover 101 and the lower cover 102 are disposed substantially in parallel, and the side plate 103 is connected between the upper cover 101 and the lower cover 102. An accommodating space 104 is left between the upper cover plate 101 and the lower cover plate 102.

A bearing 94 is arranged above the lower cover plate 102, and a rotating shaft 95 is arranged in the bearing 94. The bearing 94 provides support for the rotating shaft 95, ensures the concentricity of the rotating shaft 95, and enables the rotating shaft 95 to rotate more smoothly. The shaft 95 is exposed downwardly through the lower cover plate 102 for connection to an item to be rotated, see fig. 5. the shaft 95 is connected to the jaw mechanism 8 for rotating the jaw mechanism 8.

As shown in fig. 6, the upper cover 101 is provided with a motor v 92. The output end of the motor V92 passes through the upper cover plate 101 and is exposed downwards, and a first driving wheel 93 is arranged at the output end of the motor V92. The upper end of the aforementioned rotating shaft 95 is provided with a second driving wheel 96. The first transmission wheel 93 and the second transmission wheel 96 are transmitted through a transmission belt I97. The I97 of drive belt is closed loop structure, and I97 of drive belt overlaps simultaneously on first drive wheel 93 and second drive wheel 96, and I97 of drive belt is in the state of tightening to when the first drive wheel 93 of motor V92 drive rotates, drive the rotation of second drive wheel 96 through I97 of drive belt, and then drive pivot 95 and rotate.

As shown in fig. 1, in order to tighten the driving belt i 97, the motor v 92 is movably disposed in an adjusting hole 105, the adjusting hole 105 is a hole formed in the upper cover plate 101, and a certain margin is left in the adjusting hole 105, so that the motor v 92 can move in the adjusting hole 105 in a direction approximately corresponding to a direction of a connecting line between the axial leads of the first driving wheel 93 and the second driving wheel 96. When the motor v 92 moves, the distance between the first driving wheel 93 and the second driving wheel 96 can be changed, so that the tightness of the driving belt i 97 can be adjusted, and the motor v 92 is fastened through a long bolt (not shown) after being adjusted.

The bearing 94, the first driving wheel 93, the second driving wheel 96 and the driving belt I97 are all located in the accommodating space 104, so that the bearing is protected in the accommodating space 104 and is prevented from being damaged by impact of external components.

In this example, in order to prevent the motor v 92 from running out of control and causing over-rotation, a limit unit 98 is further provided.

As shown in fig. 5, the spacing unit 98 includes a spacing groove 981 and a spacing post 982. The limiting groove 981 is formed in the lower cover plate 102 and is arc-shaped. Spacing post 982 sets up on gripper mechanism 8, specifically sets up the roof upper surface at gripper mechanism 8. And the clamping jaw mechanism 8 is connected on the rotating shaft 95 (see fig. 6), when the rotating shaft 95 drives the clamping jaw mechanism 8 to rotate relative to the fixing frame 91, synchronously, the limiting column 982 moves in the limiting groove 981, and the limiting groove 981 limits the maximum stroke of the back-and-forth movement of the limiting column 982, so that the clamping jaw mechanism 8 can be prevented from over-rotating, which is particularly suitable for the case that the motor v 92 is out of control. In other embodiments, the limit groove 981 may be disposed on the top plate of the jaw mechanism 8, and the limit post 982 may be correspondingly disposed on the lower cover plate 102.

As shown in fig. 7, the clamping jaw mechanism 8 comprises a fixed plate 81, a first clamping jaw 87 and a second clamping jaw 88, and two guide rails iv 82 are arranged on the lower surface of the fixed plate 81. The first jaw 87 is slidably arranged on the two rails iv 82 to slide smoothly in a strict direction. The second jaw 88 is also slidably arranged on the two rails iv 82 so as to slide smoothly in a strict direction. Of course, only one guide rail iv 82 may be provided, and the provision of two guide rails iv 82 may make the first jaw 87 and the second jaw 88 slide more smoothly.

As shown in fig. 7, a motor iv 83 is disposed above the fixing plate 81, an output end of the motor iv 83 passes downward through the fixing plate 81, and an output end of the motor iv 83 is provided with a driving wheel 84. A driven pulley 85 is also provided below the fixed plate 81. The driven pulley 85 is provided corresponding to the driving pulley 84.

A transmission belt II 86 is arranged between the driving wheel 84 and the driven wheel 85. The transmission belt II 86 is of a closed loop structure, and the transmission belt II 86 is sleeved on the driving wheel 84 and the driven wheel 85 at the same time and used for transmission between the driving wheel 84 and the driven wheel 85. Thus, when the motor IV 83 drives the driving wheel 84 to rotate, the driven wheel 85 is driven to rotate through the action of the driving belt II 86. The primary purpose of the idler pulley 85 is to provide support for the belt II 86 so that the belt II 86 can rotate in a closed loop supported by the drive pulley 84 and the idler pulley 85. The opposite side parts of the driving belt II 86 move oppositely.

As shown in fig. 7, a first jaw 87 is connected to one side of the belt ii 86, and a second jaw 88 is connected to the other side of the belt ii 86. Thus, when the driving belt II 86 rotates in a closed loop, the first clamping jaw 87 and the second clamping jaw 88 can move towards or away from each other in a centering manner, in short, the relative movement is always performed in a centering manner, and only one power source, namely the motor IV 83 is used as the power source.

In order to control the stroke of the first jaw 87 and the second jaw 88, a sensing unit 89 is also provided.

The sensing unit 89 includes a barrier, an origin photosensor, a first extreme position sensor, and a second extreme position sensor. The baffle is connected to the belt II 86. The sensing unit 89 (including the included controller) is of a construction known in the art, but is not conventional for the jaw mechanism 8.

The gripping assembly 20 and the corresponding mechanisms of this example are provided in two groups, so as to be able to operate two stacks 21 simultaneously.

In summary, the transplanting device of the present embodiment, through the arrangement of the helical gear and the helical rack, the movement of the grabbing assembly 20 is more accurate than that of the straight gear and the straight rack. And the centering movement of the first jaw 87 and the second jaw 88 is achieved by the jaw mechanism 8 and the rotational adjustment is achieved more safely by the rotational adjustment mechanism 9.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, so as not to limit the protection scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the protection scope of the present invention.

Claims (5)

1. A transplanting apparatus, comprising:

the device comprises a rack (1), wherein a guide rail I (2) and a rack I (3) which accompanies the guide rail I (2) are arranged on the rack (1), and helical teeth are arranged on the rack I (3);

the rack I (4) is arranged on the guide rail I (2) in a sliding mode, a helical gear I (5) and a motor I (6) are arranged on the support I (4), the helical gear I (5) is meshed with the rack I (3), the helical gear I (5) is connected to the driving end of the motor I (6), a guide rail II (7) and a rack II (10) which accompanies the guide rail II (7) are further arranged on the support I (4), and helical teeth are arranged on the rack II (10);

the support II (11) is arranged on the guide rail II (7) in a sliding mode, a bevel gear II (12) and a motor II (13) are arranged on the support II (11), the bevel gear II (12) is meshed with the rack II (10), the bevel gear II (12) is connected to the driving end of the motor II (13), a sliding block (14), a bevel gear III (15) and a motor III (16) are further arranged on the support II (11), and the bevel gear III (15) is connected to the driving end of the motor III (16);

the suspension arm (17), a rack III (18) is arranged on the suspension arm (17), helical teeth are arranged on the rack III (18), the rack III (18) is meshed with the helical gear III (15), a guide rail III (19) is further arranged on the suspension arm (17), and the guide rail III (19) is combined with the sliding block (14);

grabbing subassembly (20), grabbing subassembly (20) is connected on davit (17), grabbing subassembly (20) includes jaw mechanism (8), jaw mechanism (8) include first clamping jaw (87) and second clamping jaw (88), first clamping jaw (87) with second clamping jaw (88) between define the centre gripping space.

2. The transplanting device of claim 1, wherein: guide rail I (2) are provided with two, just guide rail I (2) set up respectively support I (4) both ends position.

3. The transplanting device of claim 1, wherein: a sleeve hole (111) is formed in the support II (11), and the suspension arm (17) can be arranged in the sleeve hole (111) in a sliding mode.

4. The transplanting device of claim 1, wherein: the grasping assembly (20) further comprises a rotation adjustment mechanism (9), the rotation adjustment mechanism (9) comprising:

a fixing frame (91);

the motor V (92), the motor V (92) is arranged on the fixed frame (91), and the output end of the motor V (92) is provided with a first transmission wheel (93);

a bearing (94), the bearing (94) being disposed on the mount (91);

the rotating shaft (95), the rotating shaft (95) is arranged in the bearing (94), and a second transmission wheel (96) is further arranged on the rotating shaft (95);

the transmission belt I (97) is of a closed loop structure, and the transmission belt I (97) is sleeved on the first transmission wheel (93) and the second transmission wheel (96) at the same time;

spacing unit (98), spacing unit (98) include spacing groove (981) and spacing post (982), spacing post (982) slide and set up in spacing groove (981), spacing groove (981) are the arc, spacing groove (981) with one sets up in spacing post (982) on mount (91), another sets up on treating rotatory article.

5. A transplanting device according to claim 1, wherein the gripper mechanism (8) comprises:

a fixed plate (81);

a guide rail IV (82), wherein the guide rail IV (82) is arranged on the fixing plate (81);

the motor IV (83), the motor IV (83) is arranged on the fixing plate (81);

the driving wheel (84), the driving wheel (84) is arranged at the output end of the motor IV (83);

the driven wheel (85), the said driven wheel (85) is set up with the said driving wheel (84) correspondingly;

the driving belt II (86) is of a closed-loop structure, and the driving belt II (86) is sleeved on the driving wheel (84) and the driven wheel (85) at the same time and used for transmission between the driving wheel (84) and the driven wheel (85);

the first clamping jaw (87), the first clamping jaw (87) is arranged on the guide rail IV (82) in a sliding mode;

the second clamping jaw (88), the second clamping jaw (88) is arranged on the guide rail IV (82) in a sliding mode;

and a clamping space is defined between the first clamping jaw (87) and the second clamping jaw (88), and the first clamping jaw (87) and the second clamping jaw (88) are respectively connected to two opposite side parts of the driving belt II (86).

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