CN214025757U - A manipulator device for material loading - Google Patents
A manipulator device for material loading Download PDFInfo
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- CN214025757U CN214025757U CN202023050510.XU CN202023050510U CN214025757U CN 214025757 U CN214025757 U CN 214025757U CN 202023050510 U CN202023050510 U CN 202023050510U CN 214025757 U CN214025757 U CN 214025757U
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Abstract
The utility model provides a manipulator device for feeding, which comprises a lifting mechanism and a sucker mechanism; the sucker mechanism comprises a sucker frame, a diagonal guide rail, a diagonal synchronous wheel, a diagonal synchronous belt and a movable sucker assembly; the diagonal guide rails are connected to two side edges of the sucker frame; the movable sucker component moves on the diagonal guide rail; the diagonal synchronous wheels are movably connected to the end parts of the diagonal guide rails, and the diagonal synchronous belts are used for connecting the diagonal synchronous wheels; the movable sucker component comprises a compression-proof rod, a U-shaped switch, a sucker and a movable sucker plate; the compression-proof rod, the U-shaped switch and the sucker are fixed on the movable sucker plate; the pressure-proof rod is provided with a pressure-proof spring and a retractable trigger rod; the trigger rod can trigger the U-shaped switch; the anti-pressure spring is used for resetting the trigger rod; the lifting mechanism is used for driving the sucker frame to ascend or descend. The utility model provides a pair of a manipulator device for material loading can accomplish the material loading of sheet material.
Description
Technical Field
The utility model relates to a mechanical equipment's technical field, concretely relates to a manipulator device for material loading.
Background
Industrial robots are a new technology emerging in the field of modern automation and have become an important component of modern machine manufacturing production systems. However, in the current plate processing industry, most of the processing processes adopt manual feeding and discharging. The manual feeding and discharging is low in efficiency, low in precision and high in risk.
Chinese patent No. CN107775626A discloses a robot mechanism with a suction cup, which includes: the manipulator device comprises a lifting table, a lifting block, a first manipulator device, a second manipulator device and a driving assembly for driving the lifting block, wherein the lifting block is slidably arranged on the lifting table, and the first manipulator device and the second manipulator device are respectively arranged at two ends of the lifting block; the first mechanical arm device comprises a first mechanical arm mounting fixing block, a first sucker component and a second sucker component, the first mechanical arm mounting fixing block is mounted on the lifting block, the first sucker component and the second sucker component are mounted at two ends of the first mechanical arm mounting fixing block respectively, and the first sucker component comprises a first sucker rotating block and a first sucker. According to the invention, the material is sucked by the first manipulator device with the first sucker and the second manipulator device with the third sucker and the fourth sucker.
The mode can solve artifical unloading inefficiency, precision low, the risk is big, but still exists and can only be used for a product specification, hardly adjusts to the vibrations and the error that the structure is complicated, with high costs, produce are great, can't satisfy market demand scheduling problem.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problems, the present invention provides a manipulator device for feeding, which can complete feeding of sheet material, can adjust the size, and has high adaptability; meanwhile, the function of preventing the plate from being crushed due to machine failure is achieved.
In order to achieve the purpose, the utility model provides a manipulator device for feeding, which comprises a lifting mechanism and a sucker mechanism; the sucker mechanism comprises a sucker frame, a diagonal guide rail, a diagonal synchronous wheel, a diagonal synchronous belt and a movable sucker assembly; the diagonal guide rails are connected to two side edges of the sucker frame; the movable sucker component moves on the diagonal guide rail; the diagonal synchronous wheels are movably connected to the end parts of the diagonal guide rails, and the diagonal synchronous belts are used for connecting the diagonal synchronous wheels; the movable sucker component comprises a compression-proof rod, a U-shaped switch, a sucker and a movable sucker plate; the compression-proof rod, the U-shaped switch and the sucker are fixed on the movable sucker plate; the pressure-proof rod is provided with a pressure-proof spring and a retractable trigger rod; the trigger rod can trigger the U-shaped switch; the anti-pressure spring is used for resetting the trigger rod; the lifting mechanism is used for driving the sucker frame to ascend or descend.
According to another embodiment of the present invention, the number of diagonal guides is four, and the diagonal guides are fixedly connected to the diagonal of the suction cup frame.
According to another embodiment of the present invention, the suction cup mechanism further comprises a fixing strip and a fixing plate, the fixing strip is connected to the opposite sides of the suction cup frame, and the fixing plate is fixed on the fixing strip and located at the center of the suction cup frame; the fixed strip is provided with a fixed sucker component which comprises a fixed sucker plate and a sucker.
According to the utility model discloses a further embodiment, sucking disc mechanism still includes the leading wheel, and the leading wheel is fixed on the fixed plate, and diagonal angle synchronizing belt connects diagonal angle synchronizing wheel and leading wheel.
According to another embodiment of the present invention, the movable chuck assembly further comprises a lens, a light source and a light source bracket; the light source is fixed on the light source bracket and is positioned below the lens; the lens and the light source bracket are fixed on the movable sucker plate.
According to another embodiment of the present invention, the suction cup mechanism further comprises an adjusting assembly, the adjusting assembly comprises a suction cup, an adjusting synchronizing wheel, an adjusting synchronizing belt and an adjusting guide rail moving at the side of the suction cup frame; the sucker is fixed on the adjusting guide rail, and the adjusting synchronous belt is fixedly connected with the adjusting guide rail; the adjusting synchronous belt is connected with an adjusting synchronous wheel; the sucking disc is fixed on the adjusting synchronous belt.
According to another embodiment of the present invention, the lifting mechanism comprises a lifting frame, a connecting rail, a connecting gear and a gear motor; the connecting track is fixed on the lifting frame; the connecting gear is movably connected to the connecting track, and the gear motor is used for driving the connecting gear to rotate.
According to another embodiment of the present invention, the manipulator device for feeding further comprises a motor and a motor mounting plate; the motor is used for driving the sucker frame to rotate; the motor is mounted on the motor mounting plate.
According to another embodiment of the present invention, the lifting mechanism further comprises a lead screw and a lifting motor, wherein a slider of the lead screw is connected with the motor mounting plate; the lifting motor is used for driving the screw rod to rotate.
The sucker mechanism of the utility model adopts a sucker frame, a diagonal guide rail, a diagonal synchronizing wheel, a diagonal synchronizing belt and a movable sucker component, wherein the diagonal synchronizing belt drives the diagonal synchronizing wheel to move synchronously, and controls the movable sucker component to move simultaneously, so that the suckers gather together or spread, and the suckers adapt to different sizes of workpieces; the movable sucker component comprises a pressure-proof rod, a U-shaped switch, a sucker and a movable sucker plate, wherein the pressure-proof rod is provided with a pressure-proof spring and a telescopic trigger rod, the trigger rod can trigger the U-shaped switch, when the movable sucker component adsorbs a workpiece and continues to move downwards, the trigger rod touches the workpiece, the trigger rod reversely extrudes to trigger the U-shaped switch, the U-shaped switch returns a signal to the lifting mechanism, the lifting mechanism stops moving downwards, and the sucker component is prevented from crushing the workpiece.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural view of a robot apparatus for loading;
FIG. 2 is another schematic structural view of a robot apparatus for loading;
fig. 3 is an enlarged view of the structure of the movable chuck assembly of the robot apparatus for loading.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship 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.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
The present embodiment provides a manipulator device for loading, as shown in fig. 1 to 3, including a motor 1, a motor mounting plate, a lifting mechanism 2, and a suction cup mechanism 3.
The sucker mechanism 3 comprises a sucker frame 31, four diagonal guide rails 32, eight guide wheels 33, four diagonal synchronous wheels 34, a diagonal synchronous belt 35, three fixed strips 36, a fixed plate 37 and four movable sucker components 4; the sucker frame 31 is a square frame formed by two long-side aluminum materials and two short-side aluminum materials in a surrounding manner; a fixing strip 36 traverses the sucker frame 31 and is connected with two short-side aluminum materials of the sucker frame 31; the fixing plate 37 is fixed on the fixing strip 36 and positioned at the center of the sucker frame 31, and a plurality of suckers 6 are arranged below the fixing plate 37, so that the density of the suckers 6 can be increased, and the insufficient adsorption force of the sucker mechanism 3 is prevented; two other fixing strips 36 extend from the fixing plate 37 to two long-side aluminum materials of the sucker frame 31; the fixed strip 36 is provided with a fixed sucker component 361, and the fixed sucker component 361 comprises a fixed sucker plate and a sucker 6; the fixed suction disc plate extends towards two sides from the fixed strip 36, and the suction disc 6 is fixed on the fixed suction disc plate.
The diagonal guide rail 32 connects the fixing plate 37 and the suction cup frame 31, and is located on the diagonal line of the suction cup frame 31; the movable chuck assembly 4 moves on the diagonal guide rails 32; the diagonal synchronous wheel 34 is movably connected to one end of the diagonal guide rail 32 far away from the fixing plate 37, the guide wheel 33 is fixed to one side of the fixing plate 37 close to the diagonal guide rail 32, and the diagonal synchronous belt 35 is used for connecting the diagonal synchronous wheel 34 and the guide wheel 33; the guide wheel 33 is used for preventing the diagonal synchronous belt 35 from being wound on other parts, and the diagonal synchronous belt 35 is used for driving the diagonal synchronous wheel 34 to synchronously rotate; the movable sucker component 4 comprises a pressure-proof rod 41, a U-shaped switch 42, a sucker 6, a movable sucker plate, a lens 43, a light source 44 and a light source bracket; the pressure-proof rod 41, the U-shaped switch 42 and the sucker 6 are fixed on the movable sucker plate; the compression-proof rod 41 is provided with a compression-proof spring and a retractable trigger rod 45; the trigger lever 45 can trigger the U-switch 42; the anti-pressure spring is used for resetting the trigger rod 45; the light source 44 is fixed on the light source bracket and positioned below the lens 43, and the light source 44 is used for providing illumination for shooting by the lens 43; the lens 43 and the light source bracket are fixed on the movable sucker plate; the lens 43 moves along with the movable sucker component 4, the movable sucker component 4 is adjusted to a proper position along with the size of a workpiece, the lens 43 is located above the edge of the workpiece, when a product is askew, the lens 43 detects that the edge of the workpiece is out of bounds, and information is fed back to the system for processing.
The suction cup mechanism 3 further comprises an adjusting assembly 38, wherein the adjusting assembly 38 comprises an adjusting guide rail 381, an adjusting synchronous wheel 382, an adjusting synchronous belt 383 and the suction cup 6, which move on the side edge of the suction cup frame 31; the sucker 6 is fixed on the adjusting guide rail 381, and the adjusting synchronous belt 383 drives the adjusting guide rail 381 to move; the adjusting synchronous belt 383 is connected with an adjusting synchronous wheel 382; the sucker 6 is fixed on the adjusting synchronous belt 383; the adjusting component 38 can increase the density of the sucker 6 and prevent the insufficient adsorption force of the sucker mechanism 3; the suction cup 6 of the adjustment assembly 38 can move on the adjustment rail 381 to accommodate workpieces of different sizes, providing flexibility.
The lifting mechanism 2 is used for driving the sucker frame 31 to ascend or descend; the lifting mechanism 2 comprises a screw rod, a lifting motor 21, a lifting rack 22, a connecting track, a connecting gear 23 and a gear motor 24; the connecting rail is fixed on the lifting frame 22; the connecting gear 23 is movably connected to the connecting track, and the gear motor 24 is used for driving the connecting gear 23 to rotate; a plurality of manipulator devices for feeding are hung on an external connecting frame through connecting gears 23, so that the installation is convenient, and the space is saved; the sliding block of the lead screw is connected with the motor mounting plate; the lifting motor 21 is used for driving the screw rod to rotate; the motor 1 is used for driving the sucker frame 31 to rotate; the motor 1 is arranged on the motor mounting plate; when the lens 43 receives a signal that the workpiece is tilted, the motor 1 works to rotate the suction cup frame 31 to a correct angle; the motor mounting plate is also provided with a filter and an air pipe, and the air pipe is connected with the sucker 6 through the filter; the filter can filter out dust and water vapor.
The suction cup mechanism 3 of the embodiment adopts a suction cup frame 31, a diagonal guide rail 32, a diagonal synchronizing wheel 34, a diagonal synchronizing belt 35 and a movable suction cup assembly 4, the diagonal synchronizing belt 35 drives the diagonal synchronizing wheel 34 to move synchronously, and the movable suction cup assembly 4 is controlled to move simultaneously, so that the suction cups 6 gather or spread, and the suction cups 6 are adapted to different sizes of workpieces; movable sucker component 4 includes pressure-proof pole 41, U type switch 42, sucking disc 6 and movable sucking disc board, be equipped with the pressure-proof spring on the pressure-proof pole 41 and can stretch out and draw back trigger bar 45, trigger bar 45 can trigger U type switch 42, still continue down when walking when movable sucker component 4 adsorbs the work piece, the work piece is touched to trigger bar 45, trigger bar 45 backward extrusion triggers U type switch 42, U type switch 42 return signal gives elevating system 2, make elevating system 2 stop to walk downwards, prevent that 6 subassemblies of sucking disc from crushing the work piece.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. Any person skilled in the art can make some modifications without departing from the scope of the present invention, i.e. all equivalent modifications made according to the present invention should be covered by the scope of the present invention.
Claims (9)
1. A manipulator device for feeding is characterized by comprising a lifting mechanism and a sucker mechanism;
the sucker mechanism comprises a sucker frame, a diagonal guide rail, a diagonal synchronous wheel, a diagonal synchronous belt and a movable sucker assembly; the diagonal guide rails are connected to two side edges of the sucker frame; the movable sucker component moves on the diagonal guide rail; the diagonal synchronous wheel is movably connected to the end part of the diagonal guide rail, and the diagonal synchronous belt is used for connecting the diagonal synchronous wheel;
the movable sucker component comprises a compression-proof rod, a U-shaped switch, a sucker and a movable sucker plate; the compression-proof rod, the U-shaped switch and the sucker are fixed on the movable sucker plate; the pressure-proof rod is provided with a pressure-proof spring and a retractable trigger rod; the trigger rod can trigger the U-shaped switch; the anti-pressure spring is used for resetting the trigger rod;
the lifting mechanism is used for driving the sucker frame to ascend or descend.
2. The robot apparatus for loading as claimed in claim 1, wherein the number of the diagonal rails is four, and the diagonal rails are fixedly coupled to diagonal lines of the suction cup frame.
3. The robot apparatus for loading according to claim 2, wherein the suction cup mechanism further comprises a fixing bar and a fixing plate, the fixing bar is connected to opposite sides of the suction cup frame, and the fixing plate is fixed to the fixing bar and located at the center of the suction cup frame; the fixed strip is provided with a fixed sucker component, and the fixed sucker component comprises a fixed sucker plate and a sucker.
4. The robot apparatus for loading according to claim 3, wherein the suction cup mechanism further comprises a guide wheel fixed to the fixing plate, and the diagonal timing belt connects the diagonal timing wheel and the guide wheel.
5. The robot apparatus for loading according to claim 1, wherein said movable chuck assembly further comprises a lens, a light source and a light source holder; the light source is fixed on the light source bracket and is positioned below the lens; the lens and the light source bracket are fixed on the movable sucker plate.
6. The robot apparatus for loading according to claim 1, wherein the suction cup mechanism further comprises an adjusting assembly, the adjusting assembly comprising a suction cup, an adjusting timing wheel, an adjusting timing belt, and an adjusting guide rail moving at a side of the suction cup frame; the sucker is fixed on the adjusting guide rail, and the adjusting synchronous belt is fixedly connected with the adjusting guide rail; the adjusting synchronous belt is connected with the adjusting synchronous wheel; the sucker is fixed on the adjusting synchronous belt.
7. The robot apparatus for loading according to claim 1, wherein the elevating mechanism includes an elevating frame, a connecting rail, a connecting gear, and a gear motor; the connecting track is fixed on the lifting frame; the connecting gear is movably connected to the connecting track, and the gear motor is used for driving the connecting gear to rotate.
8. The robot apparatus for loading according to claim 7, wherein the robot apparatus for loading further comprises a motor and a motor mounting plate; the motor is used for driving the sucker frame to rotate; the motor is mounted on a motor mounting plate.
9. The manipulator device for feeding according to claim 8, wherein the elevating mechanism further comprises a lead screw and an elevating motor, a slider of the lead screw is connected to the motor mounting plate; the lifting motor is used for driving the lead screw to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023050510.XU CN214025757U (en) | 2020-12-17 | 2020-12-17 | A manipulator device for material loading |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023050510.XU CN214025757U (en) | 2020-12-17 | 2020-12-17 | A manipulator device for material loading |
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| Publication Number | Publication Date |
|---|---|
| CN214025757U true CN214025757U (en) | 2021-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023050510.XU Active CN214025757U (en) | 2020-12-17 | 2020-12-17 | A manipulator device for material loading |
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| CN (1) | CN214025757U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113895955A (en) * | 2021-10-20 | 2022-01-07 | 青岛正大合赢智能科技有限公司 | Loading equipment compatible with DTRO flow guide disc and CDRO flow guide disc |
| CN114313991A (en) * | 2022-01-27 | 2022-04-12 | 深圳市创新特科技有限公司 | Multi-process automatic adjustable suction device for carrier plate |
-
2020
- 2020-12-17 CN CN202023050510.XU patent/CN214025757U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113895955A (en) * | 2021-10-20 | 2022-01-07 | 青岛正大合赢智能科技有限公司 | Loading equipment compatible with DTRO flow guide disc and CDRO flow guide disc |
| CN113895955B (en) * | 2021-10-20 | 2023-10-20 | 青岛正大合赢智能科技有限公司 | Feeding equipment compatible with DTRO flow guide disc and CDRO flow guide disc |
| CN114313991A (en) * | 2022-01-27 | 2022-04-12 | 深圳市创新特科技有限公司 | Multi-process automatic adjustable suction device for carrier plate |
| CN114313991B (en) * | 2022-01-27 | 2023-11-14 | 深圳市创新特科技有限公司 | Suction device capable of automatically adjusting multiple working procedures of carrier plate |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230412 Address after: 518051 Xili Community, Xili Street, Nanshan District, Shenzhen City, Guangdong Province 19-003, West Side of Tianlong Mobile Headquarters Building, Tongfa South Road Patentee after: Shenzhen Jieshen Precision Equipment Co.,Ltd. Address before: No.17 factory building of "dazhoudi", Huxi village group, Xiangling village, Guanyao, Shishan town, Nanhai District, Foshan City, Guangdong Province Patentee before: FOSHAN JIESHEN PRECISION EQUIPMENT CO.,LTD. |
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| TR01 | Transfer of patent right |