CN214363065U - Pick-and-place type grabbing manipulator - Google Patents

Abstract

The utility model provides a pick and place formula and snatch manipulator, which comprises a frame, the lateral shifting subassembly, the longitudinal movement subassembly with snatch the subassembly, the lateral shifting subassembly sets up the top in the frame, the longitudinal movement subassembly slides and sets up on the lateral shifting subassembly, it slides and sets up on the longitudinal movement subassembly to snatch the subassembly, the slip direction of snatching the subassembly is mutually perpendicular with the slip direction of longitudinal movement subassembly, it picks up the subassembly and puts the board and drive actuating cylinder including two at least to pick up, it is connected so that two are picked up to put the board rotation to laminating or open angle alpha through a rotary part and two and pick up to drive actuating cylinder and constitute and snatch the manipulator, it still the array is provided with a plurality of guide parts that pick and place on the board to pick up. The utility model provides a snatch subassembly accessible lateral shifting subassembly and longitudinal movement subassembly and remove to the assigned position, pick up through driving two drive actuating cylinders and put the board and open or laminate thereafter to the realization is to the accurate pick-up of a toper warning section of thick bamboo put, easy operation, and work efficiency is high.

Description

Pick-and-place type grabbing manipulator

Technical Field

The utility model relates to a traffic protection technical field, concretely relates to pick up and put formula and snatch manipulator for putting and retrieving a toper warning section of thick bamboo.

Background

In the road maintenance and reconstruction process, in order to accelerate the construction progress, most of the roads adopt an uninterrupted continuous construction mode, and the road maintenance and reconstruction process has great influence on road surface traffic. To protect the safety of construction personnel, vehicles and pedestrians, road traffic protection facilities must be installed at the construction work site. The conical warning cylinder is the most common traffic protection facility in traffic protection, and is popular with traffic protection departments due to the fact that the conical warning cylinder is convenient to use and suitable for any terrain.

After the construction operation is finished, the related safety facilities are withdrawn in sequence against the traffic flow direction, and normal traffic is recovered. At present, the placing and the recycling of the cone-shaped warning barrel are manually completed by constructors, but the placing and the recycling workload of the cone-shaped warning barrel are large and more working time is consumed due to the fact that the cone-shaped warning barrel is too much in use amount.

Disclosure of Invention

In view of this, the utility model aims at a pick and place formula snatchs manipulator to realize putting fast and retrieve a toper warning section of thick bamboo.

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

the utility model provides a pick and place formula and snatch manipulator, includes frame, lateral shifting subassembly, longitudinal movement subassembly and snatchs the subassembly, the lateral shifting subassembly sets up the top of frame, the longitudinal movement subassembly slides and sets up on the lateral shifting subassembly, it slides and sets up to snatch the subassembly on the longitudinal movement subassembly, the slip direction of snatching the subassembly with the slip direction mutually perpendicular of longitudinal movement subassembly, it picks the subassembly at least including two pick and place the board and one drive actuating cylinder, drive actuating cylinder through a rotary part with two pick and place the board drive and be connected so that two pick and place the board rotatory to laminating or open angle alpha and constitute and snatch the manipulator, it still the array is provided with a plurality of guide parts to pick and place on the board to pick and place.

Preferably, the transverse moving assembly comprises a transverse bottom plate, a transverse motor, a belt, a synchronizing wheel, a driven wheel, a transverse guide rail and a transverse sliding block, one end of the transverse bottom plate is fixed to the top of the rack, the synchronizing wheel and the driven wheel are respectively arranged at two ends of the side face of the transverse bottom plate, the belt is wound between the synchronizing wheel and the driven wheel, the transverse motor is fixed to the rack, an output shaft of the transverse motor is in driving connection with the synchronizing wheel, the transverse guide rail is arranged at a position, between the synchronizing wheel and the driven wheel, of the side face of the transverse bottom plate, the transverse sliding block is arranged on the transverse guide rail in a sliding mode and is fixedly connected with the belt, and the longitudinal moving assembly is fixedly connected with the transverse sliding block to move on the transverse guide rail.

Preferably, the number of the transverse guide rails and the number of the transverse sliding blocks are both 2, the two transverse guide rails are arranged on the side surface of the transverse bottom plate in parallel and located at the position between the synchronizing wheel and the driven wheel, each transverse guide rail is provided with one transverse sliding block in a sliding manner, and one transverse sliding block is fixedly connected with the belt.

Preferably, the longitudinal moving assembly comprises a longitudinal base plate, a longitudinal motor, a longitudinal guide rail, a screw, a nut and a longitudinal sliding block, the transverse sliding block is fixed on one side face of the longitudinal base plate, the longitudinal guide rail is arranged on the other side face of the longitudinal base plate, the projection of the longitudinal guide rail and the projection of the transverse guide rail in the horizontal direction are perpendicular to each other, the longitudinal sliding block is arranged on the longitudinal guide rail in a sliding mode, the longitudinal motor is arranged at the top of the longitudinal base plate, an output shaft of the longitudinal motor is connected with the screw in a driving mode through a coupler, the screw is arranged in parallel with the longitudinal guide rail, the nut is connected to the screw in a threaded mode, and the grabbing assembly is fixedly connected with the nut and the longitudinal sliding block to move on the longitudinal guide rail.

Preferably, the number of the longitudinal guide rails and the number of the longitudinal sliding blocks are both 2, the two longitudinal guide rails are arranged in parallel on the side face of the longitudinal bottom plate which is not fixed with the transverse sliding block, each longitudinal guide rail is provided with one longitudinal sliding block in a sliding manner, the screw rod is arranged at the position, between the two longitudinal guide rails, of the longitudinal bottom plate and is arranged in parallel with the two longitudinal guide rails, and the grabbing assembly is respectively fixedly connected with the nut and the two longitudinal sliding blocks.

Preferably, a supporting block is arranged at a position, lower than the longitudinal motor and higher than the longitudinal guide rail, of the longitudinal bottom plate, a through hole is formed in the center of the supporting block, and one end of the screw penetrates through the through hole and is fixedly connected with the coupler.

Preferably, the grabbing assembly further comprises a grabbing working bottom plate, one side surface of the grabbing working bottom plate is fixedly connected with the longitudinal sliding block and the nut, the driving cylinder is arranged on the other side surface of the grabbing working bottom plate, the rotating component comprises two rotating shafts and two rotating connecting rods, the two rotating shafts are relatively parallel and perpendicular to the grabbing working bottom plate, the two rotating shafts are respectively connected with the driving cylinder in a driving mode, two ends of each rotating connecting rod are respectively fixedly connected with a shaft body portion of each rotating shaft and the top of each picking and placing plate, and the driving cylinder drives the two rotating shafts to rotate and enables the two picking and placing plates to rotate to the attaching angle or the opening angle alpha through transmission of the corresponding rotating connecting rods so as to form the grabbing manipulator.

Preferably, the opening included angle alpha of the two pick-and-place plates ranges from 0 degrees to alpha less than or equal to 65 degrees.

Preferably, the pick-and-place guide component comprises pick-and-place columns and springs, a plurality of through holes are formed in the pick-and-place plates in an array mode, the pick-and-place columns penetrate through the through holes of the pick-and-place plates, the pick-and-place columns penetrate through the springs on cylinder portions, located on the back of the two pick-and-place plates, of the cylinder portions, two ends of the springs are fixedly connected with the end portions of the pick-and-place plates and the end portions of the pick-and-place columns respectively, and the pick-and-place columns are located on the end portions, opposite to the two pick-and-place plates, of the cylinder portions and are arranged to be arc surfaces.

Preferably, the through holes on the two pick-and-place plates are arranged in a staggered manner.

Compared with the prior art, the utility model provides a pair of pick and place formula snatchs manipulator, it snatchs the lateral shifting subassembly and the longitudinal movement subassembly removes to the assigned position on the subassembly accessible, pick up through driving two drive cylinder drives and put the board and open or laminate afterwards, when two are picked up and put the board and laminate, thereby pick up and put the post on the board and insert the lifting ring of a toper warning section of thick bamboo and snatch a toper warning section of thick bamboo, when two are picked up and put the board and open, toper warning section of thick bamboo slips on picking up and putting the post under self action of gravity, thereby realize the accurate pick and place to a toper warning section of thick bamboo, and the operation is simple, and the work efficiency is high.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic perspective view of a pick-and-place type grabbing manipulator provided by the present invention in a working state;

fig. 2 is a first angle perspective view of a pick-and-place type grabbing manipulator provided by the present invention;

fig. 3 is a second perspective view of the pick-and-place type grabbing manipulator provided by the present invention;

fig. 4 is a third schematic perspective view of a pick-and-place type grabbing manipulator provided by the present invention;

FIG. 5 is an enlarged view of portion A of FIG. 4;

fig. 6 is an enlarged schematic view of a portion B in fig. 4.

Reference numerals and component parts description referred to in the drawings:

1. a frame; 2. a transverse floor; 3. a transverse motor; 4. a belt; 5. a synchronizing wheel; 6. a driven wheel; 7. A transverse guide rail; 8. a transverse slide block; 9. a longitudinal floor; 10. a longitudinal motor; 11. a longitudinal guide rail; 12. a screw; 13. a nut; 14. a longitudinal slide block; 15. a coupling; 16. a support block; 17. grabbing a working bottom plate; 18. a pick-and-place plate; 19. a driving cylinder; 20. a rotating shaft; 21. a rotating connecting rod; 22. picking and placing the column; 23. A spring; 24. a conical warning cylinder; 25. a carriage; 26. and (5) lifting a ring.

Detailed Description

The technical solution of the present invention will be described clearly and completely through the following detailed description. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Referring to fig. 1 to 6, a pick-and-place type grabbing manipulator comprises a frame 1, a transverse moving assembly, a longitudinal moving assembly and a grabbing assembly. The transverse moving assembly is arranged at the top of the rack 1, the longitudinal moving assembly is arranged on the transverse moving assembly in a sliding mode, the grabbing assembly is arranged on the longitudinal moving assembly in a sliding mode, and the sliding direction of the grabbing assembly is perpendicular to the sliding direction of the longitudinal moving assembly, so that the grabbing assembly can move bidirectionally.

The transverse moving assembly comprises a transverse bottom plate 2, a transverse motor 3, a belt 4, a synchronizing wheel 5, a driven wheel 6, a pair of transverse guide rails 7 and a pair of transverse sliding blocks 8. One end of the transverse bottom plate 2 is fixed on the top of the frame 1 to be used as a fixed base of the whole transverse moving assembly. The lateral two ends of the transverse bottom plate 2 are respectively provided with a synchronizing wheel 5 and a driven wheel 6, a belt 4 is wound between the synchronizing wheel and the driven wheel, the transverse motor 3 is fixed on the frame 1, and an output shaft of the transverse motor is in driving connection with the synchronizing wheel 5. The lateral surface of the lateral base plate 2 is provided with the pair of lateral guide rails 7 in parallel at a position between the synchronizing wheel 5 and the driven wheel 6, each lateral guide rail 7 is provided with a lateral slide block 8 in a sliding manner, and one lateral slide block 8 is fixed with the belt 4.

The longitudinal moving component is fixedly connected with the transverse sliding block 8, the transverse motor 3 drives the synchronizing wheel 5 to rotate so as to realize the rotation of the belt 4, and then the longitudinal moving component can move on the transverse guide rail 7 through the transverse sliding block 8 fixed with the belt 4.

The longitudinal moving assembly comprises a longitudinal bottom plate 9, a longitudinal motor 10, a pair of longitudinal guide rails 11, a screw 12, a nut 13 and a pair of longitudinal sliders 14. The longitudinal bottom plate 9 is used as a fixed base of the whole longitudinal moving assembly, one side surface of the longitudinal bottom plate is fixedly connected with the two transverse sliding blocks 8 in the transverse moving assembly, and the other side surface of the longitudinal bottom plate is provided with a pair of longitudinal guide rails 11 in parallel and perpendicular to the projection of the transverse guide rails 7 in the horizontal direction. Each longitudinal guide rail 11 is slidably provided with a longitudinal slider 14. Further, a screw 12 is arranged between the two longitudinal guide rails 11 in parallel, a nut 13 is connected to the screw 12 in a threaded manner, and a longitudinal motor 10 is arranged at the top of the longitudinal bottom plate 9, and an output shaft of the longitudinal motor is in driving connection with the screw 12 through a coupling 15, so that a screw structure is formed. In order to improve the stability of the screw 12 in the rotation process, a support block 16 is arranged at the position of the longitudinal bottom plate 9 lower than the longitudinal motor 10 and higher than the longitudinal guide rail 11, a through hole is formed in the center of the support block 16, and one end of the screw 12 penetrates through the through hole and is fixedly connected with the coupler 15.

The grabbing component is fixedly connected with the nut 13 and the longitudinal sliding block 14 respectively, the longitudinal motor 10 drives the screw 12 to rotate, so that the nut 13 moves on the screw 12 along the axial direction of the screw, and the grabbing component moves on the longitudinal guide rail 11 under the guiding of the longitudinal sliding block 14 and the driving of the nut 13.

The grabbing component comprises a grabbing working bottom plate 17, two picking and placing plates 18 and a driving air cylinder 19, wherein the grabbing working bottom plate 17 is used as a fixed foundation of the whole grabbing component, one side surface of the grabbing working bottom plate is fixedly connected with the longitudinal sliding block 14 and the nut 13, and the other side surface of the grabbing working bottom plate is provided with the driving air cylinder 19.

The driving cylinder 19 is in driving connection with the two pick-and-place plates 18 through a rotating component so that the two pick-and-place plates 18 rotate to the joint or opening angle alpha to form a grabbing manipulator. In this embodiment, the rotating component includes two rotating shafts 20 and two rotating connecting rods 21, the two rotating shafts 20 are relatively parallel and are both perpendicular to the grabbing work bottom plate 17, the two rotating shafts 20 are respectively connected with the driving cylinder 19 in a driving manner, and both ends of the rotating connecting rods 21 are respectively fixedly connected with the shaft body part of the rotating shafts 20 and the top of the picking and placing plate 18. The driving cylinder 19 drives the two rotating shafts 20 to rotate and drives the two pick-and-place plates 18 to rotate to a joint or opening angle alpha through the transmission of the corresponding rotating connecting rods 21 so as to form the grabbing manipulator, wherein the opening angle alpha is more than 0 degree and less than or equal to 65 degrees.

The pick-and-place plate 18 is further provided with a plurality of pick-and-place guide members in an array, and the pick-and-place guide members comprise pick-and-place columns 22 and springs 23. The pick-and-place plates 18 are provided with a plurality of through holes in a four-row and seven-column manner, and the through holes in the two pick-and-place plates 18 are arranged in a staggered manner. Pick up and put post 22 and wear to establish in picking up the through-hole that runs through of putting board 18, and it is located two and picks up and put the cylinder part that board 18 carried on the back mutually and wear to be equipped with spring 23, spring 23's both ends respectively with pick up and put board 18 and pick up the tip fixed connection who puts post 22, pick up and put post 22 and be located two and pick up the cylinder tip that puts board 18 is relative and set up to the arc surface, thereby when snatching toper warning section of thick bamboo 24, pick up and put post 22 and can not cause the fish tail to it when sliding on toper warning section of thick bamboo 24.

The pick-and-place type grabbing manipulator can be fixedly arranged on a rear carriage 25 of a traffic construction vehicle. In use, the lateral and longitudinal movement assemblies may operate simultaneously. The transverse wire motor 3 drives the synchronous wheel 5 to rotate so that the belt 4 rotates, and the transverse sliding block 8 drives the longitudinal bottom plate 9 to move on the transverse guide rail 7. At the same time, the longitudinal motor 10 drives the screw 12 to rotate, so that the nut 13 moves on the screw 12 along the axial direction thereof, and the grabbing base plate 17 moves on the longitudinal guide rail 11 under the guidance of the longitudinal slide block 14 and the driving of the nut 13. The grabbing component can move to a designated position, namely the top of the cone-shaped warning barrel 24 or the position of the cone-shaped warning barrel 24 placed by the vehicle, through the mutual cooperation of the transverse moving component and the longitudinal moving component.

Thereafter, when the grabbing assembly needs to grab the conical warning barrel 24, the driving cylinder 19 drives the two rotating shafts 20 to rotate through compressed gas, and the two rotating shafts 20 enable the two picking and placing plates 18 to be relatively and rotatably closed through transmission of the rotating connecting rod 21 in a mode that the rotating directions are opposite. In the process, the pick-and-place column 22 on the pick-and-place plate 18 contacts the cone-shaped warning barrel 24, and the pick-and-place column 22 is slidably inserted into the lifting ring 26 at the top of the cone-shaped warning barrel 24 on the cone-shaped warning barrel 24, and meanwhile, the pick-and-place column 22 moves back to the pick-and-place plate 18 against the elastic force of the spring 23. The two pick-and-place plates 18 grab the conical warning barrel 24 and move to a designated position under the driving of the transverse moving assembly and the longitudinal moving assembly.

When the grabbing assembly needs to be placed on the conical warning cylinder 24 after being moved to a specified position, the driving cylinder 19 drives the two rotating shafts 20 to rotate through compressed air, the two rotating shafts 20 enable the two picking and placing plates 18 to rotate and open relatively through transmission of the rotating connecting rod 21 in a mode of opposite rotating directions, so that the picking and placing columns 22 on the picking and placing plates 18 have downward inclined slopes and move and eject towards the picking and placing plates 18 under the action of the springs 23, and the conical warning cylinder 24 slides down to the specified position from the picking and placing columns 22 under the action of self gravity of the conical warning cylinder 24.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The utility model provides a manipulator is snatched to pick-and-place formula which characterized in that: including frame, lateral shifting subassembly, longitudinal movement subassembly and snatch the subassembly, the lateral shifting subassembly sets up the top of frame, the longitudinal shifting subassembly slides and sets up on the lateral shifting subassembly, it slides and sets up to snatch the subassembly longitudinal shifting subassembly is last, the slip direction of snatching the subassembly with the slip direction mutually perpendicular of longitudinal movement subassembly, it includes two at least pick up and put the board and a drive cylinder to snatch the subassembly, it passes through a rotary part and two to drive the cylinder pick up and put the board drive and be connected so that two it is rotatory to laminating or open angle alpha and constitute and snatch the manipulator to pick up to put the board, it still the array is provided with a plurality of guide parts to pick up to put on the board.

2. The pick-and-place gripper robot of claim 1, wherein: the lateral shifting subassembly is including horizontal bottom plate, horizontal motor, belt, synchronizing wheel, follow driving wheel, transverse guide and horizontal slider, the one end of horizontal bottom plate is fixed the top of frame, the side both ends of horizontal bottom plate are provided with respectively the synchronizing wheel with from the driving wheel and between the two around being equipped with the belt, horizontal motor is fixed in the frame and its output shaft with the synchronizing wheel drive is connected, the side of horizontal bottom plate is in the synchronizing wheel with position department between the driving wheel is provided with transverse guide, horizontal slider slides and sets up on the transverse guide and its with belt fixed connection, the longitudinal shifting subassembly through with transverse slider fixed connection in order to move on the transverse guide.

3. The pick-and-place gripper robot of claim 2, wherein: the number of the transverse guide rails and the number of the transverse sliding blocks are 2, the two transverse guide rails are arranged in parallel on the side face of the transverse bottom plate and are located at the position between the synchronizing wheel and the driven wheel, one transverse sliding block is arranged on each transverse guide rail in a sliding mode, and one transverse sliding block is fixedly connected with the belt.

4. The pick-and-place gripper robot of claim 2, wherein: the longitudinal movement assembly comprises a longitudinal bottom plate, a longitudinal motor, a longitudinal guide rail, a screw rod, a nut and a longitudinal sliding block, wherein one side face of the longitudinal bottom plate is fixed with the transverse sliding block, the longitudinal guide rail is arranged on the other side face of the longitudinal bottom plate, the longitudinal guide rail is perpendicular to the projection of the transverse guide rail in the horizontal direction, the longitudinal guide rail is provided with the longitudinal sliding block in a sliding mode, the longitudinal motor is arranged at the top of the longitudinal bottom plate, the output shaft of the longitudinal bottom plate is connected with the screw rod in a driving mode through a coupler, the screw rod is parallel to the longitudinal guide rail, the nut is in threaded connection with the longitudinal guide rail, and the grabbing assembly is respectively connected with the nut and the longitudinal sliding block is fixedly connected with the longitudinal guide rail to move on the longitudinal guide rail.

5. The pick-and-place gripper robot of claim 4, wherein: the number of the longitudinal guide rails and the number of the longitudinal sliding blocks are 2, the two longitudinal guide rails are arranged on the side face, which is not fixed with the transverse sliding block, of the longitudinal bottom plate in parallel, one longitudinal sliding block is arranged on each longitudinal guide rail in a sliding mode, the screw rod is arranged at the position, which is located between the two longitudinal guide rails, of the longitudinal bottom plate and is arranged in parallel with the two longitudinal guide rails, and the grabbing assembly is fixedly connected with the nut and the two longitudinal sliding blocks respectively.

6. The pick-and-place gripper robot of claim 4, wherein: the longitudinal bottom plate is provided with a supporting block at a position lower than the longitudinal motor and higher than the longitudinal guide rail, a through hole is formed in the center of the supporting block, and one end of the screw penetrates through the through hole and is fixedly connected with the coupler.

7. The pick-and-place gripper robot of claim 4, wherein: the grabbing component further comprises a grabbing working bottom plate, one side face of the grabbing working bottom plate is fixedly connected with the longitudinal sliding block and the nut, the other side face of the grabbing working bottom plate is provided with the driving cylinder, the rotating component comprises two rotating shafts and two rotating connecting rods, the two rotating shafts are parallel relatively and perpendicular to the grabbing working bottom plate, the two rotating shafts are respectively connected with the driving cylinder in a driving mode, two ends of the rotating connecting rods are respectively connected with the shaft body portion of the rotating shafts and the top of the picking and placing plate in a fixed connection mode, the driving cylinder drives the two rotating shafts to rotate and enable the two picking and placing plates to rotate to be attached or open by an angle alpha to form the grabbing manipulator.

8. The pick-and-place gripper robot of claim 1 or 7, wherein: the range of the opening included angle alpha of the two pick-and-place plates is more than 0 degree and less than or equal to 65 degrees.

9. The pick-and-place gripper robot of claim 1 or 7, wherein: pick up and put guide part including picking up and putting post, spring, pick up and put on the board array and seted up a plurality of through-holes that run through, it wears to establish to pick up and put the through-hole of board, it is located two to pick up to put the post it wears to be equipped with on the cylinder part that picks up and put the board back of the body the spring, the both ends of spring respectively with pick up put the board with pick up the tip fixed connection who puts the post, it is located two to pick up and put the post pick up and put the relative cylinder tip of board and set up to the arc surface.

10. The pick-and-place gripper robot of claim 9, wherein: the through holes on the two picking and placing plates are arranged in a staggered mode.

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