CN214561024U

CN214561024U - Manipulator for grabbing disc workpieces

Info

Publication number: CN214561024U
Application number: CN202120054283.3U
Authority: CN
Inventors: 韩国祥; 李国华; 赵霞
Original assignee: Xiamen Quanyou Intelligent Equipment Co ltd
Current assignee: Xiamen Quanyou Intelligent Equipment Co ltd
Priority date: 2021-01-11
Filing date: 2021-01-11
Publication date: 2021-11-02
Anticipated expiration: 2031-01-11

Abstract

The utility model discloses a manipulator for snatching dish class work piece, its structure includes base, block terminal, snatchs mechanism, moving mechanism and block terminal are installed respectively to side both sides around the base top, it is located to snatch the mechanism moving mechanism top, moving mechanism includes box, elevating gear and turns to the device, the box with block terminal fixed connection, elevating gear all locates with turning to the device in the box, turn to the device with snatch the mechanism and connect, elevating gear with turn to the device and connect, the utility model discloses rational in infrastructure, convenient to use adopts motor lead screw multiaxis drive to replace traditional cylinder drive, uses, and the precision is more accurate, and is nimble more convenient, and the security is high.

Description

Manipulator for grabbing disc workpieces

Technical Field

The utility model relates to a manipulator for snatching dish class work piece belongs to manipulator equipment technical field.

Background

The industrial manipulator is a high-tech automatic production device developed in recent decades, is an important branch of industrial robots, can replace the manual operation before, reduce the dependence of enterprises on the employment, when processing disc workpieces, the clamping type manipulator is not suitable for taking materials, so the sucking disc type manipulator is adopted more, however, when the existing manipulator clamps the workpieces, the vacuum sucking disc on the manipulator moves downwards under the action of the cylinder to adsorb and clamp the workpieces, but the cylinder is not high enough in driving moving precision, the sucking disc is difficult to accurately move and position to the workpiece, the sucking disc is inaccurate in positioning to easily cause air leakage at the adsorption part, the workpieces are damaged by falling, meanwhile, the cylinder is not suitable for continuous moving work, and the production efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a manipulator for snatching dish class work piece to prior problem is solved to not enough that prior art exists.

In order to achieve the above purpose, the present invention is realized by the following technical solution: the utility model provides a manipulator for snatching dish class work piece, its structure includes base, block terminal, snatchs mechanism, moving mechanism and block terminal are installed respectively to the side both sides around the base top, it is located to snatch the mechanism the moving mechanism top, moving mechanism includes box, elevating gear and turns to the device, the box with block terminal fixed connection, elevating gear all locates with turning to the device in the box, turn to the device with snatch the mechanism and connect, elevating gear with turn to the device and connect.

Further, snatch the mechanism and include supporting seat, sliding seat, vacuum chuck and drive box, be equipped with first lead screw in the supporting seat, the supporting seat rear end is equipped with first motor, first motor with first lead screw transmission is connected, sliding seat slidable mounting in the supporting seat top, the sliding seat bottom is equipped with the connecting seat, the connecting seat with first lead screw threaded connection, the drive box is located sliding seat top rear side, be equipped with vacuum generator in the drive box, vacuum chuck install in sliding seat bottom front side, vacuum generator with through the trachea intercommunication between the vacuum chuck, the drive box with be connected with the tow chain cable between the supporting seat.

Further, sliding seat top front side is equipped with first sensor, drive case top front side is equipped with the second sensor, first sensor sets up down, the second sensor sets up forward.

Further, the steering device comprises a connecting column, a second motor and a support, the top end of the connecting column movably penetrates through the top end of the box body and is connected with the bottom end of the supporting seat, the support is located below the connecting column, the second motor is fixedly installed in the connecting column, and an output shaft of the second motor penetrates through the bottom of the connecting column and is fixedly connected with the top end of the support.

Furthermore, the lifting device comprises a second screw rod, a third motor and a connecting frame, the connecting frame is vertically installed at the rear end inside the box body, the second screw rod is vertically installed in the connecting frame, the support is connected with the front end of the connecting frame in an up-and-down sliding mode, the rear end of the support is in threaded connection with the second screw rod, the third motor is installed at the top end of the base, and the third motor is connected with the second screw rod in a belt transmission mode.

Furthermore, a control panel is arranged on the side of the base and connected with the grabbing mechanism and the moving mechanism through a control circuit.

The utility model has the advantages that: the utility model discloses rational in infrastructure, convenient to use adopts motor lead screw multiaxis drive to replace traditional cylinder drive, uses, and the precision is more accurate, and is nimble more convenient, and the security is high.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic structural view of a manipulator for grabbing disc-like workpieces according to the present invention;

fig. 2 is a structural side view of a manipulator for gripping a disc-like workpiece according to the present invention;

fig. 3 is a structural cross-sectional view of the manipulator for grabbing disc-like workpieces of the present invention.

In the figure: the device comprises a base-1, a distribution box-2, a grabbing mechanism-3, a moving mechanism-4, a box body-401, a lifting device-5, a steering device-6, a supporting seat-7, a sliding seat-8, a vacuum chuck-9, a driving box-10, a first screw rod-11, a first motor-12, a connecting seat-13, a vacuum generator-14, an air pipe-15, a drag chain cable-16, a first sensor-17, a second sensor-18, a connecting column-19, a second motor-20, a supporting seat-21, a second screw rod-22, a third motor-23, a connecting frame-24 and a control panel-25.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

Referring to fig. 1, 2 and 3, the present invention provides a manipulator for grabbing disc-like workpieces, which comprises: the structure of the device comprises a base 1, a distribution box 2, a grabbing mechanism 3 and a moving mechanism 4, wherein the moving mechanism 4 and the distribution box 2 are respectively installed on the front side and the rear side of the top end of the base 1, the grabbing mechanism 3 is positioned above the moving mechanism 4, the moving mechanism 4 comprises a box body 401, a lifting device 5 and a steering device 6, the box body 401 and the distribution box 2 are fixedly connected, the lifting device 5 and the steering device 6 are both arranged in the box body 401, the steering device 6 and the grabbing mechanism 3 are connected, the lifting device 5 is connected with the steering device 6, the grabbing mechanism 3 comprises a supporting seat 7, a sliding seat 8, a vacuum chuck 9 and a driving box 10, a first lead screw 11 is arranged in the supporting seat 7, a first motor 12 is arranged at the rear end of the supporting seat 7, the first motor 12 is in transmission connection with the first lead screw 11, the sliding seat 8 is slidably installed at the top end of the supporting seat 7, the bottom end of the sliding seat 8 is provided with a connecting seat 13, the connecting seat 13 is in threaded connection with the first lead screw 11, the driving box 10 is arranged at the rear side of the top end of the sliding seat 8, a vacuum generator 14 is arranged in the driving box 10, the vacuum chuck 9 is arranged at the front side of the bottom end of the sliding seat 8, the vacuum generator 14 is communicated with the vacuum chuck 9 through an air pipe 15, a drag chain cable 16 is connected between the driving box 10 and the supporting seat 7, the front side of the top end of the sliding seat 8 is provided with a first sensor 17, the front side of the top end of the driving box 10 is provided with a second sensor 18, the first sensor 17 is arranged downwards, the second sensor 18 is arranged forwards, the steering device 6 comprises a connecting column 19, a second motor 20 and a support 21, the top end of the connecting column 19 movably penetrates through the top end of the box body 401 and is connected with the bottom end of the supporting seat 7, the support 21 is positioned below the connecting column 19, the second motor 20 is fixedly arranged in the connecting column 19, the output shaft of the second motor 20 penetrates through the bottom of the connecting column 19 and is fixedly connected with the top end of the support 21, the lifting device 5 comprises a second screw rod 22, a third motor 23 and a connecting frame 24, the connecting frame 24 is vertically arranged at the rear end inside the box body 401, the second screw rod 22 is vertically arranged in the connecting frame 24, the support 21 is connected with the front end of the connecting frame 24 in a sliding way up and down, the rear end of the support 21 is in threaded connection with the second screw rod 22, the third motor 23 is mounted at the top end of the base 1, the third motor 23 is in belt transmission connection with the second screw rod 22, a control panel 25 is arranged on the side of the base 1, and the control panel 25 is connected with control circuits of the grabbing mechanism 3 and the moving mechanism 4.

For example, when the manipulator works, the first screw rod 11 is driven to rotate by the first motor 12, so that the sliding seat 8 is driven to move back and forth, the sliding seat 8 is movably positioned above a workpiece, then the second screw rod 22 is driven to rotate by the third motor 23, so that the support 21 is driven to move up and down, the support 21 moves up and down, the grabbing mechanism 3 is driven to lift by the connecting column 19, the vacuum sucker 9 descends to be in contact with the workpiece, then the vacuum generator 14 is started to enable the vacuum sucker 9 to generate negative pressure to suck the workpiece, then the vacuum sucker 9 ascends, the whole connecting column 19 is driven to rotate by the rotation of the output shaft of the second motor 20, the grabbing mechanism is driven to turn to a destination, then the vacuum sucker 9 descends and loosens the workpiece, and the workpiece is stably placed.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above, it will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a manipulator for snatching dish class work piece which characterized in that: its structure includes base (1), block terminal (2), snatchs mechanism (3), moving mechanism (4) and block terminal (2) are installed respectively to side both sides around base (1) top, it is located to snatch mechanism (3) moving mechanism (4) top, moving mechanism (4) include box (401), elevating gear (5) and turn to device (6), box (401) with block terminal (2) fixed connection, elevating gear (5) with turn to device (6) and all locate in box (401), turn to device (6) with snatch mechanism (3) and connect, elevating gear (5) with turn to device (6) and connect.

2. A robot hand for gripping a disc-like workpiece according to claim 1, wherein: the grabbing mechanism (3) comprises a supporting seat (7), a sliding seat (8), a vacuum chuck (9) and a driving box (10), a first lead screw (11) is arranged in the supporting seat (7), a first motor (12) is arranged at the rear end of the supporting seat (7), the first motor (12) is in transmission connection with the first lead screw (11), the sliding seat (8) is slidably mounted at the top end of the supporting seat (7), a connecting seat (13) is arranged at the bottom end of the sliding seat (8), the connecting seat (13) is in threaded connection with the first lead screw (11), the driving box (10) is arranged at the rear side of the top end of the sliding seat (8), a vacuum generator (14) is arranged in the driving box (10), the vacuum chuck (9) is mounted at the front side of the bottom end of the sliding seat (8), and the vacuum generator (14) is communicated with the vacuum chuck (9) through an air pipe (15), and a drag chain cable (16) is connected between the driving box (10) and the supporting seat (7).

3. A robot hand for gripping a disc-like workpiece according to claim 2, wherein: slide holder (8) top front side is equipped with first sensor (17), drive case (10) top front side is equipped with second sensor (18), first sensor (17) set up down, second sensor (18) set up forward.

4. A robot hand for gripping a disc-like workpiece according to claim 1, wherein: turn to device (6) including spliced pole (19), second motor (20), support (21), spliced pole (19) top activity is run through box (401) top and be connected with supporting seat (7) bottom, support (21) are located spliced pole (19) below, second motor (20) fixed mounting in spliced pole (19), second motor (20) output shaft run through spliced pole (19) bottom and with support (21) top fixed connection.

5. A robot for gripping a disc-like workpiece according to claim 4, characterized in that: elevating gear (5) include second lead screw (22), third motor (23), link (24) vertical install in the inside rear end of box (401), second lead screw (22) vertical install in link (24), support (21) are followed link (24) front end sliding connection from top to bottom, support (21) rear end with second lead screw (22) threaded connection, third motor (23) install in base (1) top, third motor (23) with the belt drive is connected between second lead screw (22).

6. A robot hand for gripping a disc-like workpiece according to claim 1, wherein: the side of the base (1) is provided with a control panel (25), and the control panel (25) is connected with the control circuit of the grabbing mechanism (3) and the moving mechanism (4).