CN215665833U - Online tracking, positioning, taking and placing mechanism - Google Patents
Online tracking, positioning, taking and placing mechanism Download PDFInfo
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- CN215665833U CN215665833U CN202121909326.8U CN202121909326U CN215665833U CN 215665833 U CN215665833 U CN 215665833U CN 202121909326 U CN202121909326 U CN 202121909326U CN 215665833 U CN215665833 U CN 215665833U
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Abstract
The utility model relates to the technical field of intelligent tracking workpiece taking and placing mechanical hand equipment, in particular to an online tracking positioning taking and placing mechanism, which comprises a positioning table base, wherein the positioning table base comprises two square pipes which are arranged in parallel, a motor base and a screw rod base are arranged between the square pipes, an X servo motor is arranged on the motor base, a ball screw rod is arranged on the screw rod base, one end of the ball screw rod is connected with a main shaft of the X servo motor, a screw rod nut is arranged on the ball screw rod, an X-axis slide rail is arranged on the square pipes, a bearing bottom plate is arranged on the X-axis slide rail, the bottom surface of the bearing bottom plate is connected with the screw rod nut, two Y-axis slide rails which are arranged in parallel are arranged on the bearing bottom plate, a positioning seat is arranged on the Y-axis slide rail, and a multi-head gripper is driven by a three-axis multi-azimuth positioning structure to perform online tracking positioning taking and placing of multiple workpieces, so that the working efficiency is greatly improved, and the precision of synchronously taking and placing the workpieces is ensured.
Description
The technical field is as follows:
the utility model relates to the technical field of intelligent tracking workpiece taking and placing mechanical arm equipment, in particular to an online tracking, positioning and taking and placing mechanism.
Background art:
the process conversion of the prior product production line needs manual carrying, and has high cost and low efficiency. Along with the continuous development of society, some automatic manipulator equipment have appeared, however, among the automatic manipulator equipment at present, all adopt the omnipotent orientation pivoted structure of single armed chuck to snatch the manipulator automatically, this kind of manipulator is used in a flexible way, and it is convenient to get and put the work piece. However, the single-arm manipulator can only take and place the workpiece once, though the single-arm manipulator can replace manual operation, and is not suitable for assembly line operation of transferring workpieces in batches in a whole row; still some can transport in batches the manipulator, but need the front and back process all can accurately snatch and place under the static condition, can not carry out the process under the condition of not shutting down in succession and transport, can not reach efficient purpose, still need a specialty to be applied to the batch and transmit the online tracking location of work piece and get the device and put and satisfy the demand.
The utility model has the following contents:
the utility model aims to overcome the defects of the prior art, and provides an on-line tracking, positioning and taking mechanism which is scientific and simple in structural design, adopts a three-axis multi-azimuth positioning structure, and adopts a servo motor to drive a multi-head gripper to perform multi-workpiece on-line tracking, positioning, taking and placing, so that the working efficiency is greatly improved, and the accuracy of synchronously taking and placing workpieces is ensured.
In order to achieve the purpose, the utility model discloses an online tracking, positioning, picking and placing mechanism, which comprises a positioning table base, wherein the positioning table base comprises two parallel square tubes, a motor base and a screw rod base are arranged between the square tubes, an X servo motor is arranged on the motor base, a ball screw is arranged on the screw rod base, one end of the ball screw is connected with a main shaft of the X servo motor, a screw nut is arranged on the ball screw, an X-axis slide rail is arranged on the square tubes, a bearing bottom plate is arranged on the X-axis slide rail, the bottom surface of the bearing bottom plate is connected with the screw nut, two parallel Y-axis slide rails are arranged on the bearing bottom plate, a positioning seat is arranged on the Y-axis slide rail, a Y-axis cylinder base is arranged on one side edge of the bearing bottom plate, a Y-axis cylinder is arranged on the Y-axis cylinder base, a cylinder core of the Y-axis cylinder is connected with the side surface of the positioning seat, and a positioning fork is arranged on the other side surface of the positioning seat corresponding to the Y-axis cylinder, the clamping seat is arranged on the upper portion of the positioning seat, a Z-axis cylinder is arranged in the center of the upper surface of the positioning seat, a cylinder core of the Z-axis cylinder is connected with the lower surface of the clamping seat, the clamping cylinder is arranged on one side edge of the clamping seat, which corresponds to the positioning fork from top to bottom, and a pneumatic clamping hand is arranged on the clamping cylinder.
The ball screw and the X-axis slide rail are arranged in parallel, and the bearing bottom plate does transverse reciprocating motion along the X-axis slide rail through the power of the X servo motor.
The Y-axis slide rail and the X-axis slide rail are vertically arranged, and the positioning seat longitudinally reciprocates along the Y-axis slide rail through the power of the Y-axis cylinder.
The clamping base is vertically reciprocated on the positioning base by the power of the Z-axis cylinder.
The positioning forks are at least provided with a layer of structure arranged in a straight line, the positioning forks arranged in the straight line on each layer are a plurality of, the pneumatic clamping hands are a plurality of, and each positioning fork and each pneumatic clamping hand are arranged in parallel up and down correspondingly.
The utility model has the beneficial effects that: an on-line tracking, positioning and taking-and-placing mechanism comprises a positioning table base, wherein the positioning table base comprises two square pipes which are arranged in parallel, a motor base and a screw rod base are arranged between the square pipes, an X servo motor is arranged on the motor base, a ball screw is arranged on the screw rod base, one end of the ball screw is connected with a main shaft of the X servo motor, a screw nut is arranged on the ball screw, an X-axis slide rail is arranged on the square pipe, a bearing bottom plate is arranged on the X-axis slide rail, the bottom surface of the bearing bottom plate is connected with the screw nut, two Y-axis slide rails which are arranged in parallel are arranged on the bearing bottom plate, a positioning seat is arranged on the Y-axis slide rail, a Y-axis cylinder base is arranged on one side edge of the bearing bottom plate, a Y-axis cylinder is arranged on the Y-axis cylinder base, a cylinder core of the Y-axis cylinder is connected with the side surface of the positioning seat, and a positioning fork is arranged on the other side surface corresponding to the Y-axis cylinder, the positioning seat upper portion is provided with to press from both sides and gets the seat, and the higher authority central point of positioning seat puts and is provided with the Z axle cylinder, and the core of Z axle cylinder is connected below pressing from both sides the seat of getting with pressing from both sides, presss from both sides to be provided with and gets the cylinder with a side that the location fork corresponds from top to bottom on pressing from both sides the seat of getting, presss from both sides to be provided with pneumatic tong on the cylinder of getting, through the diversified location structure of triaxial, adopts servo motor to drive the bull tongs and carries out the online pursuit of multiplex spare and fix a position and get and put, has not only promoted work efficiency greatly, and has guaranteed the precision of getting the work piece in step.
Description of the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view in another aspect of the present invention;
fig. 3 is a front view of the present invention.
The specific implementation mode is as follows:
as shown in fig. 1 to 3, the on-line tracking, positioning, picking and placing mechanism of the present invention comprises a positioning table base 1, wherein the positioning table base 1 comprises two parallel square tubes 10, a motor base 11 and a screw base 12 are arranged between the square tubes 10, an X servo motor 3 is arranged on the motor base 11, a ball screw 4 is arranged on the screw base 12, one end of the ball screw 4 is connected with a main shaft of the X servo motor 3, a screw nut 13 is arranged on the ball screw 4, an X-axis slide rail 2 is arranged on the square tube 10, a bearing bottom plate 5 is arranged on the X-axis slide rail 2, the bottom surface of the bearing bottom plate 5 is connected with the screw nut 13, two parallel Y-axis slide rails 6 are arranged on the bearing bottom plate 5, a positioning seat 20 is arranged on the Y-axis slide rail 6, a Y-axis cylinder base 7 is arranged on one side of the bearing bottom plate 5, a Y-axis cylinder 8 is arranged on the Y-axis cylinder base 7, the core of the Y-axis cylinder 8 is connected with the side surface of the positioning seat 20, the other side of the positioning seat 20 corresponding to the Y-axis cylinder 8 is provided with a positioning fork 22, the upper part of the positioning seat 20 is provided with a clamping seat 21, the center position of the upper surface of the positioning seat 20 is provided with a Z-axis cylinder 25, the core of the Z-axis cylinder 25 is connected with the lower surface of the clamping seat 21, a clamping cylinder 24 is arranged on one side edge of the clamping seat 21 corresponding to the upper part and the lower part of the positioning fork 22, and a pneumatic clamping hand 23 is arranged on the clamping cylinder 24.
The ball screw 4 and the X-axis slide rail 2 are arranged in parallel, and the bearing bottom plate 5 makes transverse reciprocating motion along the X-axis slide rail 2 through the power of the X servo motor 3.
The Y-axis slide rail 6 and the X-axis slide rail 2 are vertically arranged, and the positioning seat 20 longitudinally reciprocates along the Y-axis slide rail 6 by the power of the Y-axis cylinder 8.
The Z-axis cylinder 25 and the Y-axis cylinder 8 are vertically arranged, and the clamping seat 21 vertically reciprocates on the positioning seat 20 by the power of the Z-axis cylinder 25.
The positioning forks 22 are at least provided with a layer of structure arranged in a straight line, the number of the positioning forks 22 arranged in a straight line on each layer is a plurality, the number of the pneumatic clamping hands 23 is a plurality, and each positioning fork 22 and each pneumatic clamping hand 23 are correspondingly arranged in parallel up and down.
When the on-line tracking, positioning and picking and placing mechanism is used, a workpiece is conveyed to the upper part of a clamping seat 21 in the previous process, a Y-axis cylinder 8 is in a withdrawing state, a Z-axis cylinder 25 raises the clamping seat 21, a positioning fork 22 is used for positioning through the power of an X servo motor 3, then a pneumatic clamp 23 picks the workpiece, a positioning seat 20 and the clamping seat 21 are pushed out through the Y-axis cylinder 8, the positioning fork 22 carries out real-time synchronous tracking on a next process assembly line station through the power of the X servo motor 3, after real-time synchronization, the Z-axis cylinder 25 raises the clamping seat 21, then the pneumatic clamp 23 places the workpiece in the next process station, and then the X servo motor 3, the Y-axis cylinder 8 and the Z-axis cylinder 25 are reset to prepare for next repeated action.
The technical characteristics are as follows: according to the on-line tracking, positioning and taking-and-placing mechanism, a three-axis multi-azimuth positioning structure is adopted, the multi-head gripper is driven by the servo motor to perform on-line tracking, positioning, taking and placing of multiple workpieces, the working efficiency is greatly improved, and the accuracy of synchronously taking and placing the workpieces is guaranteed.
The foregoing is only a preferred embodiment of the present invention, and all equivalent changes or modifications in the structure, characteristics and principles of the utility model described in the claims of the present application are included in the scope of the present application.
Claims (5)
1. The utility model provides an on-line tracking location is got and is put mechanism, includes location platform base (1), its characterized in that: the positioning table base (1) comprises two square tubes (10) which are arranged in parallel, a motor base (11) and a screw rod base (12) are arranged between the square tubes (10), an X servo motor (3) is arranged on the motor base (11), a ball screw (4) is arranged on the screw rod base (12), one end of the ball screw (4) is connected with a main shaft of the X servo motor (3), a screw nut (13) is arranged on the ball screw (4), an X-axis slide rail (2) is arranged on the square tube (10), a bearing bottom plate (5) is arranged on the X-axis slide rail (2), the bottom surface of the bearing bottom plate (5) is connected with the screw nut (13), two Y-axis slide rails (6) which are arranged in parallel are arranged on the bearing bottom plate (5), a positioning seat (20) is arranged on the Y-axis slide rail (6), and a Y-axis cylinder base (7) is arranged on one side edge of the bearing bottom plate (5), the Y-axis cylinder (8) is arranged on the Y-axis cylinder seat (7), a cylinder core of the Y-axis cylinder (8) is connected with the side face of the positioning seat (20), a positioning fork (22) is arranged on the other side, corresponding to the Y-axis cylinder (8), of the positioning seat (20), a clamping seat (21) is arranged on the upper portion of the positioning seat (20), a Z-axis cylinder (25) is arranged at the center position of the upper face of the positioning seat (20), the cylinder core of the Z-axis cylinder (25) is connected with the lower face of the clamping seat (21), a clamping cylinder (24) is arranged on one side edge, corresponding to the positioning fork (22) in the vertical direction, of the clamping seat (21), and a pneumatic clamping hand (23) is arranged on the clamping cylinder (24).
2. The on-line tracking, positioning, pick and place mechanism of claim 1, wherein: the ball screw (4) and the X-axis slide rail (2) are arranged in parallel, and the bearing bottom plate (5) does transverse reciprocating motion along the X-axis slide rail (2) through the power of the X servo motor (3).
3. The on-line tracking, positioning, pick and place mechanism of claim 1, wherein: the Y-axis slide rail (6) and the X-axis slide rail (2) are vertically arranged, and the positioning seat (20) longitudinally reciprocates along the Y-axis slide rail (6) through the power of the Y-axis cylinder (8).
4. The on-line tracking, positioning, pick and place mechanism of claim 1, wherein: the clamping device is characterized in that the Z-axis cylinder (25) and the Y-axis cylinder (8) are vertically arranged, and the clamping base (21) vertically reciprocates on the positioning base (20) through the power of the Z-axis cylinder (25).
5. The on-line tracking, positioning, pick and place mechanism of claim 1, wherein: the positioning forks (22) are at least provided with a layer of structure arranged in a straight line, the positioning forks (22) arranged in the straight line of each layer are a plurality of, the pneumatic clamping hands (23) are a plurality of, and each positioning fork (22) and each pneumatic clamping hand (23) are correspondingly arranged in parallel up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121909326.8U CN215665833U (en) | 2021-08-14 | 2021-08-14 | Online tracking, positioning, taking and placing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121909326.8U CN215665833U (en) | 2021-08-14 | 2021-08-14 | Online tracking, positioning, taking and placing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215665833U true CN215665833U (en) | 2022-01-28 |
Family
ID=79952544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121909326.8U Active CN215665833U (en) | 2021-08-14 | 2021-08-14 | Online tracking, positioning, taking and placing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215665833U (en) |
-
2021
- 2021-08-14 CN CN202121909326.8U patent/CN215665833U/en active Active
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