CN216609003U - Side-taking manipulator - Google Patents
Side-taking manipulator Download PDFInfo
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- CN216609003U CN216609003U CN202121496441.7U CN202121496441U CN216609003U CN 216609003 U CN216609003 U CN 216609003U CN 202121496441 U CN202121496441 U CN 202121496441U CN 216609003 U CN216609003 U CN 216609003U
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Abstract
The utility model provides a side-taking manipulator which comprises a rack and a grabbing robot, wherein the grabbing robot comprises a transverse moving mechanism, a longitudinal moving mechanism, a lifting mechanism and a rotating mechanism, the longitudinal moving mechanism is arranged on the transverse moving mechanism, and the rotating mechanism is arranged on the longitudinal moving mechanism through the lifting mechanism; the transverse moving mechanism, the longitudinal moving mechanism and the lifting mechanism are all driven by a motor gear and a rack. According to the utility model, the grabbing manipulator can move in 3 directions through the transverse moving mechanism, the longitudinal moving mechanism, the lifting mechanism and the rotating mechanism, and can rotate at any angle, so that the flexibility of the grabbing manipulator is increased to the maximum extent, the structure is simple, and the moving stroke of the grabbing manipulator can be accurately controlled; the rotation of the jig plate is controlled through the rotating motor, the rotating precision is guaranteed, and meanwhile, a plurality of grabbing parts similar to the product structure are arranged at the lower end of the jig plate, so that the product is guaranteed not to be damaged in the grabbing process.
Description
Technical Field
The utility model relates to the technical field of manipulators, in particular to a side-taking manipulator.
Background
After injection molding of the injection-molded product is completed, the product needs to be taken out, and then the product is generally placed on a conveyor belt and conveyed to the next procedure for further processing.
In the prior art, a product after injection molding is usually taken out of an injection molding machine manually or by a manipulator, but the product is taken out manually, so that potential safety hazards exist, and the problem of low efficiency also exists.
Adopt the manipulator to snatch injection moulding product in addition, although the efficiency and the safety problem of solution, nevertheless, current manipulator still has not nimble enough problem, leads to snatching the action stiff, hardly satisfies the snatching of a plurality of angles moreover.
CN211492794U patent discloses a robot-based bottle preform conveying apparatus, which comprises an injection molding machine, a robot conveying mechanism, a conveying plate and a bottle blowing machine, wherein two ends of the robot conveying mechanism are respectively butted with the injection molding machine and the bottle blowing machine, the conveying plate is arranged on the robot conveying mechanism and used for orderly loading the bottle preforms injection-molded by the injection molding machine, the robot conveying mechanism is used for driving the conveying plate to reciprocate between the injection molding machine and the bottle blowing machine, and the robot conveying mechanism comprises a base, a rotary oil cylinder, a first hinge member, a first connecting arm, a second connecting arm, a conveying plate fixing member, a triangular arm, a first telescopic oil cylinder and a second telescopic oil cylinder; the rotatory hydro-cylinder sets up on the base, first articulated elements with the movable end of rotatory hydro-cylinder is fixed, first connecting arm one end with first articulated elements is articulated, the other end with second connecting arm one end is articulated, the second connecting arm other end with the transport plate mounting is articulated, three horn arms with first flexible hydro-cylinder with the pin joint of the flexible hydro-cylinder of second is articulated, the stiff end of first flexible hydro-cylinder with first articulated elements is articulated, the expansion end of first flexible hydro-cylinder with three horn arms are articulated, the stiff end of the flexible hydro-cylinder of second with three horn arms are articulated, the expansion end of the flexible hydro-cylinder of second with the transport plate mounting is articulated. This patent is through cylinder and a plurality of linking arm realization action, not only not well control like this, and the flexibility ratio is limited moreover.
And patent CN210701205U a bottle embryo snatchs puts in robot, discloses as follows: the method comprises the following steps: the robot comprises a rack, a first conveying chain, a second conveying chain, a robot body and a recycling bin; the first conveying chain and the second conveying chain are rotatably arranged on the rack, the tail end of the first conveying chain and the starting end of the second conveying chain are arranged at intervals, the robot body is arranged on the rack, and the robot body is arranged between the first conveying chain and the second conveying chain; the robot body comprises a first detector, a second detector and a rotating mechanism, the rotating mechanism comprises a motor, a first clamping device and a second clamping device, an output shaft of the motor is fixedly connected with a fixed rod, one end of the fixed rod is connected with the first clamping device, the other end of the fixed rod is connected with the second clamping device, the first clamping device and the second clamping device are both positioned above the first conveying chain and the second conveying chain, the first detector is arranged on the first clamping device through a first supporting rod and is positioned above the first conveying chain, the second detector is arranged on the second clamping device through a second supporting rod, and the second detector is positioned above the second conveying chain; the recycling bin is arranged on the rack, and the recycling bin and the robot body are arranged at intervals; the device comprises a first conveying chain, a second conveying chain, a first detector, a second detector, a motor, a first clamping device and a second clamping device, and is characterized by further comprising a controller, wherein the first conveying chain, the second conveying chain, the first detector, the second detector, the motor, the first clamping device and the second clamping device are electrically connected with the controller.
Disclosure of Invention
Aiming at the defects of the prior art, the utility model provides a side-taking manipulator which can have multiple degrees of freedom, so that parts at different angles can be grabbed.
The technical scheme of the utility model is as follows: the utility model provides a side-picking manipulator, includes the frame and sets up the robot that snatchs in the frame, the robot that snatchs include lateral shifting mechanism, longitudinal movement mechanism, elevating system, rotary mechanism, longitudinal movement mechanism set up on lateral shifting mechanism, rotary mechanism pass through elevating system and set up on longitudinal movement mechanism, and lateral shifting mechanism, longitudinal movement mechanism, elevating system all adopt the drive mode of motor gear and rack.
Preferably, the transverse moving mechanism comprises a main beam, a first motor, a first gear, a first rack and a transverse sliding plate, one end of the main beam is arranged on the rack through a supporting seat, the main beam is provided with a first sliding rail and a second sliding rail along the length direction, and the transverse sliding plate is connected with the main beam in a sliding manner through the first sliding rail and the second sliding rail;
the first motor is arranged on the transverse sliding plate, a motor shaft of the first motor extends downwards and is connected with a first gear located at the lower end of the transverse sliding plate, and the first gear is meshed with a first rack arranged on the transverse sliding plate on the inner side of the first sliding rail.
Preferably, the longitudinal moving mechanism comprises a plurality of linear guide rails, a leading and pulling beam, a second motor, a second gear and a second rack, the leading and pulling beam is slidably arranged on the transverse sliding plate through the plurality of linear guide rails, the second motor is arranged on the transverse sliding plate, a second gear is sleeved on a motor shaft of the second motor, and the second gear is meshed with the second rack arranged on the leading and pulling beam.
Preferably, the lifting mechanism comprises an upper seat, a lower seat, an arm beam, a third motor, a third gear and a third rack, the upper seat and the lower seat are arranged at the end part of the drawing beam, a plurality of sliding blocks are arranged on the upper seat and the lower seat, and the arm beam is in sliding connection with the sliding blocks on the upper seat and the lower seat through a sliding rail arranged on the side wall of the arm beam;
the third motor is arranged on one side of the upper seat and the lower seat, a motor shaft of the third motor is provided with a third gear, and the third gear is meshed with a third rack arranged on the arm beam.
Preferably, the rotating mechanism comprises a rotating motor and a rotating jig plate connected with the rotating motor, and a plurality of grabbing parts used for grabbing the product are arranged at the lower end of the rotating jig plate.
Preferably, a lifting auxiliary cylinder is further arranged on the other side of the upper seat and the lower seat, and a piston rod of the lifting auxiliary cylinder extends downwards and is connected with a cylinder connecting seat arranged on the side wall of the arm beam.
Furthermore, the other end of the main beam is connected with a pillar.
Furthermore, the second rack is arranged along the length direction of the drawing beam.
Furthermore, the third rack is arranged along the length direction of the arm beam.
Furthermore, the rack is also provided with an injection molding machine, and one side of the injection molding machine is also provided with a conveying belt matched with the grabbing manipulator.
The utility model has the beneficial effects that:
1. the grabbing manipulator can move in 3 directions through the transverse moving mechanism, the longitudinal moving mechanism, the lifting mechanism and the rotating mechanism, and can rotate at any angle, so that the flexibility of the grabbing manipulator is increased to the maximum extent;
2. the utility model utilizes the combination mode of the motor, the gear and the rack, not only has simple structure, but also can accurately control the moving stroke of the grabbing manipulator;
3. the rotary motor is used for controlling the jig plate to rotate, so that the rotating precision is ensured, and meanwhile, the product is not damaged in the grabbing process by arranging the plurality of grabbing parts with the structure similar to that of the product at the lower end of the jig plate.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of the lateral shifting mechanism of the present invention;
FIG. 3 is a schematic structural diagram of the longitudinal moving mechanism of the present invention;
FIG. 4 is a schematic structural diagram of the lifting mechanism of the present invention;
FIG. 5 is a schematic structural view of a rotary mechanism of the present invention;
in the figure, 1-a machine frame, 2-an injection molding machine, 3-a conveying belt, 4-a transverse moving mechanism, 5-a longitudinal moving mechanism, 6-a lifting mechanism, 7-a rotating mechanism, 8-a lifting auxiliary cylinder and 9-a cylinder connecting seat;
41-main beam, 42-first motor, 43-first gear, 44-first rack, 45-transverse sliding plate, 46-supporting seat, 47-pillar, 48-first sliding rail and 49-second sliding rail;
51-linear guide rail, 52-guiding and pulling beam, 53-second motor, 54-second gear, 55-second rack;
61-upper and lower seats, 62-arm beam, 63-third motor, 64-third gear, 65-third rack,
71-rotating motor, 72-rotating jig plate, 73-grabbing part.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings:
example 1
As shown in fig. 1, a side-fetching manipulator comprises a frame 1 and a grabbing robot arranged on the frame 1, in this embodiment, an injection molding machine 2 is further arranged on the frame 1, and a conveying belt 3 used for being matched with the grabbing robot is further arranged on one side of the injection molding machine 2, wherein in this embodiment, the injection molding machine 2 and the conveying belt 3 are both existing products, and a person skilled in the art can realize corresponding configuration according to the knowledge thereof, and the structure of the two is not described in the embodiment.
Preferably, in this embodiment, the grasping robot includes a transverse moving mechanism 4, a longitudinal moving mechanism 5, a lifting mechanism 6, and a rotating mechanism 7, the longitudinal moving mechanism 5 is disposed on the transverse moving mechanism 4, the rotating mechanism 7 is disposed on the longitudinal moving mechanism 5 through the lifting mechanism 6, and the transverse moving mechanism 4, the longitudinal moving mechanism 5, and the lifting mechanism 6 all adopt a driving mode of a motor, a gear, and a rack.
Preferably, as shown in fig. 2, the transverse moving mechanism 4 includes a main beam 41, a first motor 42, a first gear 43, a first rack 44, and a transverse sliding plate 45, one end of the main beam 41 is disposed on the frame 1 through a supporting seat 46, the main beam 41 is provided with a first sliding rail 48 and a second sliding rail 49 along the length direction, and the transverse sliding plate 45 is slidably connected to the main beam 41 through the first sliding rail 48 and the second sliding rail 49.
Preferably, the first motor 42 is disposed on the cross slide 45, and a motor shaft of the first motor 42 extends downward and is connected to a first gear 43 at a lower end of the cross slide 45, and the first gear 43 is engaged with a first rack 44 disposed on the cross slide 45 inside the first slide rail 48. In this embodiment, the first motor 42 drives the first gear 43 to rotate, and the first gear 43 is engaged with the first rack 44, so that the traverse slide 45 can be driven to slide on the main beam 41.
Preferably, as shown in fig. 3, the longitudinal moving mechanism 5 includes a plurality of linear rails 51, a dial beam 52, a second motor 53, a second gear 54 and a second rack 55, the dial beam 52 is slidably disposed on a transverse sliding plate 56 through the plurality of linear rails 51, the second motor 53 is disposed on the transverse sliding plate 45, a motor shaft of the second motor 53 is sleeved with the second gear 54, the second gear 54 is engaged with the second rack 55 disposed on the dial beam 52, in this embodiment, the second rack 55 is disposed along a length direction of the dial beam 52, accordingly, an operation principle of the embodiment is similar to that of the transverse moving mechanism 4, and the embodiment is not repeated.
Preferably, the lifting mechanism 6 comprises an upper seat 61, a lower seat 61, an arm beam 62, a third motor 63, a third gear 64 and a third rack 65, the upper seat 61 and the lower seat 61 are arranged at the end of the guiding and dialing beam 52, a plurality of sliding blocks are arranged on the upper seat 61 and the lower seat 61, and the arm beam 62 is slidably connected with the plurality of sliding blocks on the upper seat 61 and the lower seat 61 through a sliding rail arranged on the side wall of the arm beam;
the third motor 63 is disposed at one side of the upper and lower seats 61, a motor shaft of the third motor 63 is provided with a third gear 64, the third gear 64 is engaged with a third rack 65 disposed on the arm beam 62, and in this embodiment, the third rack 65 is disposed along the length direction of the arm beam 62.
Preferably, the rotating mechanism 7 includes a rotating motor 71 and a rotating jig plate 72 connected to the rotating motor 71, and the lower end of the rotating jig plate 72 is provided with a plurality of grabbing portions 73 for grabbing the product.
Example 2
In this embodiment, the lifting assisting device further includes a lifting assisting cylinder 8 on the other side of the upper and lower seats 61, a piston rod of the lifting assisting cylinder 8 extends downward and is connected to a cylinder connecting seat 9 disposed on a side wall of the arm beam 62, the lifting assisting cylinder 8 is used for assisting the lifting of the arm beam 62, the arm beam 62 is lifted by the lifting assisting cylinder 8, and the lifting assisting cylinder 8 can play a role in buffering when the arm beam 62 is lowered.
The foregoing embodiments and description have been presented only to illustrate the principles and preferred embodiments of the utility model, and various changes and modifications may be made therein without departing from the spirit and scope of the utility model as hereinafter claimed.
Claims (10)
1. A side-taking manipulator comprises a rack and a grabbing robot arranged on the rack, and is characterized in that the grabbing robot comprises a transverse moving mechanism, a longitudinal moving mechanism, a lifting mechanism and a rotating mechanism, wherein the longitudinal moving mechanism is arranged on the transverse moving mechanism, and the rotating mechanism is arranged on the longitudinal moving mechanism through the lifting mechanism;
the transverse moving mechanism, the longitudinal moving mechanism and the lifting mechanism are all driven by a motor gear and a rack.
2. A side pick robot as claimed in claim 1, wherein: the transverse moving mechanism comprises a main beam, a first motor, a first gear, a first rack and a transverse sliding plate, one end of the main beam is arranged on the rack through a supporting seat, a first sliding rail and a second sliding rail are arranged on the main beam along the length direction, and the transverse sliding plate is connected with the main beam in a sliding mode through the first sliding rail and the second sliding rail;
the first motor is arranged on the transverse sliding plate, a motor shaft of the first motor extends downwards and is connected with a first gear located at the lower end of the transverse sliding plate, and the first gear is meshed with a first rack arranged on the transverse sliding plate on the inner side of the first sliding rail.
3. A side pick robot as claimed in claim 1, wherein: the longitudinal movement mechanism comprises a plurality of linear guide rails, a drawing beam, a second motor, a second gear and a second rack, the drawing beam is arranged on the transverse sliding plate through the plurality of linear guide rails in a sliding manner, the second motor is arranged on the transverse sliding plate, a second gear is sleeved on a motor shaft of the second motor, and the second gear is meshed with the second rack arranged on the drawing beam.
4. A side pick robot as claimed in claim 1, wherein: the lifting mechanism comprises an upper seat, a lower seat, an arm beam, a third motor, a third gear and a third rack, wherein the upper seat and the lower seat are arranged at the end part of the drawing beam, a plurality of sliding blocks are arranged on the upper seat and the lower seat, and the arm beam is connected with the plurality of sliding blocks on the upper seat and the lower seat in a sliding manner through sliding rails arranged on the side wall of the arm beam;
the third motor is arranged on one side of the upper seat and the lower seat, a third gear is arranged on a motor shaft of the third motor, the third gear is meshed with a third rack arranged on the arm beam, and a rotating mechanism is arranged at the lower end of the arm beam.
5. A side pick robot as claimed in claim 4, wherein: the rotating mechanism comprises a rotating motor arranged on the arm beam and a rotating jig plate connected with the rotating motor, and a plurality of grabbing parts used for grabbing products are arranged at the lower end of the rotating jig plate.
6. A side pick robot as claimed in claim 4, wherein: and a lifting auxiliary cylinder is also arranged on the other side of the upper and lower seats, and a piston rod of the lifting auxiliary cylinder extends downwards and is connected with a cylinder connecting seat arranged on the side wall of the arm beam.
7. A side pick robot as claimed in claim 2, wherein: the other end of the main beam is connected with a pillar.
8. A side pick robot as claimed in claim 3, wherein: the second rack is arranged along the length direction of the drawing beam.
9. A side pick robot as claimed in claim 4, wherein: the third rack is arranged along the length direction of the arm beam.
10. A side pick robot as claimed in claim 1, wherein: the machine frame is also provided with an injection molding machine, and one side of the injection molding machine is also provided with a conveying belt matched with the grabbing manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121496441.7U CN216609003U (en) | 2021-07-02 | 2021-07-02 | Side-taking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121496441.7U CN216609003U (en) | 2021-07-02 | 2021-07-02 | Side-taking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216609003U true CN216609003U (en) | 2022-05-27 |
Family
ID=81680895
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121496441.7U Active CN216609003U (en) | 2021-07-02 | 2021-07-02 | Side-taking manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216609003U (en) |
-
2021
- 2021-07-02 CN CN202121496441.7U patent/CN216609003U/en active Active
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