CN217417373U

CN217417373U - Variable-pitch manipulator and carrying device

Info

Publication number: CN217417373U
Application number: CN202220769192.2U
Authority: CN
Inventors: 阎鹏飞; 贺金龙; 叶华平; 陈鲁; 张嵩
Original assignee: Shenzhen Zhongke Feice Technology Co Ltd
Current assignee: Shenzhen Zhongke Feice Technology Co Ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2022-09-13
Anticipated expiration: 2032-03-31

Abstract

The utility model discloses a variable-pitch manipulator and a carrying device, the variable-pitch manipulator comprises a bracket, a driving mechanism and a plurality of variable-pitch components, the driving mechanism comprises an output part which can do linear reciprocating motion, each variable-pitch component comprises a connecting rod, a sliding block and a grabbing mechanism connected with the sliding block, and two ends of the connecting rod are respectively rotatably connected with the output part and the sliding block; the sliding blocks are slidably arranged on the bracket and arranged around the driving mechanism, so that the sliding blocks can be driven by the driving mechanism to annularly expand from inside to outside or annularly contract from outside to inside. When the output piece of the driving mechanism does linear motion, the plurality of sliding blocks can be driven to slide by the plurality of connecting rods simultaneously, so that the relative positions of the plurality of grabbing mechanisms can be adjusted. Therefore, the variable-pitch manipulator can correspondingly adjust the positions of the grabbing mechanisms according to the specific conditions of the grabbing station and the discharging station, so that the purpose of grabbing and putting down a plurality of materials at one time is achieved, and the production efficiency is improved.

Description

Variable-pitch manipulator and carrying device

Technical Field

The utility model relates to a material handling technical field especially relates to a displacement manipulator and handling device.

Background

In some material production processes, it is necessary to transfer the material from the carrier tray to the carrier by means of a robot. If the manipulator can grab a plurality of materials from the carrying disc at one time and put the materials into the carrier, the number of times of reciprocating can be saved, and the production efficiency is improved.

However, in actual production, the center distance of the plurality of materials in the carrying disc is not consistent with the center distance in the carrier. Therefore, even after a common manipulator grabs a plurality of materials at one time, the manipulator cannot directly place the plurality of materials into the carrier at the same time, and the manipulator needs to move for a plurality of times to place the materials into each position in the carrier respectively. There is still room for improvement in the efficiency of this manner of material handling.

SUMMERY OF THE UTILITY MODEL

Therefore, the utility model aims to solve the technical problem that a displacement manipulator and handling device that can snatch a plurality of materials simultaneously and the displacement is placed is provided.

In order to achieve the above object, the embodiment of the present invention provides a technical solution that:

a variable-pitch manipulator comprises a support, a driving mechanism and a plurality of variable-pitch components, wherein the driving mechanism comprises an output piece capable of linearly reciprocating, each variable-pitch component comprises a connecting rod, a sliding block and a grabbing mechanism connected with the sliding block, and two ends of the connecting rod are respectively and rotatably connected with the output piece and the sliding block; the sliding blocks are slidably arranged on the bracket and arranged around the driving mechanism, so that the sliding blocks can be driven by the driving mechanism to circularly expand from inside to outside or circularly contract from outside to inside.

Preferably, the support frame comprises a support plate, a plurality of the sliding blocks are slidably arranged on the support plate, and the sliding directions of the plurality of the sliding blocks intersect at a point; when the output piece moves towards the supporting plate, the variable-pitch components are driven to be away from each other; when the output piece deviates from the supporting plate to move, the plurality of variable pitch components are driven to be close to each other.

Preferably, a stop block and a plurality of slide rails arranged in a radial manner around the stop block are arranged on the support plate, each slide block is in sliding fit with one of the slide rails, and the extending directions of the slide rails intersect on the stop block.

Preferably, the gripping mechanism comprises an air cylinder and a vacuum suction nozzle driven by the air cylinder, and the air cylinder is connected with the sliding block.

Preferably, the grabbing mechanism further comprises a connecting plate, a plurality of avoiding holes are formed in the supporting plate, and the connecting plate penetrates through the avoiding holes to be connected with the cylinder and the sliding block.

Preferably, the support further comprises a bearing plate located above the support plate, the driving mechanism is arranged on the bearing plate, and the output part penetrates through the bearing plate to be rotatably connected with the connecting rod.

Preferably, a plurality of displacement sensors are further arranged on the support, and one displacement sensor is correspondingly arranged on the motion path of each sliding block.

Preferably, the driving mechanism is a cylinder, a hydraulic cylinder, an electric push rod or a ball screw.

Preferably, the driving mechanism is disposed in a direction perpendicular to a sliding direction of the slider.

Furthermore, the utility model also provides a handling device, handling device include displacement mechanism with set up in displacement mechanism is last as above the displacement manipulator.

Among the above-mentioned technical scheme of this application, because pitch-changing manipulator includes the support, sets up actuating mechanism and a plurality of pitch-changing subassembly on the support, each pitch-changing subassembly includes connecting rod, slider and the mechanism of snatching of being connected with the slider. The plurality of sliding blocks are slidably arranged on the support and arranged around the driving mechanism, and when an output part of the driving mechanism moves linearly, the plurality of sliding blocks can be driven by the plurality of connecting rods to expand in an annular manner from inside to outside or contract in an annular manner from outside to inside, so that the relative positions of the plurality of grabbing mechanisms can be adjusted. Therefore, the variable-pitch manipulator can correspondingly adjust the positions of the grabbing mechanisms according to the specific conditions of the grabbing station and the discharging station, so that the aims of grabbing and putting down a plurality of materials at one time are fulfilled, and the production efficiency is improved.

Drawings

FIG. 1 is a perspective view of a pitch robot in an embodiment of the present application;

FIG. 2 is a partial perspective view of a pitch robot in an embodiment of the present application;

FIG. 3 is a plan view of a pitch robot in an embodiment of the present application;

FIG. 4 is another perspective plan view of a pitch robot of an embodiment of the present application;

fig. 5 is another partial perspective view of a pitch robot in an embodiment of the present application.

The reference numbers illustrate:

100-bracket, 110-support plate, 111-stop block, 112-slide rail, 113-avoidance hole, 120-bearing plate, 200-driving mechanism, 210-output piece, 300-variable pitch component, 310-connecting rod, 320-slide block, 330-grabbing mechanism, 331-connecting plate, 332-air cylinder, 333-vacuum suction nozzle, 400-displacement sensor and 500-vacuum generator.

Detailed Description

The technical solution of the present invention will be further described in detail with reference to the drawings and specific embodiments. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the following description, reference is made to the expression "some embodiments" which describe a subset of all possible embodiments, but it should be understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.

It will also be understood that when an element is referred to as being "secured to" 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. As used herein, the terms "vertical," "horizontal," "inner," "outer," "left," "right," and the like are used with respect to the orientation shown in the drawings for the purpose of better illustration and are not intended to represent the only embodiments.

Referring to fig. 1 to 5 in combination, an embodiment of the present application provides a pitch-variable robot including a support 100, a driving mechanism 200 disposed on the support 100, and a plurality of pitch-variable assemblies 300. Wherein, the driving mechanism 200 is a power element with variable pitch, the driving mechanism 200 comprises an output member 210 capable of reciprocating linearly, each variable pitch assembly 300 comprises a connecting rod 310, a sliding block 320 and a grabbing mechanism 330 connected with the sliding block 320, and the grabbing mechanism 330 is used for grabbing and placing materials. Opposite ends of the connecting rod 310 are rotatably connected with the output member 210 and the sliding blocks 320, respectively, and the plurality of sliding blocks 320 are slidably disposed on the bracket 100 and arranged around the driving mechanism 200, so that the plurality of sliding blocks 320 are simultaneously driven to annularly expand from inside to outside or annularly contract from outside to inside by the plurality of connecting rods 310 when the output member 210 of the driving mechanism 200 makes a linear motion. Since one grabbing mechanism 330 is connected to each sliding block 320, the relative positions of the grabbing mechanisms 330 can be adjusted by the driving mechanism 200, so that the grabbed materials can be placed in the carrier at the same time.

The structure of the driving mechanism 200 is not particularly limited, and the driving mechanism 200 may be any one of the air cylinder 332, a hydraulic cylinder, an electric push rod, and a ball screw. In order to grasp the material, the output member 210 may reciprocate linearly in a vertical direction, and the slider 320 may be slidably disposed on the bracket 100 in a horizontal direction. The grabbing mechanism 330 can grab and put down the material by using a vacuum chuck or a mechanical gripper, and the like, and can be specifically designed according to the shape and the characteristics of the material.

In the above technical solution of the present application, since the pitch-variable robot comprises the support 100, the driving mechanism 200 disposed on the support 100, and the plurality of pitch-variable assemblies 300, each pitch-variable assembly 300 comprises the connecting rod 310, the slider 320, and the grabbing mechanism 330 connected to the slider 320. The plurality of sliding blocks 320 are slidably disposed on the support 100 and arranged around the driving mechanism 200, and when the output member 210 of the driving mechanism 200 moves linearly, the plurality of sliding blocks 320 can be simultaneously driven by the plurality of connecting rods 310 to expand circularly from inside to outside or contract circularly from outside to inside, so as to adjust the relative positions between the plurality of grabbing mechanisms 330. Therefore, the variable-pitch manipulator can correspondingly adjust the position of each grabbing mechanism 330 according to the specific conditions of the grabbing station and the discharging station, so that the purpose of grabbing and putting down a plurality of materials at one time is achieved, and the production efficiency is improved.

As a preferred embodiment of the present invention, the bracket 100 includes a supporting plate 110, the supporting plate 110 is disposed along a horizontal direction, the plurality of sliders 320 are all slidably disposed on the supporting plate 110, and the sliding directions of the plurality of sliders 320 intersect at a point. The output member 210 is located above the support plate 110 to move up and down relative to the support plate 110 to be close to or away from the support plate 110. The driving mechanism 200 may be disposed right above the intersection point of the sliding directions of the sliders 320, so that when the output member 210 of the driving mechanism 200 makes a linear motion, the plurality of sliders 320 drive the grabbing mechanisms 330 to move together along the direction departing from the intersection point or approaching the intersection point, thereby adjusting the center distance of each grabbing mechanism 330. Specifically, when the output member 210 moves toward the supporting plate 110, the plurality of gripping mechanisms 330 are driven to move away from each other; when the output member 210 moves away from the supporting plate 110, the plurality of gripping mechanisms 330 are brought close to each other.

Furthermore, the supporting plate 110 is provided with a stop block 111 and a plurality of sliding rails 112 radially arranged around the stop block 111, each sliding block 320 is in sliding fit with one of the sliding rails 112, and the extending directions of the plurality of sliding rails 112 intersect on the stop block 111. The sliding rail 112 guides the sliding of the slider 320, and reduces the friction force of the slider 320 during the sliding process. The stopping block 111 is located at the middle position of the plurality of sliding rails 112, and is used for stopping each sliding block 320, preventing the sliding blocks 320 from separating from the sliding rails 112, and simultaneously preventing the connecting rod 310 from rotating due to the influence of too small included angle between the moving directions of the connecting rod 310 and the output member 210. In the embodiment shown in the drawings, the stop block 111 is located at the middle position of the support plate 110, each slide rail 112 extends from the position of the stop block 111 to the edge of the support plate 110, and the grabbing mechanism 330 is hung at the bottom of the slider 320 and moves along with the slider 320.

Preferably, the grasping mechanism 330 includes a connecting plate 331, an air cylinder 332, and a vacuum suction nozzle 333, the air cylinder 332 is connected with the slider 320 through the connecting plate 331, and the vacuum suction nozzle 333 is provided on a telescopic end of the air cylinder 332 and driven by the air cylinder 332. The air cylinder 332 raises or lowers the vacuum nozzle 333 to approach or move away from the material by the telescopic movement of the telescopic end. The vacuum suction nozzle 333 sucks the material by negative pressure, so that the material moves along with the grabbing mechanism 330 to complete the transfer of the material. The variable-pitch manipulator may further include a vacuum generator 500 disposed on the support 100, and the vacuum generator 500 and the vacuum nozzle 333 are connected through an air pipe to control an air pressure state of the vacuum nozzle 333. In the embodiment shown in the drawings, the air cylinder 332 is arranged in a direction perpendicular to the sliding direction of the sliding block 320, the air cylinder 332 is arranged vertically downward, and the cylinder body of the air cylinder 332 is connected with the sliding block 320 through the connecting plate 331. The supporting plate 110 is provided with a plurality of strip-shaped avoiding holes 113, the slider 320 and the cylinder 332 are respectively positioned at two opposite sides of the supporting plate 110, and one end of the connecting plate 331 penetrates through the avoiding holes 113 to be connected with the slider 320.

Further, the rack 100 further includes a receiving plate 120 located above the supporting plate 110, the receiving plate 120 is parallel to the supporting plate 110, the driving mechanism 200 is disposed on the receiving plate 120, and the output member 210 of the driving mechanism 200 passes through the receiving plate 120 and is rotatably connected to the connecting rod 310. The receiving plate 120 is configured to mount the driving mechanism 200 directly above the plurality of pitch assemblies 300, specifically, directly above the stop block 111, so as to drive the plurality of pitch assemblies 300 to open or close around the stop block 111. Optionally, a plurality of displacement sensors 400 are further disposed on the support 100, and one displacement sensor 400 is correspondingly disposed on the moving path of each slider 320. The displacement sensor 400 is used to feed back the position of the slider 320 and to communicate a feedback signal to the drive mechanism 200.

Furthermore, the utility model also provides a handling device, handling device include the displacement mechanism with set up in displacement mechanism is last as above the displacement manipulator. The structure of the displacement mechanism is not particularly limited, and the displacement mechanism may be formed by combining one or more of a conveyor belt module, a rack and pinion mechanism, a ball screw module, a cylinder module, and a rotating mechanism, thereby providing multiple degrees of freedom to the pitch robot. The variable-pitch manipulator is driven to move in space in the horizontal and vertical directions, and the materials are transferred to a preset position. The variable-pitch manipulator correspondingly adjusts the positions of the grabbing mechanisms 330 according to the specific conditions of the grabbing station and the discharging station, so that the purpose of grabbing and putting down a plurality of materials at one time is achieved, and the working time is saved. The carrying device of this application is owing to include displacement mechanism with set up in displacement mechanism is last as above the displacement manipulator to can once only shift a plurality of materials, promote automatic level, improve production efficiency.

The above embodiments are only specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention, and all should be covered within the scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A variable-pitch manipulator is characterized by comprising a support, a driving mechanism and a plurality of variable-pitch assemblies, wherein the driving mechanism comprises an output piece capable of linearly reciprocating, each variable-pitch assembly comprises a connecting rod, a sliding block and a grabbing mechanism connected with the sliding block, and two ends of the connecting rod are respectively and rotatably connected with the output piece and the sliding block; the sliding blocks are slidably arranged on the bracket and arranged around the driving mechanism, so that the sliding blocks can be driven by the driving mechanism to annularly expand from inside to outside or annularly contract from outside to inside.

2. The pitch-variable manipulator according to claim 1, wherein the support comprises a support plate, a plurality of the sliders are slidably arranged on the support plate, and the sliding directions of the plurality of the sliders intersect at a point; when the output piece moves towards the supporting plate, the variable pitch components are driven to be away from each other; when the output piece deviates from the supporting plate to move, the plurality of variable pitch components are driven to be close to each other.

3. The variable pitch manipulator of claim 2, wherein the supporting plate is provided with a stop block and a plurality of slide rails radially arranged around the stop block, each slide block is slidably engaged with one of the slide rails, and the extension directions of the plurality of slide rails intersect with the stop block.

4. The pitch-variable manipulator of claim 2, wherein the gripping mechanism comprises an air cylinder and a vacuum suction nozzle driven by the air cylinder, and the air cylinder is connected with the slide block.

5. The variable-pitch manipulator according to claim 4, wherein the grabbing mechanism further comprises a connecting plate, a plurality of avoiding holes are formed in the supporting plate, and the connecting plate penetrates through the avoiding holes to connect the cylinder and the sliding block.

6. The pitch-changing manipulator as claimed in claim 2, wherein the support frame further comprises a receiving plate located above the support plate, the driving mechanism is disposed on the receiving plate, and the output member passes through the receiving plate and is rotatably connected with the connecting rod.

7. The pitch-variable manipulator according to any one of claims 1 to 6, wherein a plurality of displacement sensors are further arranged on the support, and one displacement sensor is correspondingly arranged on the motion path of each slide block.

8. The pitch manipulator according to any one of claims 1 to 6, wherein the driving mechanism is a pneumatic cylinder, a hydraulic cylinder, an electric push rod or a ball screw.

9. The pitch-variable robot hand according to any one of claims 1 to 6, wherein the driving mechanism is arranged in a direction perpendicular to a sliding direction of the slider.

10. A handling device, characterized in that it comprises a displacement mechanism and a pitch manipulator according to any one of claims 1 to 9 arranged on the displacement mechanism.