CN217915350U

CN217915350U - Fixed-point circulating material taking and placing manipulator

Info

Publication number: CN217915350U
Application number: CN202222155870.9U
Authority: CN
Inventors: 刘云东; 杨兴华
Original assignee: Zhuhai Qichuan Precision Equipment Co ltd
Current assignee: Zhuhai Qichuan Precision Equipment Co ltd
Priority date: 2022-08-16
Filing date: 2022-08-16
Publication date: 2022-11-29
Anticipated expiration: 2032-08-16

Abstract

The utility model relates to a fixed point circulation is got and is put material manipulator, including frame, get and put mechanism, drive mechanism and motor. The picking and placing mechanism comprises a movable support, a rotating seat and a picking and placing assembly arranged on the movable support, the rotating seat is rotatably arranged on the rack, and the movable support is in sliding connection with the rotating seat; the transmission mechanism comprises a rocker, a connecting rod and a swinging piece, the swinging piece is rotatably arranged on the rack and comprises a first swinging arm and a second swinging arm, an included angle is formed between the first swinging arm and the second swinging arm, two ends of the connecting rod are respectively hinged with the rocker and the first swinging arm, and the second swinging arm is hinged with the movable support; the motor is arranged on the frame and used for driving the rocker to rotate. The utility model discloses a get material manipulator has simple structure, advantage that occupation space is little, and can realize the efficient operation of getting the material of putting.

Description

Fixed-point circulating material taking and placing manipulator

Technical Field

The utility model relates to a get material manipulator.

Background

In automation equipment or production line, generally adopt to get the automatic of material manipulator and snatch/adsorb and put the operation to improve production efficiency.

For example, chinese patent CN109176499a discloses a material taking and placing manipulator, which comprises a bottom plate, a linear motion module and a manipulator, wherein the linear motion module is installed on the bottom plate, the manipulator is fixed on a slide seat of the motion module through a base and linearly moves along with the slide seat, the manipulator comprises a motor, a gear, a rack, a guide seat and a material taking and placing component, the material taking and placing component comprises a cylinder, a linear bearing, an adsorption device and a shifting block, and the motor drives the rack to move up and down to drive the manipulator and the rack to synchronously move and realize material taking and placing with a structure of the linear motion module.

In the prior art such as the above patent documents, the material taking and placing manipulator generally has the defects of complex movement mechanism and slow operation speed, which is not favorable for carrying materials at high speed and saving space, and needs to be improved.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a simple structure and fixed point circulation that work efficiency is high get material manipulator is put to the not enough of prior art.

In order to realize the above-mentioned main objective, the embodiment of the utility model provides a fixed point circulation is got and is put material manipulator, include:

a frame;

the picking and placing mechanism comprises a movable support, a rotating seat and a picking and placing assembly arranged on the movable support, the rotating seat is rotatably arranged on the rack, and the movable support is in sliding connection with the rotating seat;

the transmission mechanism comprises a rocker, a connecting rod and a swinging piece; the swinging piece is rotatably arranged on the rack and comprises a first swinging arm and a second swinging arm, and an included angle is formed between the first swinging arm and the second swinging arm; two ends of the connecting rod are respectively hinged with the rocker and the first swing arm, and the second swing arm is hinged with the movable support;

and the motor is arranged on the rack and used for driving the rocker to rotate.

When the material taking and placing mechanism works, the motor drives the rocker to rotate for 360 degrees and drives the swinging piece to swing back and forth through the connecting rod, and the movable support of the material taking and placing mechanism is hinged with the swinging piece, so that when the swinging piece swings back and forth, the material taking and placing mechanism can be switched between a material taking state and a material placing state at a fixed point back and forth continuously, the material taking and placing mechanism not only has the advantages of simple structure and small occupied area, but also has high movement efficiency, and can be used for performing material taking and placing operation at high speed.

According to the utility model discloses a concrete implementation mode is equipped with the slide rail on the movable support, rotate the seat on be equipped with slide rail complex spout portion.

Preferably, the length direction of the slide rail is perpendicular to the rotation axis of the rotating seat.

According to a specific embodiment of the utility model, a material taking position sensor and a material placing position sensor are arranged on the frame, and a detected part is arranged on the swinging piece; when the pick-and-place mechanism is in a pick-and-place state, the detected part can be detected by the pick-and-place position sensor; when the taking and placing mechanism is in a placing state, the detected part can be detected by the placing position sensor.

According to the utility model discloses a concrete implementation mode gets and puts subassembly and includes a plurality of negative pressure suction nozzle that are used for adsorbing the material.

Furthermore, a vacuum generator communicated with the negative pressure suction nozzle is arranged in the frame.

According to the utility model discloses a concrete implementation mode is equipped with the first bearing that is used for the rotation support to rotate the seat and is used for rotating the second bearing that supports the swinging member in the frame.

According to the utility model discloses a concrete implementation mode, the rocker is installed on the power output shaft of motor.

To more clearly illustrate the objects, technical solutions and advantages of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.

Drawings

Fig. 1 is a perspective view of an embodiment of a material taking and placing manipulator of the present invention in a material placing state;

fig. 2 is a front view of the material taking and placing manipulator of the present invention in a material placing state;

fig. 3 is a side view of the material taking and placing manipulator according to the embodiment of the present invention in a material placing state;

fig. 4 is a front view of the material taking and placing manipulator according to the embodiment of the present invention in a material taking state.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.

As shown in fig. 1 to 3, the pick-and-place robot of the embodiment includes a motor 10, a transmission mechanism 20, a pick-and-place mechanism 30, and a rack 40. Wherein, the pick-and-place mechanism 30 comprises a movable bracket 31, a rotating seat 33 and a pick-and-place component 32 arranged on the movable bracket 31; the rotary seat 33 is rotatably mounted on the frame 40, and preferably, the frame 40 is provided with a first bearing 41, and the first bearing 41 is used for rotatably supporting the rotary seat 33.

The movable support 31 and the rotating seat 33 form a sliding connection. Specifically, as shown in fig. 3, the movable bracket 31 is provided with a slide rail 311, the length direction of the slide rail 311 is preferably perpendicular to the rotation axis of the rotating seat 33, and the rotating seat 33 is provided with a sliding groove portion 331 engaged with the slide rail 311.

The taking and placing component 32 is installed at the lower end of the movable support 31 and used for grabbing or adsorbing materials. In the illustrated embodiment, the pick-and-place assembly 32 uses a plurality of negative pressure nozzles to absorb the material, and a vacuum generator (not visible in the figure) connected to the negative pressure nozzles may be disposed inside the frame 40, and the negative pressure nozzles may also be connected to a negative pressure system on the production line. In other embodiments of the present invention, the pick-and-place assembly 32 may also use pneumatic jaws known to those skilled in the art to grasp materials.

The transmission mechanism 20 includes a rocker 21, a link 22, and an oscillating piece 23. Wherein, the swinging piece 23 is rotatably arranged on the frame 40 and can rotate in a vertical plane; preferably, the frame 40 is provided with a second bearing 42 for rotatably supporting the swinging member 23; the swinging member 23 comprises a first swinging arm 231 and a second swinging arm 232, and an included angle is formed between the first swinging arm 231 and the second swinging arm 232; the two ends of the connecting rod 22 are respectively hinged with the rocker 21 and the first swing arm 231, and the second swing arm 232 is hinged with the movable support 31, for example, hinged with the lower end of the movable support 31.

The rocker 21 is in transmission connection with the motor 10 arranged on the frame 40 and can rotate 360 degrees under the driving of the motor 10. Wherein, the motor 10 is preferably a stepping motor, but the present invention is not limited thereto; the rocker 21 can be directly mounted on the power output shaft of the motor 10, or can be in transmission connection with the motor 10 through an intermediate transmission mechanism.

When the material taking and placing mechanism 30 works, the motor 10 drives the rocker 21 to rotate 360 degrees and drives the swinging piece 23 to swing back and forth through the connecting rod 22, and as the movable support 31 of the material taking and placing mechanism 30 is hinged with the swinging piece 23, the material taking and placing mechanism 30 is continuously switched back and forth between a material taking state shown in fig. 4 and a material placing state shown in fig. 2 at a fixed point along with the back and forth swing of the swinging piece 23. By the design, the device has the advantages of simple structure and small occupied area, is high in movement efficiency, and can perform material taking and placing operations at high speed. Wherein, when getting to switch over between the material and the blowing two kinds of states, movable support 31's rotation angle can be 60, nevertheless the utility model discloses do not use this as the limit.

Further, as shown in fig. 2, a material taking position sensor 51 and a material placing position sensor 52 are provided on the frame 40, and a detected part 233 is provided on the swinging member 23. When the pick-and-place mechanism 30 is in a material taking state, the detected part 233 can be detected by the material taking position sensor 51, and at this time, the vacuum generator is controlled to be started, so that the negative pressure suction nozzle adsorbs materials; as shown in fig. 4, when the pick-and-place mechanism 30 is in the feeding state, the detected portion 233 can be detected by the feeding position sensor 52, and the vacuum generator is controlled to be turned off or disconnected from the negative pressure suction nozzle, so that the material is separated from the negative pressure suction nozzle and placed at a predetermined position.

Although the present invention has been described with reference to the above embodiments, it should be understood that all changes that can be made by one skilled in the art without departing from the scope of the present invention are intended to be covered by the scope of the present invention.

Claims

1. A fixed-point circulating material taking and placing manipulator comprises a rack; the method is characterized in that:

2. The fixed point cycle pick-and-place manipulator of claim 1, wherein: the movable support is provided with a slide rail, and the rotating seat is provided with a slide groove part matched with the slide rail.

3. The fixed point circulation pick-and-place manipulator according to claim 2, characterized in that: the length direction of the slide rail is perpendicular to the rotation axis of the rotation seat.

4. The fixed point circulation picking and placing manipulator according to claim 1, characterized in that:

the machine frame is provided with a material taking position sensor and a material placing position sensor, and the swinging piece is provided with a detected part;

when the pick-and-place mechanism is in a material taking state, the detected part can be detected by the material taking position sensor; when the taking and placing mechanism is in a placing state, the detected part can be detected by the placing position sensor.

5. The fixed point cycle pick-and-place manipulator of claim 1, wherein: the taking and placing assembly comprises a plurality of negative pressure suction nozzles used for adsorbing materials.

6. The fixed point cycle pick-and-place manipulator of claim 5, wherein: and a vacuum generator communicated with the negative pressure suction nozzle is arranged in the rack.

7. The fixed point cycle pick-and-place manipulator of claim 1, wherein: and the rack is provided with a first bearing for rotatably supporting the rotating seat and a second bearing for rotatably supporting the swinging piece.

8. The fixed point circulation picking and placing manipulator according to claim 1, characterized in that: the rocker is installed on a power output shaft of the motor.