CN219685620U - Manipulator and handling device - Google Patents

Abstract

The utility model discloses a manipulator and a carrying device, and relates to the technical field of loading and unloading. The manipulator comprises a connecting seat, an inductor and a picking and placing assembly; the inductor install in the connecting seat, and with get and put subassembly communication connection, get and put subassembly sliding connection in the connecting seat, get and put the subassembly and have under its slip path can by the inductor senses the first position, and through get the second position that put subassembly gravity maintained, the inductor senses get and put the subassembly time can control get and put the subassembly and get and put the work piece. The utility model solves the technical problem that the existing manipulator lacks of grabbing the empty.

Description

Manipulator and handling device

Technical Field

The utility model relates to the technical field of loading and unloading, in particular to a manipulator and a carrying device.

Background

The manipulator is a picking and placing mechanism widely applied to automation equipment, and has the main effects of replacing manual work to realize the actions of grabbing workpieces and placing the workpieces, and matching with a driving mechanism on the automation equipment such as a carrying device, thereby realizing the purpose of carrying the workpieces. In the working process of the existing manipulator, an effective in-place detection mode is lacking, the manipulator cannot judge the grabbing position, and the situation that the manipulator grabs the empty is caused.

Disclosure of Invention

In view of the above, the present utility model provides a manipulator and a handling device for solving the technical problem of the existing manipulator for emptying.

In order to solve the technical problems, the first technical scheme adopted by the utility model is as follows:

the manipulator comprises a connecting seat, an inductor and a picking and placing component; the inductor install in the connecting seat, and with get and put subassembly communication connection, get and put subassembly sliding connection in the connecting seat, get and put the subassembly and have under its slip path can by the inductor senses the first position, and through get the second position that put subassembly gravity maintained, the inductor senses get and put the subassembly time can control get and put the subassembly and get and put the work piece.

In some embodiments of the manipulator, the connecting seat includes a first connecting block and a second connecting block, the first connecting block is provided with an installation side, the second connecting block is installed on the installation side, a through hole penetrating through the second connecting block is formed in the second connecting block, and the picking and placing component penetrates through the through hole and can slide relative to the second connecting block along the extending direction of the through hole.

In some embodiments of the manipulator, the second connection block is detachably connected to the first connection block, a plurality of mounting positions for mounting the second connection block are provided on the first connection block, and the connection base further includes a first fastener for fixing the second connection block.

In some embodiments of the manipulator, the first connecting block is provided with a bar-shaped hole penetrating through the first connecting block, the bar-shaped hole extends along an extending direction parallel to the through hole, and the extending direction in the bar-shaped hole forms each mounting position; the connecting seat further comprises a second fastening piece, and the second fastening piece can penetrate through the strip-shaped hole to fix the first connecting block and the second connecting block.

In some embodiments of the manipulator, the pick-and-place assembly includes a connection shaft, an adsorption module and an induction piece, the connection shaft includes a body and a boss, the body is penetrated in the through hole, the boss is connected to an end of the body near the inductor, the boss and the body form a step surface opposite to the second connection block, and the connection shaft can be clamped on one side of the second connection block opposite to the inductor through the step surface;

the adsorption module is connected to one end of the body, which is far away from the inductor, and used for taking and placing the workpiece, and the induction piece is connected to one end of the boss, which is close to the inductor, and used for being induced by the inductor.

In some embodiments of the manipulator, the pick-and-place assembly further includes an elastic member, the elastic member is sleeved on the connecting shaft, one end of the elastic member is connected to the adsorption module, and the other end of the elastic member is connected to one side of the second connecting block, which is away from the inductor.

In some embodiments of the manipulator, the pick-and-place assembly further includes a guide holder, where the guide holder is mounted on a side of the second connection block facing the inductor and sleeved on the boss, and the guide holder is used for guiding movement of the boss.

In some embodiments of the manipulator, the manipulator further comprises a magnetic member mounted to the connection mount and configured to magnetically couple the connection mount to an external device.

In some embodiments of the manipulator, the magnetic member is embedded in the connection base.

In order to solve the technical problems, the second technical scheme adopted by the utility model is as follows:

a handling device comprising a manipulator as described in the above embodiments.

The implementation of the embodiment of the utility model has at least the following beneficial effects:

the manipulator is applied to a carrying device, the carrying device has the technical effects of grabbing a workpiece, moving the workpiece and placing the workpiece, the manipulator also has the technical effect of sensing the picking and placing component in place to avoid grabbing, particularly, the picking and placing component is arranged to slide relative to the connecting seat and has a trend of sliding to the second position under the action of self gravity, the second position can be set to be an initial position of the picking and placing component which is not contacted with the workpiece, when the picking and placing component is abutted to the workpiece, the manipulator is forced to move towards the first position, so that the position of the picking and placing component is related to the contact of the workpiece or not, and further, the inductor is arranged on the sliding path of the picking and placing component, so that the picking and placing component can be sensed to move to the first position, the picking and placing component can be judged to move to place, and the inductor is also used for carrying out switch judgment, and the picking and placing component is controlled to grab or place the workpiece when the picking and placing component reaches the first position, so that the technical problem of the existing manipulator is solved.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a manipulator in one embodiment.

Wherein: 1. a connecting seat; 11. a first connection block; 111. a mounting side; 112. a bar-shaped hole; 12. a second connection block; 121. a through hole; 2. an inductor; 3. a pick-and-place assembly; 31. a connecting shaft; 311. a body; 312. a boss; 32. an adsorption module; 33. an induction member; 34. an elastic member; 35. a guide seat; 4. a magnetic member.

Detailed Description

In order that the utility model may be readily understood, a more complete description of the utility model will be rendered by reference to the appended drawings. Preferred embodiments of the present utility model are shown in the drawings. This utility model may, however, be embodied in many other different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "fixed 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. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

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 utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1, in one manipulator embodiment, the manipulator includes a connection base 1, an inductor 2, and a pick-and-place assembly 3. The inductor 2 is installed in the connecting seat 1 to with get and put subassembly 3 communication connection, get and put subassembly 3 sliding connection in connecting seat 1, get and put subassembly 3 and have the first position that can be sensed by inductor 2 under its slip path, and through getting the second position that the subassembly 3 gravity maintained of putting, inductor 2 senses and to get and put subassembly 3 time can control get and put subassembly 3 to get and put the work piece.

In this embodiment, the picking and placing component 3 is set to be capable of sliding relative to the connecting seat 1 and has a tendency to slide to the second position under the action of its own gravity, so that the second position can be set as an initial position where the picking and placing component 3 does not contact the workpiece, and when the picking and placing component 3 is abutted to the workpiece, the picking and placing component 3 is acted on and moves towards the first position, so that the picking and placing component 3 is associated with the workpiece, and further, the inductor 2 is set on the sliding path of the picking and placing component 3, so that the picking and placing component 3 can be sensed to move to the first position, so that the picking and placing component 3 can be determined to move to the right position, and the inductor 2 is also used for carrying out switch determination, so that the picking and placing component 3 is controlled to pick or place the workpiece when the picking and placing component 3 reaches the first position, and the technical problem of the existing manipulator is solved.

It should be noted that, in this embodiment, the first position and the second position may be two positions in the vertical direction, and the second position is located below the first position, so, when the manipulator is driven to move the workpiece when combining with other driving mechanisms on the handling device or other devices, the pick-and-place assembly 3 may fall from the first position to the second position under the gravity of the manipulator and the pulling force of the workpiece, or under the action of the restoring force provided by other forces such as a spring or other structures, so as to always have a tendency to slide toward the second position.

In addition, the sensor 2 may be a photoelectric switch.

In one embodiment of the manipulator, the connection base 1 includes a first connection block 11 and a second connection block 12, the first connection block 11 is provided with an installation side 111, the second connection block 12 is installed on the installation side 111, a through hole 121 penetrating the second connection block 12 is formed in the second connection block 12, and the pick-and-place assembly 3 is penetrated in the through hole 121 and can slide relative to the second connection block 12 along the extending direction of the through hole 121.

In the present embodiment, by providing the first connection block 11 and the second connection block 12, the first connection block 11 can be used for mounting the inductor 2, and the second connection block 12 can be used for mounting the pick-and-place assembly 3, and by providing the through hole 121, the sliding direction of the pick-and-place assembly 3 can also be guided.

The position of the sensor 2 is not fixed, and the position of the sensor 2 may be set on the mounting side 111 or on the upper end surface of the first connecting block 11, as long as the position of the sensor 2 on the moving path of the pick-and-place unit 3 can be satisfied.

Specifically, during the reciprocating movement of the picking and placing component 3 between the first position and the second position, a part of the picking and placing component 3 is always located in the through hole 121, that is, the picking and placing component 3 is always penetrated through the through hole 121.

In one embodiment of the manipulator, the second connection block 12 is detachably connected to the first connection block 11, and a plurality of mounting positions for mounting the second connection block 12 are provided on the first connection block 11, and the connection base 1 further includes a first fastener for fixing the second connection block 12.

In this embodiment, the second connecting block 12 can move relative to the first connecting block 11 and is installed at different installation positions, so that the distance between the second connecting block 12 and the inductor 2 can be adjusted, and then the distance between the picking and placing component 3 and the inductor 2 can be adjusted, so that different picking and placing components 3 can be better adapted, the distance between the component on the different picking and placing components 3 for the induction of the inductor 2 and the inductor 2 is different when the component is located at the second position, but the same workpiece is generally required to be set, so that the moving distance of the picking and placing components 3, namely the distance between the first position and the second position, is the same, and the purpose of adjusting the picking and placing components 3 can be achieved by adjusting the position of the second connecting block 12 in this embodiment.

In one embodiment of the manipulator, the first connecting block 11 is provided with a bar-shaped hole 112 penetrating the first connecting block 11, the bar-shaped hole 112 extends along the extending direction of the parallel through hole 121, and each mounting position is formed in the extending direction of the bar-shaped hole 112. The connection socket 1 further comprises a second fastener which can be passed through the bar-shaped hole 112 to fix the first connection block 11 with the second connection block 12.

Specifically, a groove is formed on one side of the second connecting block 12 opposite to the strip-shaped hole 112, and the second fastening piece can penetrate through the strip-shaped hole 112 to extend into the groove and be fixed with the inner wall of the groove, so that the second connecting block 12 can be fixedly connected with the first connecting block 11 through the second fastening piece.

Unlike the previous embodiment, in the present embodiment, the second connection block 12 and the first connection block 11 are connected by the second fastener, but the effect of adjusting the position of the second connection block 12 on the first connection block 11 can be achieved as well.

Preferably, the number of the strip-shaped holes 112 is multiple, each strip-shaped hole 112 is arranged along the direction perpendicular to the sliding direction of the picking and placing assembly 3 and is arranged at equal intervals, and correspondingly, the number of the second fasteners and the number of the grooves are consistent with the number of the strip-shaped holes 112, so that the second connecting blocks 12 can be more stably fixed through the second fasteners.

In addition, a screw may be further disposed on the second connection block 12, and the screw may pass through the bar-shaped hole 112 and then be fastened by a nut. Of course, other manners are possible to achieve the fixation of the second connecting block 12 after sliding in the bar-shaped hole 112.

In an embodiment of the manipulator, the pick-and-place assembly 3 includes a connecting shaft 31, an adsorption module 32 and an induction piece 33, the connecting shaft 31 includes a body 311 and a boss 312, the body 311 is arranged in the through hole 121 in a penetrating manner, the boss 312 is connected to an end portion of the body 311 near the inductor 2, the boss 312 and the body 311 form a step surface opposite to the second connecting block 12, and the connecting shaft 31 can be clamped on one side of the second connecting block 12 opposite to the inductor 2 through the step surface. The adsorption module 32 is connected to one end of the body 311 away from the sensor 2 and is used for picking and placing a workpiece, and the sensing piece 33 is connected to one end of the boss 312 close to the sensor 2 and is used for sensing by the sensor 2.

It should be noted that, in this embodiment, the pick-and-place assembly 3 is placed vertically, the second connection block 12 is placed horizontally, the reciprocating motion of the pick-and-place assembly 3 in the first position and the second position is a motion in the vertical direction, so that, under the arrangement, the pick-and-place assembly 3 always has a trend of moving to the second position under the action of gravity, and the boss 312 is provided, so that the body 311 can be prevented from separating from the through hole 121, and the pick-and-place assembly 3 is maintained in the second position by being clamped on the second connection block 12 through the boss 312.

In an embodiment of the manipulator, the pick-and-place assembly 3 further includes an elastic member 34, the elastic member 34 is sleeved on the connecting shaft 31, one end of the elastic member 34 is connected to the adsorption module 32, and the other end is connected to a side of the second connecting block 12 away from the sensor 2.

In this embodiment, by providing the elastic member 34, in the process of moving the picking and placing assembly 3 from the second position to the first position, the elastic member 34 is compressed to store energy, so the elastic member 34 applies elastic force to the adsorption module 32 to drive the picking and placing assembly 3 to move integrally, so once the connecting shaft 31 moves away from the second position, the whole picking and placing assembly 3 always has a tendency to move towards the second position, and thus the whole manipulator is not limited in use.

In one embodiment of the manipulator, the pick-and-place assembly 3 further includes a guide holder 35, where the guide holder 35 is mounted on a side of the second connection block 12 facing the sensor 2 and sleeved on the boss 312, and the guide holder 35 is used for guiding movement of the boss 312.

In the previous embodiment, the through hole 121 has the function of guiding the movement of the body 311, but does not guide the boss 312, but in the present embodiment, by providing the guide seat 35, the movement of the boss 312 can be further guided, and the effect of further improving the movement accuracy can be achieved.

Preferably, the guide seat 35 may be formed of two concentric sleeves with different diameters, and has a stepped sleeve structure, and the sleeve with a small diameter of the guide seat 35 can extend into the through hole 121 and be sleeved on the connecting shaft 31, so as to block the boss 312 from entering the through hole 121, so that the guide seat 35 can guide the connecting shaft 31.

In one embodiment of the manipulator, the manipulator further comprises a magnetic member 4, and the magnetic member 4 is mounted on the connection base 1 and is used for enabling the connection base 1 to be magnetically connected with an external device.

In the use of the manipulator, if the workpiece is a plate-shaped structural member, the number of the manipulator is generally set to be a plurality of, each manipulator is connected to a frame body and corresponds to each position of the workpiece respectively, so that the effect of stably adsorbing the workpiece is achieved, when the size of the workpiece is changed, the position and the number of the manipulator need to be adjusted by the existing manipulator, the disassembly is complicated, and the connecting mode of the manipulator is convenient to connect and disassemble through the magnetic attraction, so that the effect of conveniently adjusting the manipulator can be achieved, the operation is simple, and the size of different workpieces can be compatible through simple adjustment.

Preferably, the magnetic member 4 is embedded in the connecting seat 1. Further, the magnetic member 4 is embedded in the end of the work piece facing away from the first connecting block 11.

The utility model also relates to a handling device comprising a manipulator according to the above embodiments. Through the manipulator in the preceding embodiment of application, can make handling device have the function of snatching and placing the work piece, still include actuating mechanism on the handling device, drive the manipulator through actuating mechanism and remove, so can reach the purpose of handling the work piece.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims (10)

1. The manipulator is characterized by comprising a connecting seat, an inductor and a picking and placing component; the inductor install in the connecting seat, and with get and put subassembly communication connection, get and put subassembly sliding connection in the connecting seat, get and put the subassembly and have under its slip path can by the inductor senses the first position, and through get the second position that put subassembly gravity maintained, the inductor senses get and put the subassembly time can control get and put the subassembly and get and put the work piece.

2. The manipulator of claim 1, wherein the connector comprises a first connector block and a second connector block, the first connector block is provided with an installation side, the second connector block is installed on the installation side, a through hole penetrating through the second connector block is formed in the second connector block, and the pick-and-place assembly penetrates through the through hole and can slide relative to the second connector block along the extending direction of the through hole.

3. The manipulator of claim 2, wherein the second connection block is detachably connected to the first connection block, the first connection block having a plurality of mounting locations for mounting the second connection block thereon, the connection block further comprising a first fastener for securing the second connection block.

4. The manipulator of claim 3, wherein the first connecting block is provided with a bar-shaped hole penetrating the first connecting block, the bar-shaped hole extends along an extending direction parallel to the through hole, and the extending direction in the bar-shaped hole forms each mounting position; the connecting seat further comprises a second fastening piece, and the second fastening piece can penetrate through the strip-shaped hole to fix the first connecting block and the second connecting block.

5. The manipulator of claim 2, wherein the pick-and-place assembly comprises a connecting shaft, an adsorption module and an induction piece, the connecting shaft comprises a body and a boss, the body is arranged through the through hole in a penetrating mode, the boss is connected to the end portion, close to the inductor, of the body, the boss and the body form a step surface opposite to the second connecting block, and the connecting shaft can be clamped to one side, opposite to the inductor, of the second connecting block through the step surface;

the adsorption module is connected to one end of the body, which is far away from the inductor, and used for taking and placing the workpiece, and the induction piece is connected to one end of the boss, which is close to the inductor, and used for being induced by the inductor.

6. The manipulator of claim 5, wherein the pick-and-place assembly further comprises an elastic member, the elastic member is sleeved on the connecting shaft, one end of the elastic member is connected to the adsorption module, and the other end of the elastic member is connected to a side, away from the sensor, of the second connecting block.

7. The manipulator of claim 5, wherein the pick-and-place assembly further comprises a guide seat mounted on a side of the second connection block facing the sensor and sleeved on the boss, and the guide seat is used for guiding movement of the boss.

8. The manipulator of any of claims 1-7, further comprising a magnetic member mounted to the connector block and configured to magnetically couple the connector block to an external device.

9. The manipulator of claim 8, wherein the magnetic element is embedded in the connector.

10. Handling device, characterized in that it comprises a manipulator according to any of claims 1-9.