CN221316867U

CN221316867U - Manipulator positioning and carrying device

Info

Publication number: CN221316867U
Application number: CN202322571364.2U
Authority: CN
Inventors: 杜龙
Original assignee: Guangdong Duhong Intelligent Equipment Co ltd
Current assignee: Guangdong Duhong Intelligent Equipment Co ltd
Priority date: 2023-09-21
Filing date: 2023-09-21
Publication date: 2024-07-12
Anticipated expiration: 2033-09-21

Abstract

The utility model relates to a manipulator positioning and carrying device, which is applied to an operation platform and comprises: the device comprises a box body pushing mechanism, a clamping and positioning mechanism and a manipulator body; the box body pushing mechanism is arranged towards the clamping station and used for pushing the box body to the clamping station; the clamping and positioning mechanisms are arranged on two sides of the box body pushing mechanism and are used for clamping and positioning the box body; the manipulator body is arranged on one side of the clamping station, and the manipulator body is used for sucking and transferring the box body on the clamping station. The manipulator positioning and carrying device has the advantages of accurate positioning and matching of the box body and the packaging paper in place.

Description

Manipulator positioning and carrying device

Technical Field

The utility model relates to the technical field of box body positioning and carrying jigs, in particular to a mechanical arm positioning and carrying device.

Background

The manipulator is an automatic operation device which can imitate some action functions of an arm and is used for grabbing and carrying objects or operating tools according to fixed programs, and is characterized in that various expected operations can be completed through programming, and the manipulator has the advantages of both a human and a manipulator in terms of structure and performance.

In the production system of packing carton, to the material loading of box body, the mode of adopting artifical direct blowing is common practice, however manual transport box body not only takes trouble hard, still has the inaccurate, intensity of labour is big, production efficiency low grade problem of location through artifical blowing. Therefore, in the present stage, in a packaging box manufacturer having a high degree of automation, attempts have been made to replace the manual work with a loading mechanism equipped with a robot arm. However, in the process of taking and placing box body type articles, the existing box body transportation positioning is not accurate enough, so that the existing manipulator cannot clamp and carry the box body on the conveying belt accurately, the carried box body is easy to shift in position, the box body cannot be matched with the packing paper on the other conveying belt for positioning, and the production of the next procedure is affected.

Disclosure of utility model

Based on the above, the utility model aims to overcome the defects of the prior art and provide the manipulator positioning and carrying device which has the advantages of accurate positioning and matching of the box body and the packaging paper in place.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

The utility model provides a manipulator location handling device, is applied to on the operation platform, it includes: the device comprises a box body pushing mechanism, a clamping and positioning mechanism and a manipulator body; the box body pushing mechanism is arranged towards the clamping station and used for pushing the box body to the clamping station; the clamping and positioning mechanisms are arranged on two sides of the box body pushing mechanism and are used for clamping and positioning the box body; the manipulator body is arranged on one side of the clamping station, and the manipulator body is used for sucking and transferring the box body on the clamping station.

As one embodiment, the operation platform is provided with a conveyor belt controlled by a motor; two manipulator positioning and carrying devices are arranged on the same side of the conveyor belt or the manipulator positioning and carrying devices are respectively arranged on two sides of the conveyor belt.

As an implementation mode, the box body pushing mechanism comprises a pushing screw rod module and a pushing bottom plate, wherein the output end of the pushing screw rod module is in driving connection with the pushing bottom plate, and the pushing bottom plate is used for pushing the box body to the clamping station.

As an implementation mode, the pushing screw rod module comprises a pushing screw rod motor, a pushing screw rod shaft and a pushing screw cylinder, wherein the pushing screw rod motor is in driving connection with the pushing screw rod shaft, the pushing screw cylinder is in threaded connection with the pushing screw rod shaft, the pushing screw cylinder is slidably arranged on the working platform, and the pushing bottom plate is fixedly connected with the pushing screw cylinder.

As an implementation mode, screw cylinder guide rails and pushing guide rails are arranged on the working platform in a relatively parallel and spaced mode, and the screw cylinder guide rails and the pushing guide rails are arranged in a relatively parallel mode with the pushing screw rod shaft; the pushing screw cylinder is slidably arranged on the screw cylinder guide rail, and the pushing bottom plate is slidably arranged on the pushing guide rail.

As an implementation mode, the clamping and positioning mechanism comprises a clamping screw rod module and two clamping bottom plates, wherein the clamping screw rod module is in driving connection with the two clamping bottom plates, and the clamping screw rod module is used for driving the two clamping bottom plates to move relatively or oppositely; the direction of the relative movement or the opposite movement of the two clamping bottom plates is mutually perpendicular to the pushing direction of the pushing bottom plate.

As an implementation mode, the clamping screw rod module comprises a clamping screw rod motor, a clamping screw rod shaft and two clamping screw cylinders, wherein the clamping screw rod motor is in driving connection with the clamping screw rod shaft, the two clamping screw cylinders are respectively in reverse threaded connection with the clamping screw rod shaft, and the two clamping screw cylinders are respectively arranged at the bottom of the operation platform in a parallel sliding manner.

As an implementation mode, two middle plate supporting frames are respectively arranged on the two clamping bottom plates, first guide rods are respectively clamped on the two middle plate supporting frames along the length direction of the two clamping bottom plates, guide sleeves are slidably sleeved on the two first guide rods, second guide rods are slidably sleeved between the two guide sleeves, two ends of the second guide rods respectively penetrate out of the two guide sleeves, clamping middle plates are respectively arranged below the two guide sleeves, and the two clamping middle plates are relatively arranged in parallel; one end of the second guide rod is fixedly connected with the pushing screw cylinder through a connecting piece.

As an implementation mode, the manipulator body comprises a rotating base, a lifting module and a sucker assembly, wherein the rotating base is installed on the operation platform, the lifting module is rotatably arranged on the rotating base, the sucker assembly is arranged on the lifting module in a lifting mode, and the sucker assembly is used for sucking and transferring a box body on the clamping station.

As an implementation mode, be provided with the rotating electrical machines on the swivel base, the output of rotating electrical machines with lift module drive connection, be provided with the lift cylinder on the lift module, the output of lift cylinder with the sucking disc subassembly drive connection, the rotating electrical machines is used for driving lift module level rotation, the lift cylinder is used for driving the sucking disc subassembly is vertical to be gone up and down, the sucking disc subassembly is used for adsorbing box body on the centre gripping station and shifts out the box body the centre gripping station.

Compared with the prior art, the mechanical arm positioning and carrying device has the beneficial effects that:

According to the box body pushing mechanism, the clamping and positioning mechanism and the manipulator body are matched, the pushing bottom plate is driven by the pushing screw motor to move the box body towards the direction of the clamping station, the two clamping bottom plates and the two clamping middle plates are driven by the clamping screw motor to clamp and position the moving box body, in the process that the box body is pushed, the two clamping bottom plates and the two clamping middle plates are tightened and opened in a reciprocating mode, the box body pushed by the pushing bottom plate can be ensured to be accurately pushed to the clamping station, the lifting module is driven by the rotating motor of the manipulator body to horizontally rotate, the sucking disc component is driven by the lifting cylinder to vertically lift, and the sucking disc component adsorbs the box body on the clamping station and moves the box body out of the clamping station. Therefore, the manipulator positioning and carrying device can accurately position and adsorb the box body and accurately transfer the box body to the conveyor belt on the operation platform, so that the box body is matched with the packaging paper on the conveyor belt in place.

For a better understanding and implementation, the present utility model is described in detail below with reference to the drawings.

Drawings

FIG. 1 is a schematic diagram of a manipulator positioning and transporting device according to the present utility model;

FIG. 2 is a second schematic diagram of the manipulator positioning and transporting device according to the present utility model;

FIG. 3 is a third schematic diagram of the manipulator positioning and transporting device according to the present utility model;

FIG. 4 is a schematic diagram of a manipulator positioning and transporting device according to the present utility model;

FIG. 5 is a schematic diagram of a manipulator positioning and transporting apparatus according to the present utility model;

FIG. 6 is a diagram illustrating a manipulator positioning and transporting apparatus according to a sixth embodiment of the present utility model.

Reference numerals illustrate:

10. An operation platform; 11. a conveyor belt; 12. pushing the guide rail; 13. a screw guide rail; 14. clamping the guide rail; 15. a clamping station; 20. a box pushing mechanism; 21. a pushing screw motor; 22. pushing the screw shaft; 23. pushing the screw cylinder; 24. pushing the bottom plate; 25. a connecting piece; 30. a clamping and positioning mechanism; 31. a clamping screw motor; 32. clamping a screw shaft; 33. clamping the screw cylinder; 34. clamping the bottom plate; 35. a middle plate support; 36. a first guide bar; 37. a guide sleeve; 38. a second guide bar; 39. clamping the middle plate; 40. a robot body; 41. a bracket; 42. rotating the base; 43. a lifting module; 44. a lifting cylinder; 45. a suction cup assembly; 46. a vacuum chuck; 47. a camera is provided.

Detailed Description

For further illustration of the various embodiments, the utility model is provided with the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments and together with the description, serve to explain the principles of the embodiments. With reference to these matters, one of ordinary skill in the art will understand other possible implementations and advantages of the present utility model.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus are not to be construed as limiting the present utility model.

Please refer to fig. 1 to 6; the present embodiment provides a manipulator positioning and carrying device, which is applied to a work platform 10, and includes: the box body pushing mechanism 20, the clamping and positioning mechanism 30 and the manipulator body 40; the operation platform 10 is provided with a clamping station 15, the box body pushing mechanism 20 is arranged towards the clamping station 15, and the box body pushing mechanism 20 is used for pushing box bodies to the clamping station 15; the clamping and positioning mechanisms 30 are arranged at two sides of the box body pushing mechanism 20, and the clamping and positioning mechanisms 30 are used for clamping and positioning the box body; the manipulator body 40 is disposed at one side of the clamping station 15, and the manipulator body 40 is used for sucking and transferring the box body on the clamping station 15.

Optionally, the box pushing mechanism 20 includes a pushing screw module and a pushing bottom plate 24, an output end of the pushing screw module is in driving connection with the pushing bottom plate 24, and the pushing bottom plate 24 is used for pushing the box to the clamping station 15.

Specifically, in this embodiment, the pushing screw module includes a pushing screw motor 21, a pushing screw shaft 22, and a pushing screw cylinder 23, where the pushing screw motor 21 is in driving connection with the pushing screw shaft 22, the pushing screw cylinder 23 is in threaded connection with the pushing screw shaft 22, and the pushing screw cylinder 23 is slidably disposed on the working platform 10, and the pushing bottom plate 24 is fixedly connected with the pushing screw cylinder 23.

Further, a screw guide rail 13 and a pushing guide rail 12 are relatively parallel and spaced on the working platform 10, and the screw guide rail 13 and the pushing guide rail 12 are relatively parallel to the pushing screw shaft 22; the push screw 23 is slidably disposed on the screw guide 13, and the push bottom plate 24 is slidably disposed on the push guide 12.

Therefore, in this embodiment, the pushing screw motor 21 drives the pushing screw shaft 22 to rotate, and the pushing screw shaft 22 drives the pushing screw 23 to slide on the pushing rail 12 of the working platform 10, so as to drive the pushing bottom plate to slide on the pushing rail 12 of the working platform 10, so that the pushing bottom plate 24 drives the box body to move towards the clamping station 15.

It should be noted that, the box pushing mechanism 20 of the present embodiment needs to be matched with a box conveying belt, the box conveying belt continuously conveys the box onto the pushing base plate 24, and the box cannot run out of the clamping and positioning mechanism 30 under the limiting action of the clamping and positioning mechanism 30, so that the pushing operation of the pushing base plate 24 on the box is realized.

Optionally, the clamping and positioning mechanism 30 of the present embodiment includes a clamping screw module and two clamping bottom plates 34, where the clamping screw module is in driving connection with the two clamping bottom plates 34, and the clamping screw module is used to drive the two clamping bottom plates 34 to move relatively or move back to back; the direction of the relative movement or the opposite movement of the two clamping plates 34 is perpendicular to the pushing direction of the pushing plate 24.

Specifically, the clamping screw module comprises a clamping screw motor 31, a clamping screw shaft 32 and two clamping screw cylinders 33, wherein the clamping screw motor 31 is in driving connection with the clamping screw shaft 32, the two clamping screw cylinders 33 are respectively in reverse threaded connection with the clamping screw shaft 32, and the two clamping screw cylinders 33 are respectively arranged at the bottom of the working platform 10 in a parallel sliding manner. Wherein, two clamping guide rails 14 are relatively arranged in parallel at the bottom of the working platform 10, and two clamping screw cylinders 33 are respectively slidably sleeved on the two clamping guide rails 14.

Further, two middle plate supporting frames 35 are respectively arranged on the two clamping bottom plates 34, first guide rods 36 are respectively clamped on the two middle plate supporting frames 35 along the length direction of the two clamping bottom plates 34, guide sleeves 37 are slidably sleeved on the two first guide rods 36, second guide rods 38 are slidably sleeved between the two guide sleeves 37, two ends of the second guide rods 38 respectively penetrate out of the two guide sleeves 37, clamping middle plates 39 are respectively arranged below the two guide sleeves 37, and the two clamping middle plates 39 are relatively arranged in parallel; one end of the second guide rod 38 is fixedly connected with the pushing screw 23 through a connecting piece 25.

Therefore, in this embodiment, the clamping screw motor 31 drives the clamping screw shaft 32 to rotate, the clamping screw shaft 32 drives the two clamping screw cylinders 33 to move relatively or move back to back, and then the two clamping screw cylinders 33 drive the respective clamping bottom plates 34 to shrink relatively or expand, and simultaneously the two clamping bottom plates 34 drive the respective clamping middle plates 39 to move synchronously, so as to clamp and position the box body, and the reciprocating cycle can ensure that the box body is always pushed along the center of the pushing bottom plate 24, so as to ensure that the box body is accurately pushed onto the clamping station 15.

Further, in this embodiment, the two middle plate supports 35 are respectively disposed on the two clamping bottom plates 34, the two middle plate supports 35 are provided with first guide rods 36, the two first guide rods 36 are slidably sleeved with guide sleeves 37, a second guide rod 38 is disposed between the two guide sleeves 37, and one end of the second guide rod 38 is fixedly connected with the pushing sleeve. In this way, in the process that the pushing screw 23 pushes the box body forward and the two clamping bottom plates 34 are tightened relatively, the pushing screw 23 drives the second guide rod 38 to move forward at the same time, the second guide rod 38 drives the two guide sleeves 37 to drive the respective clamping middle plates 39 to slide forward along the two first guide rods 36 respectively, and the two guide sleeves 37 are tightened relatively at the same time under the drive of the two clamping bottom plates 34 respectively; that is, the two clamping middle plates 39 of the present embodiment can move together with the pushing bottom plate 24 to match with pushing of the box body, limit the box body to prevent the box body from escaping, and synchronously tighten and clamp the box body, so as to further ensure that the box body is located on the central line of the pushing bottom plate 24 until the box body is accurately pushed onto the clamping station 15.

The push screw cylinder 23 and the clamping screw cylinder 33 of the present embodiment may be respectively provided with threaded holes therethrough, which may be respectively in threaded connection with the push screw shaft 22 and the clamping screw shaft 32 through various threaded holes, and the threaded directions of the threaded holes of the two clamping screw cylinders 33 are reversely arranged, so that the two clamping screw cylinders 33 can move relatively or reversely under the driving of the clamping screw shaft 32.

Optionally, the manipulator body 40 of the present embodiment includes a support 41, a rotating base 42, a lifting module 43, and a sucker assembly 45, where the rotating base 42 is mounted on the support 41, the lifting module 43 is rotatably disposed on the rotating base 42, the sucker assembly 45 is liftably disposed on the lifting module 43, and the sucker assembly 45 is used for sucking and transferring the box on the clamping station 15.

Specifically, a rotating motor is arranged on the rotating base 42, the output end of the rotating motor is in driving connection with the lifting module 43, a lifting cylinder 44 is arranged on the lifting module 43, the output end of the lifting cylinder 44 is in driving connection with the sucker assembly 45, the rotating motor is used for driving the lifting module 43 to horizontally rotate, the lifting cylinder 44 is used for driving the sucker assembly 45 to vertically lift, and the sucker assembly 45 is used for adsorbing a box body on the clamping station 15 and moving the box body out of the clamping station 15.

Further, the lifting module 43 of the present embodiment further includes a lifting base, the bottom of which is disposed on the output end of the rotating motor, and the lifting cylinder 44 is disposed on the lifting base in a lifting manner. In addition, the chuck assembly 45 of the present embodiment includes a vacuum pump, a chuck base, and a vacuum chuck 46, wherein the vacuum pump is connected with the vacuum chuck 46 through a vacuum tube, the chuck base is fixed on the output end of the lifting cylinder 44, and the vacuum chuck 46 is mounted on the chuck base to perform lifting movement along with the lifting cylinder 44.

In addition, the sucker base can be further provided with a camera 47, and the box body on the clamping station 15 can be visually identified through the camera 47 so as to be matched with the manipulator body 40 for sucking and transferring the box body.

Therefore, in this embodiment, through the cooperation of the box body pushing mechanism 20, the clamping and positioning mechanism 30 and the manipulator body 40, the pushing bottom plate 24 is driven by the pushing screw motor 21 to move the box body towards the direction of the clamping station 15, and the two clamping bottom plates 34 and the two clamping middle plates 39 are driven by the clamping screw motor 31 to clamp and position the moving box body, in the process that the box body is pushed, the two clamping bottom plates 34 and the two clamping middle plates 39 are tightened and opened in a reciprocating manner, so that the box body pushed by the pushing bottom plate 24 can be ensured to be accurately pushed onto the clamping station 15, the lifting module 43 is driven by the rotating motor of the manipulator body 40 to horizontally rotate, the lifting cylinder 44 drives the sucker assembly 45 to vertically lift, and the sucker assembly 45 adsorbs the box body on the clamping station 15 and moves the box body out of the clamping station 15. Therefore, the manipulator positioning and carrying device can accurately position and adsorb the box body and accurately transfer the box body to the conveyor belt 11 on the operation platform 10, so that the box body is matched with the packing paper on the conveyor belt 11 in place.

Optionally, the work platform 10 is provided with a conveyor belt 11 controlled by a motor; two manipulator positioning and carrying devices are arranged on the same side of the conveyor belt 11 or the manipulator positioning and carrying devices are respectively arranged on two sides of the conveyor belt 11. That is, the handling efficiency of the cassette can be effectively improved by providing two robot positioning and handling devices, and the cassette can be accurately handled onto the conveyor belt 11 by the two robot positioning and handling devices.

The clamping station 15 of this embodiment is located at one side of the conveyor belt 11, and two ends of one side of the clamping station 15, which is close to the conveyor belt 11, are respectively provided with a limited angle.

The above examples merely represent several embodiments of the present utility model, which are described in more detail and detail, but are not to be construed as limiting the scope of the inventive manipulator positioning and handling device. 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.

Claims

1. The utility model provides a manipulator location handling device, is applied to on the operation platform, its characterized in that includes:

the device comprises a box body pushing mechanism, a clamping and positioning mechanism and a manipulator body;

The box body pushing mechanism is arranged towards the clamping station and used for pushing the box body to the clamping station; the clamping and positioning mechanisms are arranged on two sides of the box body pushing mechanism and are used for clamping and positioning the box body; the manipulator body is arranged on one side of the clamping station, and the manipulator body is used for sucking and transferring the box body on the clamping station.

2. The manipulator positioning and handling device of claim 1, wherein:

The operation platform is provided with a conveyor belt controlled by a motor; two manipulator positioning and carrying devices are arranged on the same side of the conveyor belt or the manipulator positioning and carrying devices are respectively arranged on two sides of the conveyor belt.

3. The manipulator positioning and handling device of claim 1, wherein:

The box body pushing mechanism comprises a pushing screw rod module and a pushing bottom plate, wherein the output end of the pushing screw rod module is in driving connection with the pushing bottom plate, and the pushing bottom plate is used for pushing the box body to the clamping station.

4. A manipulator positioning and handling device as claimed in claim 3, wherein:

The pushing screw rod module comprises a pushing screw rod motor, a pushing screw rod shaft and a pushing screw cylinder, wherein the pushing screw rod motor is in driving connection with the pushing screw rod shaft, the pushing screw cylinder is in threaded connection with the pushing screw rod shaft, the pushing screw cylinder is slidably arranged on the working platform, and the pushing bottom plate is fixedly connected with the pushing screw cylinder.

5. The manipulator positioning and handling device of claim 4, wherein:

The screw cylinder guide rails and the pushing guide rails are arranged on the working platform in a relatively parallel and spaced mode, and are relatively arranged in parallel with the pushing screw rod shaft; the pushing screw cylinder is slidably arranged on the screw cylinder guide rail, and the pushing bottom plate is slidably arranged on the pushing guide rail.

6. The manipulator positioning and handling device of claim 4, wherein:

The clamping and positioning mechanism comprises a clamping screw rod module and two clamping bottom plates, wherein the clamping screw rod module is in driving connection with the two clamping bottom plates, and the clamping screw rod module is used for driving the two clamping bottom plates to move relatively or move oppositely; the direction of the relative movement or the opposite movement of the two clamping bottom plates is mutually perpendicular to the pushing direction of the pushing bottom plate.

7. The manipulator positioning and handling device of claim 6, wherein:

The clamping screw rod module comprises a clamping screw rod motor, a clamping screw rod shaft and two clamping screw cylinders, wherein the clamping screw rod motor is in driving connection with the clamping screw rod shaft, the two clamping screw cylinders are respectively in reverse threaded connection with the clamping screw rod shaft, and the two clamping screw cylinders are respectively arranged at the bottom of the operation platform in a relatively parallel sliding manner.

8. The manipulator positioning and handling device of claim 6, wherein:

The two clamping bottom plates are respectively provided with a middle plate support frame, the two middle plate support frames are respectively provided with first guide rods in a clamping manner along the length direction of the two clamping bottom plates, the two first guide rods are slidably sleeved with guide sleeves, a second guide rod is slidably sleeved between the two guide sleeves, two ends of the second guide rod respectively penetrate out of the two guide sleeves, clamping middle plates are respectively arranged below the two guide sleeves, and the two clamping middle plates are relatively arranged in parallel; one end of the second guide rod is fixedly connected with the pushing screw cylinder through a connecting piece.

9. The manipulator positioning and handling device of claim 1, wherein:

The manipulator body comprises a rotating base, a lifting module and a sucker assembly, wherein the rotating base is installed on the operation platform, the lifting module is rotatably arranged on the rotating base, the sucker assembly is arranged on the lifting module in a lifting mode, and the sucker assembly is used for sucking and transferring a box body on the clamping station.

10. The manipulator positioning and handling device of claim 9, wherein:

The rotary base is provided with a rotary motor, the output end of the rotary motor is in driving connection with the lifting module, the lifting module is provided with a lifting cylinder, the output end of the lifting cylinder is in driving connection with the sucker assembly, the rotary motor is used for driving the lifting module to horizontally rotate, the lifting cylinder is used for driving the sucker assembly to vertically lift, and the sucker assembly is used for adsorbing a box body on the clamping station and moving the box body out of the clamping station.