CN208070815U - A kind of flexible manipulator capturing plurality of specifications material unit - Google Patents
A kind of flexible manipulator capturing plurality of specifications material unit Download PDFInfo
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- CN208070815U CN208070815U CN201820373943.2U CN201820373943U CN208070815U CN 208070815 U CN208070815 U CN 208070815U CN 201820373943 U CN201820373943 U CN 201820373943U CN 208070815 U CN208070815 U CN 208070815U
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Abstract
A kind of flexible manipulator capturing plurality of specifications material unit, stepper motor including being fixed on motor support plate upper surface, stepper motor lower end passes through motor support plate to connect longitudinal ball wire bar pair, and ball wire bar pair can be driven to rotate, ball wire bar pair lower end connects lifting and clamping mechanism, lifting and clamping mechanism includes the lateral lifting support plate being fixedly connected with ball wire bar pair again, lifting support plate is fixedly connected with horizontal clamping cylinder at left and right sides of lower surface, clamping cylinder end connects vertical both sides clamping plate, the outer longitudinal hook cylinder of side elevation setting of both sides clamping plate, hook cylinder lower end axis connection hook, hook has hook shaft to connect again with both sides clamping plate.Motor support plate lower plane is fixedly connected with fixed link and guide rod, and fixed link and lower end of the guide rod are fixedly connected with suction disc support plate, and suction disc support plate is located at the parallel downside of lifting and clamping mechanism, and lower surface connecting sucker, and vacuum control check valve is arranged in sucker upper end.The utility model can capture a variety of different size materials.
Description
Technical field
The utility model is related to warehouse manipulator arm art, more particularly to a kind of plurality of specifications material unit that captures
Flexible manipulator.
Background technology
With the raising of automatization level, automatic control technology widely applies in tiered warehouse facility field, meets
Requirement of the people to speed, precision, height, repeated access and carrying etc., makes warehouse overall efficiency and the strain energy of operation
Power improves a lot.Manipulator plays a crucial role in stereoscopic warehouse goods access and handling process, while PLC technology
Device（PLC）With its function is strong, reliability is high, flexible and convenient to use and a series of advantage such as be easily programmed and transported in Industry Control
With extensive.Compared with other kinds of manipulator, Pneumatic manipulator is with simple in structure, cost is relatively low, easy to maintain, speed is fast
The features such as.
But manipulator in the prior art, in actual use, the material unit that can be captured is more single, and
Different material causes existing manipulator to cannot be satisfied different size material there are differences such as size difference, packaging material differences
Stacking demand.It makes troubles to work, and increases the cost of manipulator purchase.
Invention content
The utility model in order to solve its technical problem used by technical solution be：
A kind of flexible manipulator equipment capturing plurality of specifications material unit is provided, this equipment is one kind by first drawing
The equipment that the mode of material carries out stacking and de-stacking is clamped afterwards.Equipment includes stepper motor, motor support plate, ball wire bar pair,
Lifting and clamping mechanism, sucker, fixed link, guide rod, suction disc support plate, vacuum control check valve；Wherein lifting and clamping mechanism includes folder again
Tight cylinder, hook, hook shaft and hook cylinder, both sides clamping plate lift support plate.
This flexible manipulator, including it is fixed on the stepper motor for the motor support plate upper surface being laterally arranged, the stepping
Motor lower end is connected with longitudinal ball wire bar pair across the motor support plate, and the ball wire bar pair can be driven to rotate, institute
It states ball wire bar pair lower end and is connected with lifting and clamping mechanism, the lifting and clamping mechanism includes to be fixed with the ball wire bar pair again
The lateral lifting support plate of connection, the lifting support plate lower surface left and right sides are fixedly connected with the clamping gas being laterally arranged
The end of cylinder, the clamping cylinder connects vertical longitudinally disposed both sides clamping plate, is set again on the outer side elevation of the both sides clamping plate
It is equipped with longitudinally mounted hook cylinder, the lower end axis connection of the hook cylinder has hook, meanwhile, the hook and the both sides
It is connected further through hook shaft between clamping plate, the hook cylinder can push and pull the hook, and the hook is made to turn around the hook
The inside and outside rotation of axis.
The motor support plate lower plane is also longitudinally fixed to be connected with fixed link and guide rod, and the fixed link and guide rod are vertical
To across the lifting support plate and connectionless, the lifting support plate can move up and down along the fixed link and guide rod, described
The lower end of fixed link and guide rod is fixedly connected with lateral suction disc support plate, and the suction disc support plate is located at the lifting clamping machine
The parallel downside of structure, the suction disc support plate lower surface are fixedly connected with sucker.
The sucker is used for absorbing material, and the stepper motor is by driving the ball wire bar pair rotation described in driving
Lifting and clamping mechanism move up and down, the both sides clamping plate can by the clamping cylinder it is flexible by contract or outward open
Open, to clamp or decontrol material, the hook can by the hook cylinder it is flexible by outwardly or inwardly rotate, to hold or
Material is put down, grasping movement is completed.
Be between the motor support plate and the stepper motor, the stepper motor lower end and the ball wire bar pair it
Between be for bolt and nut connect, between the ball wire bar pair lower end and the lifting and clamping mechanism can be welding can also be spiral shell
Bolt nut connect, the ball wire bar pair and it is described laterally lifting support plate between, the lifting support plate lower surface with it is described
Between clamping cylinder, between the clamping cylinder and the both sides clamping plate, between the both sides clamping plate and the hook cylinder,
It is connected for bolt and nut.
Included angle between the both sides clamping plate and the hook cylinder being arranged outside the both sides clamping plate on side elevation
Between 0 ° -90 °.
The sucker quantity is more than 2, and is uniformly arranged on the lower surface of the suction disc support plate.
The sucker upper end is provided with vacuum control check valve.
Camera can be also set on the lifting and clamping mechanism, and the camera is electrically connected with stacking program
The principle of the robotic device is：First by sucker absorbing material（Plastics hopper or canvas bag）, in order to prevent individually
Sucker gas leakage and lead to whole system gas leakage, increase vacuum control check valve in sucker upper end, sucker is fixed in suction disc support plate,
Suction disc support plate is connected and fixed with motor support plate by fixed link, and after material is sucked in sucker, stepper motor drives ball wire
Bar pair rotates, to be exercised to the folder for behind designated position, being fixed on lifting support plate to drive lifting and clamping mechanism to move down
Tight cylinder is shunk, and is clamped material to drive the clamping plate being connected on clamping cylinder inwardly to shrink, then, is mounted on clamping plate
Hook cylinder stretches out, and so that hook is held material bottom, grasping movement finishes.
Description of the drawings
The utility model is further illustrated with example below in conjunction with the accompanying drawings
Fig. 1 is the front view of the utility model
Fig. 2 is the utility model ball wire bar pair（2）Position view
Main appended drawing reference：
1, stepper motor；2, ball wire bar pair；3, lifting and clamping mechanism；4, sucker；5, clamping cylinder；6, hook；7, hook
Sub- cylinder；8, clamping plate；9, support plate is lifted；0, fixed link；11, guide rod；12, suction disc support plate；13, vacuum control check valve；14, electric
Machine support plate；15, hook shaft.
Specific implementation mode
As depicted in figs. 1 and 2, a kind of flexible manipulator capturing plurality of specifications material unit, including fixation are provided
In the motor support plate being laterally arranged（14）The stepper motor of upper surface（1）, the stepper motor（1）Lower end passes through the motor
Support plate（14）It is connected with longitudinal ball wire bar pair（2）, and the ball wire bar pair can be driven（2）Rotation, the ball screw
It is secondary（2）Lower end is connected with lifting and clamping mechanism（3）, the lifting and clamping mechanism（3）Include and the ball wire bar pair again（2）Gu
Surely the lateral lifting support plate connected（9）, the lifting support plate（9）It is fixedly connected with lateral setting at left and right sides of lower surface
Clamping cylinder（5）, the clamping cylinder（5）The vertical longitudinally disposed both sides clamping plate of end connection（8）, the both sides clamping plate
（8）Outer side elevation on again be provided with longitudinally mounted hook cylinder（7）, the hook cylinder（7）Lower end axis connection have hook
Son（6）, meanwhile, the hook（6）With the both sides clamping plate（8）Between further through hook shaft（15）Connection, the hook gas
Cylinder（7）The hook can be pushed and pulled（6）, make the hook（6）Around the hook shaft（15）Inside and outside rotation；
The motor support plate（14）Lower plane is also longitudinally fixed to be connected with fixed link（10）And guide rod（11）, the fixation
Bar（10）And guide rod（11）Longitudinally through the lifting support plate（9）And connectionless, the lifting support plate（9）It can be along described
Fixed link（10）And guide rod（11）It moves up and down, the fixed link（10）And guide rod（11）Lower end be fixedly connected with lateral sucker
Support plate（12）, and the suction disc support plate（12）Positioned at the lifting and clamping mechanism（3）Parallel downside, the suction cup support
Plate（12）Lower surface is fixedly connected with sucker（4）；
The sucker（4）For absorbing material, the stepper motor（1）By driving the ball wire bar pair（2）Rotation
And drive the lifting and clamping mechanism（3）It moves up and down, the both sides clamping plate（8）The clamping cylinder can be passed through（5）It is flexible
And to contract or be flared out, to clamp or decontrol material, the hook（6）The hook cylinder can be passed through（7）It is flexible
And outwardly or inwardly rotate, to hold or put down material, complete grasping movement.
The motor support plate（14）With the stepper motor（1）Between, the stepper motor（1）Lower end and the ball
Screw pair（2）Between be for bolt and nut connect, the ball wire bar pair（2）Lower end and the lifting and clamping mechanism（3）It
Between can be welding can also be bolt and nut connection, the ball wire bar pair（2）With the laterally lifting support plate（9）Between, institute
State lifting support plate（9）Lower surface and the clamping cylinder（5）Between, the clamping cylinder（5）With the both sides clamping plate（8）It
Between, the both sides clamping plate（8）With the hook cylinder（7）Between, it is bolt and nut connection.
The both sides clamping plate（8）With setting in the both sides clamping plate（8）The hook cylinder on outer side elevation（7）Between
Between included angle is 0 ° -90 °.
The sucker（4）Quantity is more than 2, and is uniformly arranged on the suction disc support plate（12）Lower surface.
The sucker（4）Upper end is provided with vacuum control check valve（13）.
The lifting and clamping mechanism（3）On camera can be also set, the camera is electrically connected with stacking program.
The utility model can realize following functions：
A) plastic box of 25kg or canvas bag can be put in storage from conveyer in stacking to pallet by flexible manipulator
Operation, or de-stacking carries out Delivery on code to another pallet again from pallet；
B) by carrying camera, the verification of fixture energy automatic identification currently needs the material category captured, to call difference
Stacking program stacking is carried out to current material；
C) different material, packaging type and Package size are all different.Kind of packing is divided into plastic box and canvas bag, packaging
Size has 10 kinds, each size has a set of stacking program；
D) when outbound order sorts, different types of packaging can improve outbound efficiency with sized-multiple.
Utility model works principle is as follows：
A) plastic box is handled
I. it picks up
This puma manipulator need to be mounted on portal frame and use.After system receives gripping plastic box instruction, outside is set
Standby portal frame can move to designated position, and portal frame drives manipulator integrally to move to sucker down（4）Bottom touches plastics
Case upper surface, sucker（4）Plastics hopper is sucked, it is then past to rise to certain altitude, stepper motor（1）By driving ball screw
It is secondary（2）Rotation is to drive lifting and clamping mechanism（3）It moves down, to be exercised to behind designated position, clamping cylinder（5）It shrinks,
Make both sides clamping plate（8）Grip plastic hopper, gripping plastics hopper finish.It is then transported to portal frame according to system requirements specified
Position carries out stacking or de-stacking.
Ii. it puts down
After manipulator completes gripping action, plastic box needs stacking to specified pallet position or de-stacking to designated position.This
When, when portal frame moves to stacking or de-stacking position, clamping cylinder（5）It stretches out, makes both sides clamping plate（8）It is detached from plastics hopper,
Stepper motor（1）By driving ball wire bar pair（2）Rotation is to drive lifting and clamping mechanism（3）It up moves, portal frame band
Dynamic manipulator moves downward, until plastics material bottom portion touches plastics hopper below, sucker（4）It dies, sucker is made to be detached from
Plastics hopper, portal frame drive manipulator leaves stacking or de-stacking position, action finish.
B) canvas bag is handled
I. it picks up
After system receives gripping canvas bag instruction, external equipment portal frame can move to designated position, portal frame band
Dynamic manipulator integrally moves to sucker down（4）Bottom touches canvas bag upper surface, sucker（4）Canvas bag is sucked, it is then past
Rise to certain altitude, stepper motor（1）By driving ball wire bar pair（2）Rotation is to drive lifting and clamping mechanism（3）It is past
Lower movement, to be exercised to behind designated position, clamping cylinder（5）It shrinks, makes both sides clamping plate（8）Clamp canvas bag, hook cylinder（7）
It stretches out, makes hook（6）Canvas bag bottom is held, gripping canvas bag finishes.Finger is then transported to portal frame according to system requirements
Positioning, which is set, carries out stacking or de-stacking.
Ii. it puts down
After manipulator completes gripping action, canvas bag needs stacking to specified pallet position or de-stacking to designated position.This
When, when portal frame moves to stacking or de-stacking position, hook cylinder（7）It retracts, makes hook（6）It is detached from canvas bag bottom, folder
Tight cylinder（5）It stretches out, makes both sides clamping plate（8）It is detached from canvas bag, stepper motor（1）By driving ball wire bar pair（2）Rotation from
And drive lifting and clamping mechanism（3）It up moves, portal frame drives manipulator to move downward, until canvas bag bottom touches it
Lower section canvas bag, sucker（4）It dies, sucker is made to be detached from canvas bag, portal frame drives manipulator to leave stacking or de-stacking position, moves
It finishes.
The advantages of basic principles and main features and the utility model of the utility model have been shown and described above.One's own profession
The technical staff of industry is not it should be appreciated that the utility model is limited by above-mentioned case study on implementation, in above-mentioned case study on implementation and specification
Description only illustrates the principles of the present invention, and on the premise of not departing from the spirit and scope of the utility model, this practicality is new
Type will also have various changes and improvements, and these various changes and improvements fall within the scope of the claimed invention.
Claims (6)
1. the flexible manipulator of plurality of specifications material unit is captured a kind of, including is fixed on the motor support plate being laterally arranged
（14）The stepper motor of upper surface（1）, the stepper motor（1）Lower end passes through the motor support plate（14）It is connected with longitudinal rolling
Ballscrew pair（2）, and the ball wire bar pair can be driven（2）Rotation, the ball wire bar pair（2）Lower end is connected with lifting and clamps
Mechanism（3）, the lifting and clamping mechanism（3）Include and the ball wire bar pair again（2）The lateral lifting support plate being fixedly connected
（9）, the lifting support plate（9）It is fixedly connected with the clamping cylinder being laterally arranged at left and right sides of lower surface（5）, the clamping
Cylinder（5）The vertical longitudinally disposed both sides clamping plate of end connection（8）；
It is characterized in that the both sides clamping plate（8）Outer side elevation on again be provided with longitudinally mounted hook cylinder（7）, the hook
Sub- cylinder（7）Lower end axis connection have hook（6）, meanwhile, the hook（6）With the both sides clamping plate（8）Between further through hook
Sub- shaft（15）Connection, the hook cylinder（7）The hook can be pushed and pulled（6）, make the hook（6）Around the hook shaft
（15）Inside and outside rotation；
The motor support plate（14）Lower plane is also longitudinally fixed to be connected with fixed link（10）And guide rod（11）, the fixed link
（10）And guide rod（11）Longitudinally through the lifting support plate（9）And connectionless, the lifting support plate（9）It can be along described solid
Fixed pole（10）And guide rod（11）It moves up and down, the fixed link（10）And guide rod（11）Lower end be fixedly connected with lateral sucker branch
Fagging（12）, and the suction disc support plate（12）Positioned at the lifting and clamping mechanism（3）Parallel downside, the suction disc support plate
（12）Lower surface is fixedly connected with sucker（4）；
The sucker（4）For absorbing material, the stepper motor（1）By driving the ball wire bar pair（2）It rotates and drives
Move the lifting and clamping mechanism（3）It moves up and down, the both sides clamping plate（8）The clamping cylinder can be passed through（5）It is flexible and to
Contract is flared out, to clamp or decontrol material, the hook（6）The hook cylinder can be passed through（7）It is flexible and to
It is interior or be turned out, to hold or put down material, complete grasping movement.
2. a kind of flexible manipulator capturing plurality of specifications material unit according to claim 1, it is characterized in that described
Motor support plate（14）With the stepper motor（1）Between, the stepper motor（1）Lower end and the ball wire bar pair（2）It
Between be for bolt and nut connect, the ball wire bar pair（2）Lower end and the lifting and clamping mechanism（3）Between can be welding
But bolt and nut connects, the ball wire bar pair（2）With the laterally lifting support plate（9）Between, the lifting support plate
（9）Lower surface and the clamping cylinder（5）Between, the clamping cylinder（5）With the both sides clamping plate（8）Between, the both sides
Clamping plate（8）With the hook cylinder（7）Between, it is bolt and nut connection.
3. a kind of flexible manipulator capturing plurality of specifications material unit according to claim 1, it is characterized in that described
Both sides clamping plate（8）With setting in the both sides clamping plate（8）The hook cylinder on outer side elevation（7）Between included angle be
Between 0 ° -90 °.
4. a kind of flexible manipulator capturing plurality of specifications material unit according to claim 1, it is characterized in that described
Sucker（4）Quantity is more than 2, and is uniformly arranged on the suction disc support plate（12）Lower surface.
5. a kind of flexible manipulator capturing plurality of specifications material unit according to claim 1, characterized in that described
Sucker（4）Upper end is provided with vacuum control check valve（13）.
6. a kind of flexible manipulator capturing plurality of specifications material unit according to claim 1, characterized in that described
Lifting and clamping mechanism（3）On camera can be also set, the camera is electrically connected with stacking program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820373943.2U CN208070815U (en) | 2018-03-20 | 2018-03-20 | A kind of flexible manipulator capturing plurality of specifications material unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820373943.2U CN208070815U (en) | 2018-03-20 | 2018-03-20 | A kind of flexible manipulator capturing plurality of specifications material unit |
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| CN208070815U true CN208070815U (en) | 2018-11-09 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110027901A (en) * | 2019-04-29 | 2019-07-19 | 中国工程物理研究院化工材料研究所 | A kind of flexible holding device for more dimensions explosives |
| CN110271031A (en) * | 2019-05-09 | 2019-09-24 | 湖南视比特机器人有限公司 | A kind of lifting pinching vacuum chuck fixture and application method |
| CN110654588A (en) * | 2019-10-31 | 2020-01-07 | 厦门宏泰智能制造有限公司 | Boxing equipment and corresponding boxing method |
| CN110902380A (en) * | 2019-12-10 | 2020-03-24 | 胡见见 | Stacking manipulator |
| CN111099373A (en) * | 2019-12-31 | 2020-05-05 | 山东泰开机器人有限公司 | Wide-adaptability rotary grouping machine |
| CN111137682A (en) * | 2020-01-02 | 2020-05-12 | 合肥维信诺科技有限公司 | Clamping device, product conveying device and display panel manufacturing system |
| CN111623633A (en) * | 2020-05-20 | 2020-09-04 | 泉州市微柏工业机器人研究院有限公司 | Unstacking feeding device and smelting furnace feeding method |
| CN112660822A (en) * | 2020-12-31 | 2021-04-16 | 隆链智能科技（上海）有限公司 | Vacuum adsorption and mechanical clamping combined carrying device for intelligent warehousing |
| CN117760641A (en) * | 2023-12-22 | 2024-03-26 | 罗特液压(太仓)有限公司 | Testing device for nitrogen check valve of piston type energy accumulator |
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2018
- 2018-03-20 CN CN201820373943.2U patent/CN208070815U/en active Active
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110027901A (en) * | 2019-04-29 | 2019-07-19 | 中国工程物理研究院化工材料研究所 | A kind of flexible holding device for more dimensions explosives |
| CN110271031A (en) * | 2019-05-09 | 2019-09-24 | 湖南视比特机器人有限公司 | A kind of lifting pinching vacuum chuck fixture and application method |
| CN110271031B (en) * | 2019-05-09 | 2024-05-24 | 湖南视比特机器人有限公司 | Lifting clamping type vacuum chuck clamp and use method thereof |
| CN110654588A (en) * | 2019-10-31 | 2020-01-07 | 厦门宏泰智能制造有限公司 | Boxing equipment and corresponding boxing method |
| CN110902380B (en) * | 2019-12-10 | 2021-10-15 | 江苏永欣塑业科技有限公司 | Stacking manipulator |
| CN110902380A (en) * | 2019-12-10 | 2020-03-24 | 胡见见 | Stacking manipulator |
| CN111099373B (en) * | 2019-12-31 | 2021-09-03 | 山东泰开机器人有限公司 | Wide-adaptability rotary grouping machine |
| CN111099373A (en) * | 2019-12-31 | 2020-05-05 | 山东泰开机器人有限公司 | Wide-adaptability rotary grouping machine |
| CN111137682A (en) * | 2020-01-02 | 2020-05-12 | 合肥维信诺科技有限公司 | Clamping device, product conveying device and display panel manufacturing system |
| CN111137682B (en) * | 2020-01-02 | 2021-12-14 | 合肥维信诺科技有限公司 | Clamping device, product conveying device and display panel manufacturing system |
| CN111623633A (en) * | 2020-05-20 | 2020-09-04 | 泉州市微柏工业机器人研究院有限公司 | Unstacking feeding device and smelting furnace feeding method |
| CN111623633B (en) * | 2020-05-20 | 2022-05-06 | 福建省微柏工业机器人有限公司 | Unstacking feeding device and smelting furnace feeding method |
| CN112660822A (en) * | 2020-12-31 | 2021-04-16 | 隆链智能科技（上海）有限公司 | Vacuum adsorption and mechanical clamping combined carrying device for intelligent warehousing |
| CN117760641A (en) * | 2023-12-22 | 2024-03-26 | 罗特液压(太仓)有限公司 | Testing device for nitrogen check valve of piston type energy accumulator |
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