CN219968018U - Get and put manipulator device and automatic unloader that goes up - Google Patents
Get and put manipulator device and automatic unloader that goes up Download PDFInfo
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- CN219968018U CN219968018U CN202321119186.3U CN202321119186U CN219968018U CN 219968018 U CN219968018 U CN 219968018U CN 202321119186 U CN202321119186 U CN 202321119186U CN 219968018 U CN219968018 U CN 219968018U
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 54
- 238000006073 displacement reaction Methods 0.000 claims abstract description 9
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 210000003734 kidney Anatomy 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 8
- 238000007599 discharging Methods 0.000 abstract description 7
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a picking and placing manipulator device and an automatic feeding and discharging device, wherein the picking and placing manipulator device comprises an adsorption mechanism, a fixed seat, a driving mechanism and a locking piece, the fixed seat is connected with the adsorption mechanism, the driving mechanism is connected with the adsorption mechanism and is also movably connected with the fixed seat, so that the driving mechanism can generate displacement relative to the fixed seat, the driving mechanism comprises a hand wheel, and the locking piece is sleeved on the hand wheel and is used for locking the driving mechanism. After the relative positions of the driving mechanism and the fixed seat are regulated, the driving mechanism can be locked by the locking piece, so that the driving mechanism is prevented from generating displacement in the process of adsorbing the plate by the adsorption mechanism, the adsorption range of the adsorption mechanism in the process of adsorbing the plate is fixed, and the stability of the adsorption force of the picking and placing manipulator device is further improved.
Description
Technical Field
The utility model relates to the technical field of PCB processing, in particular to a picking and placing manipulator device.
Background
When the panel is processed, generally need adsorb the panel through getting the sucking disc of putting on the manipulator device to realize snatching and carrying of panel, and to the panel of specification difference, its area size also differs, before adsorbing, need adjust width and the length of adsorption equipment first according to the size of panel, in order to adjust adsorption equipment's adsorption range size, thereby the panel of different specifications of adaptation.
However, in the prior art, the adsorption mechanism can move in the horizontal direction under the drive of the driving piece, so that the position of the sucker in the adsorption process is deviated, and the adsorption effect is affected.
Disclosure of Invention
In order to overcome the problems of the prior art, the main object of the present utility model is to provide a manipulator device for picking and placing, which can prevent the deviation of the position of the suction cup during the suction process.
In order to achieve the above purpose, the present utility model specifically adopts the following technical scheme:
the utility model provides a picking and placing manipulator device, which comprises:
an adsorption mechanism;
the fixed seat is connected to the adsorption mechanism;
the driving mechanism is connected with the adsorption mechanism and is also movably connected with the fixing seat, so that the driving mechanism can generate displacement relative to the fixing seat, and the driving mechanism comprises a hand wheel;
the locking piece is sleeved on the hand wheel and used for locking the driving mechanism.
In some embodiments, the locking member includes a positioning portion and a locking portion, the locking portion is connected to the positioning portion, and the locking portion is provided with a locking hole, and the locking member can be sleeved on the hand wheel through the locking hole, so as to lock the driving mechanism.
In some embodiments, the locking holes are formed in a plurality, and the plurality of locking holes are uniformly distributed in the locking part along the circumferential direction of the locking part.
In some embodiments, the positioning portion is provided with a fixing hole, and the locking piece further includes a screw, and the screw can pass through the fixing hole and be in threaded connection with the fixing seat.
In some embodiments, the fixing hole is provided in a long kidney shape.
In some embodiments, the fixing seat comprises a first fixing part and a second fixing part, the driving mechanism comprises a first driving component and a second driving component, two handwheels are arranged, and the two handwheels are respectively connected with the first driving component and the second driving component;
the first fixing part is connected with the adsorption mechanism, the first driving component is connected with the adsorption mechanism, and the first driving component is also movably connected with the first fixing part, so that the first driving component and the first fixing part can move relatively in a first direction;
the second fixing part is connected with the first fixing part, the second driving assembly is connected with the adsorption mechanism, and the second driving assembly is movably connected with the second fixing part, so that the second driving assembly and the second fixing part can move relatively in a second direction, and the second direction intersects with the first direction.
In some embodiments, the first drive assembly further comprises a first rack and a first gear, the first gear is connected to the first fixed portion, the first rack is connected to the adsorption mechanism, and the first rack is meshed with the first gear;
the second driving assembly comprises a second rack and a second gear, the second gear is connected to the second fixing part, the second rack is connected to the adsorption mechanism, and the second rack is meshed with the second gear;
one of the two hand wheels is connected with the first gear, and the other hand wheel is connected with the second gear.
In some embodiments, the first driving assembly further comprises a first connecting plate, a second connecting plate and a first rack mounting seat, the second connecting plate is connected to the adsorption mechanism, two ends of the first rack mounting seat are respectively connected to the first connecting plate and the second connecting plate, and the first rack is arranged on the first rack mounting seat;
the second driving assembly further comprises a third connecting plate, a fourth connecting plate and a second rack mounting seat, the fourth connecting plate is connected to the adsorption mechanism, two ends of the second rack mounting seat are respectively connected to the third connecting plate and the fourth connecting plate, and the second rack is arranged on the second rack mounting seat.
In some embodiments, the first driving assembly further includes a first guide rod fixing seat and a first guide rod, the first guide rod fixing seat is connected to the first fixing portion, two ends of the first guide rod are respectively connected to the first connecting plate and the second connecting plate, and the first guide rod is penetrated through the first guide rod fixing seat.
In some embodiments, the second driving assembly further includes a second guide rod fixing seat and a second guide rod, the second guide rod fixing seat is connected to the second fixing portion, two ends of the second guide rod are respectively connected to the third connecting plate and the fourth connecting plate, and the second guide rod is penetrating through the second guide rod fixing seat.
Correspondingly, the utility model also provides an automatic feeding and discharging device, which comprises the picking and placing manipulator device, a feeding station and a discharging station, wherein the picking and placing manipulator device is used for conveying plates between the feeding station and the discharging station.
Compared with the prior art, the manipulator device for picking and placing comprises the adsorption mechanism, the driving mechanism and the locking piece, the fixed seat is connected to the adsorption mechanism, the driving mechanism is connected with the adsorption mechanism and is movably connected with the fixed seat, the driving mechanism can generate displacement relative to the fixed seat, the driving mechanism comprises a hand wheel, and the locking piece is sleeved on the hand wheel. After the relative positions of the driving mechanism and the fixed seat are regulated, the driving mechanism can be locked by the locking piece, so that the sucker of the adsorption mechanism is prevented from generating displacement in the process of adsorbing the plate, the adsorption range of the adsorption mechanism in the process of adsorbing the plate is fixed, and the stability of the adsorption force of the picking and placing manipulator device is further improved.
Drawings
Fig. 1 is a schematic diagram of a part of a manipulator device for picking and placing according to an embodiment of the present utility model.
Fig. 2 is a schematic diagram of connection relationships among a first fixing portion, a second fixing portion, a first driving assembly and a second driving assembly according to an embodiment of the present utility model.
Fig. 3 is a perspective view of a first fixing portion and a first driving assembly according to an embodiment of the present utility model.
Fig. 4 is another perspective view of the first fixing portion and the first driving component according to the embodiment of the present utility model.
Fig. 5 is a perspective view of a second fixing portion and a second driving assembly according to an embodiment of the present utility model.
Fig. 6 is another perspective view of the second fixing portion and the second driving assembly according to the embodiment of the present utility model.
Fig. 7 (a), fig. 7 (b), and fig. 7 (c) are schematic structural diagrams of a locking member according to an embodiment of the present utility model.
The attached drawings are identified:
1. a first fixing portion; 2. a first drive assembly; 21. a first rack mount; 22. a first connection plate; 23. a second connecting plate; 24. a first rack; 25. a first gear; 26. the first guide rod fixing seat; 27. a first guide bar; 28. a first bearing; 3. a second fixing portion; 4. a second drive assembly; 41. a second rack mount; 42. a third connecting plate; 43. a fourth connecting plate; 44. a second rack; 45. a second gear; 46. the second guide rod fixing seat; 47. a second guide bar; 48. a second bearing; 5. a locking member; 51. a locking part; 511. a locking hole; 52. a positioning part; 521. a fixing hole; 6. an adsorption mechanism; 7. a pneumatic slipway assembly; 8. a sheet material; 10. a hand wheel; 100. a fixing seat; 200. a driving mechanism.
Detailed Description
The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
In the description of the present utility model, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless explicitly specified or limited otherwise; the term "plurality" means two or more, and the term "plurality" means two or more, unless specified or indicated otherwise; the terms "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, it should be understood that the terms "upper", "lower", and the like used in the embodiments of the present utility model are described in terms of the angles shown in the drawings, and should not be construed as limiting the embodiments of the present utility model. In the context of this document, it will also be understood that when an element is referred to as being "on" or "under" another element, it can be directly on the other element or be indirectly on the other element through intervening elements.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic view of a part of a structure of a pick-and-place manipulator device according to an embodiment of the present utility model, and fig. 2 is a schematic view of a connection relationship between a first fixing portion, a second fixing portion, a first driving assembly, and a second driving assembly according to an embodiment of the present utility model. The utility model discloses a picking and placing manipulator device, which comprises an adsorption mechanism 6, a fixed seat 100 and a driving mechanism 200, wherein the fixed seat 100 comprises a first fixed part 1 and a second fixed part 3, and the driving mechanism 200 comprises a first driving component 2 and a second driving component 4. The first driving component 2 is movably connected with the first fixing part 1, so that the first driving component 2 and the first fixing part 1 can move relatively in a first direction. The second fixing part 3 is connected with the first fixing part 1, and the second driving component 4 is movably connected with the second fixing part 3, so that the second driving component 4 and the second fixing part 3 can move relatively in the second direction. The adsorption mechanism 6 is connected to the first fixing portion 1, the first driving assembly 2, and the second driving assembly 4. The first direction is the X direction in fig. 2, the second direction is the Y direction in fig. 2, and the second direction intersects the first direction, in this embodiment, the second direction is perpendicular to the first direction. When the width of the adsorption mechanism 6 is adjusted, the first driving assembly 2 and the first fixing part 1 are driven to move relatively in the first direction, and the second driving assembly 4 and the second fixing part 3 are driven to move relatively in the second direction, so that the width of the adsorption mechanism 6 in the first direction and the second direction can be adjusted, and further plates 8 with different areas can be adapted.
In order to prevent the adsorption mechanism 6 from generating displacement in the process of adsorbing the plate, the manipulator device further comprises two hand wheels 10, wherein the two hand wheels 10 are respectively connected to the first driving assembly 2 and the second driving assembly 4 and used for respectively locking the first driving assembly 2 and the second driving assembly 4.
Referring to fig. 3 and 4, fig. 3 is a perspective view of a first fixing portion and a first driving assembly according to an embodiment of the present utility model, and fig. 4 is another perspective view of the first fixing portion and the first driving assembly according to an embodiment of the present utility model. The first driving assembly 2 includes a first rack mount 21, a first guide bar fixing seat 26, a first connection plate 22, a second connection plate 23, a first rack 24, a first gear 25, a first guide bar 27, and a first bearing 28. The first guide fixing base 26 is connected to the first fixing portion 1, and the first bearing 28 is connected to the first guide fixing base 26. The two ends of the first guide rod 27 are respectively connected with the first connecting plate 22 and the second connecting plate 23, and the first guide rod 27 is arranged through the first guide rod fixing seat 26 and the first bearing 28 in a penetrating way so as to position and guide the first guide rod 27 through the first guide rod fixing seat 26 and the first bearing 28. Both ends of the first rack mount 21 are respectively connected to a first connecting plate 22 and a second connecting plate 23, and a first rack 24 is disposed on the first rack mount 21. The first gear 25 is connected to the first fixing portion 1, and the first gear 25 is engaged with the first rack gear 24. One of the handwheels 10 is connected to a first gear 25. The second connection plate 23 is connected to the adsorption mechanism 6.
Specifically, the first driving assembly 2 further includes a first stepped shaft and a first mounting seat, the first gear 25 and the corresponding hand wheel 10 are connected together through the first stepped shaft, the first mounting seat is mounted on the first stepped shaft, the first mounting seat is disposed on the first fixing portion 1, and a bearing is disposed on the first mounting seat, so that the first gear 25 and the corresponding hand wheel 10 are mounted on the first fixing portion 1.
When the hand wheel 10 connected with the first gear 25 is rotated, the hand wheel 10 drives the first gear 25 to rotate, and the first gear 25 and the first rack 24 are meshed for relative movement, so that the first fixing part 1 and the first rack 24 relatively move in the first direction, displacement of the first fixing part 1 and the first rack 24 is controlled through the corresponding hand wheel 10, and further the width of the adsorption mechanism 6 in the first direction is controlled.
In the present embodiment, two first guide rods 27 are provided, the two first guide rods 27 are located on both sides of the first gear 25, respectively, and the diameter of the first guide rod 27 is 10mm (millimeters).
Referring to fig. 5 and 6, fig. 5 is a perspective view of a second fixing portion and a second driving assembly according to an embodiment of the present utility model, and fig. 6 is another perspective view of the second fixing portion and the second driving assembly according to an embodiment of the present utility model. The second driving assembly 4 includes a second rack mount 41, a second guide bar fixing seat 46, a third connecting plate 42, a fourth connecting plate 43, a second rack 44, a second gear 45, a second guide bar 47, and a second bearing 48. The second guide fixing base 46 is connected to the second fixing portion 3, and the second bearing 48 is connected to the second guide fixing base 46. The two ends of the second guide rod 47 are respectively connected with the third connecting plate 42 and the fourth connecting plate 43, and the second guide rod 47 is arranged through the second guide rod fixing seat 46 and the second bearing 48 so as to position and guide the second guide rod 47 through the second guide rod fixing seat 46 and the second bearing 48. Both ends of the second rack mount 41 are connected to the third connecting plate 42 and the fourth connecting plate 43, respectively, and the second rack 44 is disposed on the second rack mount 41. The second gear 45 is connected to the second fixing portion 3, and the second gear 45 is meshed with the second rack 44. The other hand wheel 10 is connected to a second gear 45. The fourth connection plate 43 is connected to the adsorption mechanism 6.
Specifically, the second driving assembly 4 further includes a second stepped shaft and a second mounting seat, the second gear 45 and the corresponding hand wheel 10 are connected together through the second stepped shaft, the second mounting seat is mounted on the second stepped shaft, the second mounting seat is disposed on the second fixing portion 3, and a bearing is disposed on the second mounting seat, so that the second gear 45 and the corresponding hand wheel 10 are mounted on the second fixing portion 3.
When the hand wheel 10 connected with the second gear 45 is rotated, the hand wheel 10 drives the second gear 45 to rotate, and the second gear 45 and the second rack 44 are meshed for relative movement, so that the second fixing part 3 and the second rack 44 relatively move in the second direction, displacement of the second fixing part 3 and the second rack 44 is controlled through the corresponding hand wheel 10, and further the width of the adsorption mechanism 6 in the second direction is controlled.
In the present embodiment, two second guide rods 47 are provided, and the two second guide rods 47 are located on the same side of the second gear 45, and the diameter of the second guide rod 47 is 10mm.
With continued reference to fig. 1, the manipulator device further includes two locking members 5, where each locking member 5 is sleeved on each hand wheel 10, and is used to lock the first gear 25 and the second gear 45.
Referring to fig. 2, fig. 7 (a), fig. 7 (b) and fig. 7 (c) are schematic structural views of a locking member according to an embodiment of the present utility model. The lock 5 includes a positioning portion 52 and a locking portion 51, and the locking portion 51 is connected to the positioning portion 52. The locking portion 51 has a plurality of locking holes 511 uniformly distributed in the circumferential direction, and in this embodiment, the locking portion 51 has 8 locking holes 511 uniformly distributed in the circumferential direction, and the aperture of each locking hole 511 is set corresponding to the handle diameter of the hand wheel 10. The positioning portion 52 is provided with a 60-degree long waist-shaped fixing hole 521. When the positioning portion 52 moves left and right within the range of the fixing hole 521, the track of the 8 locking holes 511 can be distributed on the circumference of the locking portion 51 to form a circular ring, so that the hand wheel 10 can be fixed by adjusting the position of the fixing hole 521 of the locking member 5 no matter where the hand wheel 10 is located on the circumference.
In order to facilitate fixing the positioning portion 52, threaded holes are formed in the first fixing portion 1 and the second fixing portion 3, and the locking member 5 further includes a screw. In the locking process, the locking part 51 is sleeved on the hand wheel 10 through the corresponding locking hole 511, and then a screw passes through the fixing hole 521 and is in threaded connection with the threaded hole on the first fixing part 1 or the second fixing part 3.
In this embodiment, the hand wheel is used to drive the gears for rotation, it being understood that in other embodiments, a motor may be used to drive the gears for rotation.
Further, the manipulator device further comprises a pneumatic sliding table assembly 7 and a driving device, wherein the pneumatic sliding table assembly 7 is connected to the first fixing part 1, and the driving device is connected to the pneumatic sliding table assembly 7, so that the manipulator device can be driven to move through the driving device, and the plate picking and placing function is realized. When the plate is absorbed, the hand wheel 10 connected with the first gear 25 is rotated to drive the first gear 25 to rotate, so that the first gear 25 and the first rack 24 are meshed for relative movement, the first fixing part 1 and the first rack 24 are relatively moved in the first direction, and the width of the absorption mechanism 6 in the first direction is controlled. And then the hand wheel 10 connected with the second gear 45 is rotated to drive the second gear 45 to rotate, so that the second gear 45 and the second rack 44 are meshed for relative movement, the second fixing part 3 and the second rack 44 are relatively moved in the second direction, and the width of the adsorption mechanism 6 in the second direction is controlled and controlled, so that the width of the adsorption mechanism 6 in the first direction and the second direction is matched with the size of the plate to be adsorbed. Then the driving device drives the picking and placing manipulator device to do lifting motion so as to realize the function of adsorbing the plate.
In the embodiment, the gear and the rack are used for transmission, and the guide rod and the bearing are used for positioning and guiding, so that the adsorption mechanism can do linear motion, and the size of the adsorption mechanism is matched with the size of the plate.
The embodiment of the utility model also discloses an automatic feeding and discharging device which comprises the picking and placing manipulator device, a feeding station and a discharging station, wherein the picking and placing manipulator device is used for conveying plates between the feeding station and the discharging station.
The present utility model is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present utility model are intended to be included in the scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the protection scope of the claims.
Claims (11)
1. A pick-and-place manipulator device, comprising:
an adsorption mechanism;
the fixed seat is connected to the adsorption mechanism;
the driving mechanism is connected with the adsorption mechanism and is also movably connected with the fixing seat, so that the driving mechanism can generate displacement relative to the fixing seat, and the driving mechanism comprises a hand wheel;
the locking piece is sleeved on the hand wheel and used for locking the driving mechanism.
2. The manipulator device according to claim 1, wherein the locking member includes a positioning portion and a locking portion, the locking portion is connected to the positioning portion, and the locking portion is provided with a locking hole, and the locking member can be sleeved on the hand wheel through the locking hole so as to lock the driving mechanism.
3. The pick-and-place manipulator device according to claim 2, wherein a plurality of the locking holes are provided, and the plurality of the locking holes are uniformly distributed in the locking portion along a circumferential direction of the locking portion.
4. The manipulator device of claim 3, wherein the positioning portion is provided with a fixing hole, and the locking member further comprises a screw, and the screw is capable of penetrating through the fixing hole and being in threaded connection with the fixing seat.
5. The pick-and-place manipulator device of claim 4, wherein the securing aperture is configured as a long kidney.
6. The manipulator device according to claim 1, wherein the fixing base comprises a first fixing part and a second fixing part, the driving mechanism comprises a first driving component and a second driving component, two hand wheels are arranged, and the two hand wheels are respectively connected with the first driving component and the second driving component;
the first fixing part is connected with the adsorption mechanism, the first driving component is connected with the adsorption mechanism, and the first driving component is also movably connected with the first fixing part, so that the first driving component and the first fixing part can move relatively in a first direction;
the second fixing part is connected with the first fixing part, the second driving assembly is connected with the adsorption mechanism, and the second driving assembly is movably connected with the second fixing part, so that the second driving assembly and the second fixing part can move relatively in a second direction, and the second direction intersects with the first direction.
7. The pick and place robot apparatus of claim 6, wherein the first drive assembly further comprises a first rack and a first gear, the first gear is connected to the first fixed portion, the first rack is connected to the adsorption mechanism, and the first rack is engaged with the first gear;
the second driving assembly comprises a second rack and a second gear, the second gear is connected to the second fixing part, the second rack is connected to the adsorption mechanism, and the second rack is meshed with the second gear;
one of the two hand wheels is connected with the first gear, and the other hand wheel is connected with the second gear.
8. The manipulator device of claim 7, wherein the first drive assembly further comprises a first connection plate, a second connection plate, and a first rack mount, the second connection plate is connected to the adsorption mechanism, two ends of the first rack mount are respectively connected to the first connection plate and the second connection plate, and the first rack is disposed on the first rack mount;
the second driving assembly further comprises a third connecting plate, a fourth connecting plate and a second rack mounting seat, the fourth connecting plate is connected to the adsorption mechanism, two ends of the second rack mounting seat are respectively connected to the third connecting plate and the fourth connecting plate, and the second rack is arranged on the second rack mounting seat.
9. The manipulator device of claim 8, wherein the first driving assembly further comprises a first guide rod fixing seat and a first guide rod, the first guide rod fixing seat is connected to the first fixing portion, two ends of the first guide rod are respectively connected with the first connecting plate and the second connecting plate, and the first guide rod penetrates through the first guide rod fixing seat.
10. The manipulator device of claim 8, wherein the second driving assembly further comprises a second guide rod fixing seat and a second guide rod, the second guide rod fixing seat is connected to the second fixing portion, two ends of the second guide rod are respectively connected with the third connecting plate and the fourth connecting plate, and the second guide rod penetrates through the second guide rod fixing seat.
11. An automatic loading and unloading device, which is characterized by comprising a picking and placing manipulator device, a loading station and an unloading station according to any one of claims 1-10, wherein the picking and placing manipulator device is used for conveying plates between the loading station and the unloading station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321119186.3U CN219968018U (en) | 2023-05-10 | 2023-05-10 | Get and put manipulator device and automatic unloader that goes up |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321119186.3U CN219968018U (en) | 2023-05-10 | 2023-05-10 | Get and put manipulator device and automatic unloader that goes up |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219968018U true CN219968018U (en) | 2023-11-07 |
Family
ID=88597247
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321119186.3U Active CN219968018U (en) | 2023-05-10 | 2023-05-10 | Get and put manipulator device and automatic unloader that goes up |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219968018U (en) |
-
2023
- 2023-05-10 CN CN202321119186.3U patent/CN219968018U/en active Active
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