CN108674972A - Manipulator executive device - Google Patents
Manipulator executive device Download PDFInfo
- Publication number
- CN108674972A CN108674972A CN201810761482.0A CN201810761482A CN108674972A CN 108674972 A CN108674972 A CN 108674972A CN 201810761482 A CN201810761482 A CN 201810761482A CN 108674972 A CN108674972 A CN 108674972A
- Authority
- CN
- China
- Prior art keywords
- pallet
- manipulator
- bearing part
- executive device
- fixture
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- UPLPHRJJTCUQAY-WIRWPRASSA-N 2,3-thioepoxy madol Chemical compound C([C@@H]1CC2)[C@@H]3S[C@@H]3C[C@]1(C)[C@@H]1[C@@H]2[C@@H]2CC[C@](C)(O)[C@@]2(C)CC1 UPLPHRJJTCUQAY-WIRWPRASSA-N 0.000 description 1
- 235000013405 beer Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of manipulator executive devices, are related to manipulator technical field, and single bottle or single tank drinks can only be captured and carry technical problem by solving manipulator crawl fixture existing in the prior art.The device includes telescoping drive mechanism and pallet load-bearing part, telescoping drive mechanism is connected with pallet load-bearing part and pallet load-bearing part can be driven reciprocating and be moved to the position engaged with pallet and release the position engaged with pallet, the pallet can be moved and can in a second direction be moved under the drive of manipulator along first direction under the drive of the pallet load-bearing part after engaging with the pallet load-bearing part, and there are angles between the first direction and the second direction.The present invention can disposably carry more bottles in pallet or multiple tank drinks by pallet.
Description
Technical field
The present invention relates to manipulator technical fields, more particularly, to a kind of manipulator executive device.
Background technology
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.With the continuous hair of robot technology
Exhibition, application of the manipulator on industrial production line are increasingly extensive.In catering field, there are a large amount of drinks to consume daily,
Traditional manual mode of operation carries out storage picking to drinks and is easy error, and less efficient.Manipulator is introduced into drinks
Storage and outbound operation can greatly improve operating efficiency, cost-effective.
Applicants have discovered that at least there is following technical problem in the prior art：
Manipulator is introduced into catering field, the storage of drinks and outbound operation are completed by the crawl fixture of manipulator, but
This crawl fixture has a single function, and is typically only capable to that single bottle or single tank drinks are captured and carried, can not be by pallet pair
More bottles in pallet or multiple tank drinks are disposably carried.
Invention content
The purpose of the present invention is to provide manipulator executive devices, to solve manipulator crawl folder existing in the prior art
Tool can only carry out grasp handling technical problem to single bottle or single tank drinks.Preferred skill in many technical solutions provided by the invention
Many technique effects elaboration as detailed below that art scheme can be generated.
To achieve the above object, the present invention provides following technical schemes：
Manipulator executive device provided by the invention, including telescoping drive mechanism and pallet load-bearing part, telescopic drive machine
Structure be connected with pallet load-bearing part and pallet load-bearing part can be driven reciprocating and be moved to the position engaged with pallet and
The position engaged is released with pallet, the pallet can be under the drive of the pallet load-bearing part after engaging with the pallet load-bearing part
Move and can be in a second direction moved under the drive of manipulator along first direction, the first direction and the second direction it
Between there are angles.
Optionally, the telescoping drive mechanism includes the first cylinder, device body and sliding rail, and first cylinder is set to
Described device ontology rear and driving described device ontology forward movement, the sliding rail and the pallet load-bearing part are set to described
It the lower section of device body and is moved along the sliding rail, the bulge-structure of the pallet load-bearing part is matched with the through-hole structure of pallet
Engaged.
Optionally, the second cylinder drives the pallet load-bearing part to be moved in a first direction along the sliding rail.
Optionally, the pallet load-bearing part there are two and the both ends that are distributed in below described device ontology.
Optionally, the manipulator executive device further includes vacuum cup component, and the vacuum cup is set to the dress
Set the front of ontology.
Optionally, the vacuum cup component includes sucker and is set to the handgrips of device body both sides, the handgrip to
Front article is pulled back to the position being in contact with the vacuum cup after preceding stretching described device ontology, the vacuum is inhaled
Disk adsorbs the article and is carried to it.
Optionally, manipulator executive device further includes clamp assembly, and the clamp assembly is set to described device ontology
Top.
Optionally, the clamp assembly includes the first fixture and the second fixture.
Optionally, first fixture and second fixture can be moved by third cylinder along first direction, pass through
One hinge and second hinge adjust corresponding gripping angle, grip respective articles.
Optionally, further include fixture bed course outside first fixture and second fixture.
Any of the above-described technical solution can at least have the following technical effects：
Manipulator executive device can be realized by pallet load-bearing part and outer trays cooperation to more bottles or multiple tank in pallet
The disposable carrying of drinks.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is manipulator executive device vertical view；
Fig. 2 is manipulator executive device front view；
Fig. 3 is manipulator executive device upward view.
1 in figure, pallet load-bearing part；11, bulge-structure；12, sliding rail；13, the second cylinder；2, device body；3, the first gas
Cylinder；4, sucker；5, handgrip；6, clamp assembly；61, the first fixture；62, the second fixture；63, third cylinder；64, first axle；
65, second hinge；66, fixture bed course.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, technical scheme of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
As shown in Figure 1, Figure 2 and Figure 3, the present invention provides a kind of manipulator executive devices, which is characterized in that including flexible
Driving mechanism and pallet load-bearing part, telescoping drive mechanism are connected with pallet load-bearing part and pallet load-bearing part can be driven to make back and forth
It moves and is moved to the position engaged with pallet and release the position engaged, the pallet and the pallet load-bearing part with pallet
It can be moved along first direction under the drive of the pallet load-bearing part after engaging and can be under the drive of manipulator in a second direction
Mobile, there are angles between the first direction and the second direction.More bottles or multiple tank drinks can be placed in pallet, pass through support
The movement of disk load-bearing part in a first direction engages with pallet realization, and preferable fixed effect can be reached by being connected together, then be passed through
The drive of manipulator is moved in a second direction, since there are angles can realize each between first direction and the second direction
The movement in direction, and then more bottles in pallet or multiple tank drinks are disposably carried, improve operating efficiency.
Optionally embodiment, the telescoping drive mechanism include the first cylinder, device body and sliding rail, and described the
One cylinder is set to described device ontology rear and driving described device ontology moves forward, the sliding rail and pallet carrying
Part is set to the lower section of described device ontology and is moved along the sliding rail, the bulge-structure of the pallet load-bearing part and leading to for pallet
Pore structure, which matches, to be engaged, and the second cylinder drives the pallet load-bearing part to be moved in a first direction along the sliding rail.First
Cylinder driver ontology moves forward operating space and the range that can increase manipulator executive device, improves manipulator
The scope of application；Pallet load-bearing part is moved along sliding rail can reduce frictional force, improve the transfer efficiency of cylinder；Pallet load-bearing part
The through-hole structure of bulge-structure and pallet has three pairs of realizations to be connected together, and mutual cooperation can improve pallet load-bearing part and connect with pallet
It the stability that connects and is easier to release this connection, the carrying operation of utility tray load-bearing part improves operating efficiency.
Optionally embodiment, the pallet load-bearing part there are two and be distributed in below described device ontology two
The pallet load-bearing part at end, the left and right sides can realize more preferable cooperation with pallet, further improve the stability of interconnection, energy
It enough allows manipulator executive device held stationary in the handling process, the rolling of bottle or drinks tank in moving process is avoided to fall.
Optionally embodiment, the manipulator executive device further include vacuum cup component, the vacuum cup
It is set to the front of described device ontology, vacuum cup component can realize the carrying to drinks case or other the square items, improve
The diversity of manipulator executive device operation article.
Optionally embodiment, the vacuum cup component include sucker and are set to grabbing for device body both sides
Hand, the handgrip pull back front article to the position being in contact with the vacuum cup after forward extending out described device ontology
It sets, the vacuum cup adsorbs the article and carried to it.For the article that cannot be in direct contact with sucker, handgrip energy
It is enough that these articles farther out are pulled to position contact with vacuum cup, so vacuum cup in the case where atmospheric pressure is acted on article
It is kept in contact to which there are larger frictional force in vertical position, realizes the carrying of respective articles.
Optionally embodiment, manipulator executive device further include clamp assembly, and the clamp assembly includes first
Fixture and the second fixture, are set to the top of described device ontology.Clamp assembly can be realized to the fast of bottle or drinks tank
Speed gripping, improves the operating efficiency for taking out bottle or drinks tank, has saved cost, while the arcuate structure of inside can expand
Big fixture and bottle or the contact area of drinks tank, avoid sliding.
Optionally embodiment, first fixture and second fixture can be by third cylinders along first direction
It is mobile, corresponding gripping angle is adjusted by first axle and second hinge, grips respective articles.When fixture works, first by the
Three cylinders release forward fixture, corresponding with the position of article is taken, then are adjusted and opened by first axle and second hinge
With the angle of closure, convenient for gripping different bottle mouth size drinks, such as it is canned can happy bottled beer.
Further include fixture bed course, fixture outside optionally embodiment, first fixture and second fixture
Bed course can prevent chuck force from spending havoc bottle or drinks tank, and can increase the area of contact surface, and it is anti-to improve frictional force
The bottle or drinks tank only gripped slides.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of manipulator executive device, which is characterized in that including telescoping drive mechanism and pallet load-bearing part, telescopic drive machine
Structure be connected with pallet load-bearing part and pallet load-bearing part can be driven reciprocating and be moved to the position engaged with pallet and
The position engaged is released with pallet, the pallet can be under the drive of the pallet load-bearing part after engaging with the pallet load-bearing part
Move and can be in a second direction moved under the drive of manipulator along first direction, the first direction and the second direction it
Between there are angles.
2. manipulator executive device according to claim 1, which is characterized in that the telescoping drive mechanism includes the first gas
Cylinder, device body and sliding rail, first cylinder are set to described device ontology rear and drive described device ontology to Forward
Dynamic, the sliding rail and the pallet load-bearing part are set to the lower section of described device ontology and are moved along the sliding rail, the pallet
The bulge-structure of load-bearing part is matched with the through-hole structure of pallet to be engaged.
3. manipulator executive device according to claim 2, which is characterized in that the second cylinder drives the pallet load-bearing part
It is moved in a first direction along the sliding rail.
4. manipulator executive device according to claim 1, which is characterized in that there are two the pallet load-bearing parts and is distributed
Both ends below described device ontology.
5. manipulator executive device according to claim 2, which is characterized in that the manipulator executive device further includes true
Empty Suction cup assembly, the vacuum cup are set to the front of described device ontology.
6. manipulator executive device according to claim 5, which is characterized in that the vacuum cup component include sucker and
Be set to the handgrip of device body both sides, the handgrip forward extend out after described device ontology by front article pull back to
The position that the vacuum cup is in contact, the vacuum cup adsorb the article and are carried to it.
7. manipulator executive device according to claim 2, which is characterized in that manipulator executive device further includes fixture group
Part, the clamp assembly are set to the top of described device ontology.
8. manipulator executive device according to claim 7, which is characterized in that the clamp assembly include the first fixture and
Second fixture.
9. manipulator executive device according to claim 8, which is characterized in that first fixture and second fixture
It can be moved along first direction by third cylinder, corresponding gripping angle adjusted by first axle and second hinge, gripping is corresponding
Article.
10. manipulator executive device according to claim 9, which is characterized in that first fixture and second folder
It further includes fixture bed course that tool is external.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810761482.0A CN108674972A (en) | 2018-07-11 | 2018-07-11 | Manipulator executive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810761482.0A CN108674972A (en) | 2018-07-11 | 2018-07-11 | Manipulator executive device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108674972A true CN108674972A (en) | 2018-10-19 |
Family
ID=63813624
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810761482.0A Pending CN108674972A (en) | 2018-07-11 | 2018-07-11 | Manipulator executive device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108674972A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110733683A (en) * | 2019-11-15 | 2020-01-31 | 山东新华医疗器械股份有限公司 | Boxing equipment for kinds of glass bottles and boxing method thereof |
| CN113349615A (en) * | 2020-03-04 | 2021-09-07 | 青岛海信商用显示股份有限公司 | Intelligent logistics terminal |
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|---|---|---|---|---|
| CN204078691U (en) * | 2014-09-24 | 2015-01-07 | 邓丽君 | A kind of linear slide formula pallet feeder |
| CN204660681U (en) * | 2015-04-29 | 2015-09-23 | 长沙瑞翔科技有限公司 | Sample dish conveyer |
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| CN107160376A (en) * | 2017-05-31 | 2017-09-15 | 嘉善宝狐服饰有限公司 | A kind of mechanical hand of nonstandard automatic disc filling |
| CN107283436A (en) * | 2017-06-16 | 2017-10-24 | 湖北文理学院 | A kind of truss-like autonomous meal delivery robot |
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| CN207155828U (en) * | 2017-07-12 | 2018-03-30 | 安徽大地环保科技有限公司 | A kind of manipulator of double bevel Wedge-type crawl tubing |
| CN108145734A (en) * | 2017-12-26 | 2018-06-12 | 浙江勃嘉工业自动化有限公司 | A kind of easy-to-dismount automatic mechanical hand |
| CN207549349U (en) * | 2017-11-08 | 2018-06-29 | 广州市金翰机械有限公司 | A kind of injection taking mechanical hand |
| CN208732072U (en) * | 2018-07-11 | 2019-04-12 | 海底捞控股有限公司 | Manipulator executive device |
-
2018
- 2018-07-11 CN CN201810761482.0A patent/CN108674972A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204078691U (en) * | 2014-09-24 | 2015-01-07 | 邓丽君 | A kind of linear slide formula pallet feeder |
| CN204660681U (en) * | 2015-04-29 | 2015-09-23 | 长沙瑞翔科技有限公司 | Sample dish conveyer |
| CN105107691A (en) * | 2015-09-02 | 2015-12-02 | 镇江泛沃汽车零部件有限公司 | Manipulator for coating detection gears in steering wheel power-assisted steering system with oil |
| CN206927244U (en) * | 2017-05-02 | 2018-01-26 | 庄敏珍 | A kind of frequency converter conveying arrangement |
| CN107160376A (en) * | 2017-05-31 | 2017-09-15 | 嘉善宝狐服饰有限公司 | A kind of mechanical hand of nonstandard automatic disc filling |
| CN107283436A (en) * | 2017-06-16 | 2017-10-24 | 湖北文理学院 | A kind of truss-like autonomous meal delivery robot |
| CN207155828U (en) * | 2017-07-12 | 2018-03-30 | 安徽大地环保科技有限公司 | A kind of manipulator of double bevel Wedge-type crawl tubing |
| CN207549349U (en) * | 2017-11-08 | 2018-06-29 | 广州市金翰机械有限公司 | A kind of injection taking mechanical hand |
| CN108145734A (en) * | 2017-12-26 | 2018-06-12 | 浙江勃嘉工业自动化有限公司 | A kind of easy-to-dismount automatic mechanical hand |
| CN208732072U (en) * | 2018-07-11 | 2019-04-12 | 海底捞控股有限公司 | Manipulator executive device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110733683A (en) * | 2019-11-15 | 2020-01-31 | 山东新华医疗器械股份有限公司 | Boxing equipment for kinds of glass bottles and boxing method thereof |
| CN110733683B (en) * | 2019-11-15 | 2023-12-15 | 山东新华医疗器械股份有限公司 | Boxing equipment for loading and supporting glass bottles and boxing method thereof |
| CN113349615A (en) * | 2020-03-04 | 2021-09-07 | 青岛海信商用显示股份有限公司 | Intelligent logistics terminal |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181019 |
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| RJ01 | Rejection of invention patent application after publication |