Feeding and discharging manipulator device

Abstract

The utility model belongs to the technical field of feeding and discharging mechanical arms, and discloses a feeding and discharging mechanical arm device which comprises a base and an installation adjusting plate, the installation adjusting plate is arranged at the upper end of the base, the base is provided with a longitudinal displacement assembly and a transverse displacement assembly, and the longitudinal displacement assembly is connected with the transverse displacement assembly in a sliding mode. The lower end of the transverse displacement assembly is connected with the clamping assembly, the width size of the longitudinal displacement assembly is smaller than or equal to that of the base, and the width size of the transverse displacement assembly is smaller than or equal to that of the longitudinal displacement assembly. Through cooperation, the clamping assembly located at the lower end of the transverse displacement assembly can move in different spatial orientations and conduct accurate clamping or putting down operation on a product, and the mechanical arm can operate at different heights through vertical movement of the longitudinal displacement assembly. And front-back movement of the transverse displacement assembly ensures that the manipulator can reach different horizontal positions, so that the loading and unloading tasks of the products are completed.

Description

Technical Field

[0001] The utility model relates to the technical field of loading and unloading manipulators, and particularly relates to a loading and unloading manipulator device. Background Art

[0002] In modern assembly lines, the application of automated equipment is becoming more and more widespread. Especially in the loading and unloading process of fragile products such as wine bottles, the use of manipulator devices has greatly improved production efficiency and product quality. However, the existing manipulator devices usually need to pass through tooling to clamp products for loading and unloading in design. Although this design can achieve relatively precise operations, there are also some obvious deficiencies.

[0003] The loading and unloading manipulator devices in the prior art usually consist of multiple parts such as a transmission mechanism, a positioning structure, and a fixture structure. These parts cooperate closely to complete the loading and unloading operations of products. However, due to the relatively complex design of these structures, the overall volume of the device is large, which requires more production line space and cannot adapt to narrow space operations. Therefore, other fixtures need to be replaced to meet the operation requirements, thereby reducing the overall efficiency of the production line.

[0004] Therefore, a loading and unloading manipulator device is proposed to solve the above problems. Content of the Utility Model

[0005] The main purpose of the utility model is to provide a loading and unloading manipulator device, aiming to solve the problem that the existing manipulator device occupies a large space and needs to replace fixtures to adapt to the operation in a narrow space, thereby reducing the overall efficiency of the production line.

[0006] To achieve the above utility model purpose, the utility model proposes a loading and unloading manipulator device, including a base and a mounting and adjusting plate. The mounting and adjusting plate is arranged at the upper end of the base. A longitudinal displacement component and a transverse displacement component are arranged on the base. The longitudinal displacement component is slidably connected to the transverse displacement component. A clamping component is connected to the lower end of the transverse displacement component. The width dimension of the longitudinal displacement component is less than or equal to the width dimension of the base. The width dimension of the transverse displacement component is less than or equal to the width dimension of the longitudinal displacement component.

[0007] When the longitudinal displacement component makes a reciprocating motion in the vertical direction and the transverse displacement component makes a transverse reciprocating motion, the clamping component clamps or releases the product.

[0008] Further, the longitudinal displacement assembly includes a lifting mounting plate, a lifting driving member, and a sliding seat. The sliding seat is disposed on the base and fixedly connected to the base. The lifting mounting plate is slidably connected to the sliding seat. The lifting driving member is disposed at the lower end of the lifting mounting plate and is used to drive the lifting mounting plate to reciprocate on the sliding seat.

[0009] Further, the transverse displacement assembly includes a displacement mounting plate, a displacement driving module, and a moving member disposed on the displacement mounting plate. The displacement mounting plate is fixedly connected to the lifting mounting plate. The displacement driving module is connected to the moving member and is used to drive the moving member to reciprocate horizontally.

[0010] Further, the moving member includes a positioning plate and a connecting rod. The positioning plate is connected to the displacement driving module. One end of the connecting rod is connected to the positioning plate, and the other end of the connecting rod is connected to the clamping assembly.

[0011] Further, the displacement mounting plate is provided with a limiting groove, and the connecting rod is located in the limiting groove to limit the movement distance of the connecting rod.

[0012] Further, the clamping assembly includes a clamping mounting post, a clamping driving module, and clamping jaws. The clamping driving module is disposed between the clamping mounting post and the clamping jaws and is used to control the clamping or opening of the clamping jaws.

[0013] Beneficial effects:

[0014] A loading and unloading manipulator device of the present utility model includes a base and a mounting and adjusting plate. The mounting and adjusting plate is disposed at the upper end of the base. A longitudinal displacement assembly and a transverse displacement assembly are provided on the base. The longitudinal displacement assembly is slidably connected to the transverse displacement assembly. A clamping assembly is connected to the lower end of the transverse displacement assembly. The width dimension of the longitudinal displacement assembly is less than or equal to the width dimension of the base, and the width dimension of the transverse displacement assembly is less than or equal to the width dimension of the longitudinal displacement assembly. The longitudinal displacement assembly, the transverse displacement assembly, and the clamping assembly cooperate with each other to complete the loading and unloading process of the product. This cooperation enables the clamping assembly located at the lower end of the transverse displacement assembly to move in different spatial orientations and perform precise clamping or placing operations on the product. The up and down movement of the longitudinal displacement assembly enables the manipulator to operate at different heights, and the front and back movement of the transverse displacement assembly ensures that the manipulator can reach different horizontal positions, thereby completing the loading and unloading tasks of the product.

[0015] The volume of the device is effectively reduced through the sliding connection between components, enabling the device to flexibly complete loading and unloading operations in a narrow space. Since the clamping component can move freely in both the longitudinal and transverse directions, the device can accurately position and clamp the product, avoiding the inconvenience of operation caused by limited space. Such a structural design effectively overcomes the problems of large space occupation and limited operation of traditional manipulator devices, improving the efficiency and adaptability of the production line. Brief Description of the Drawings

[0016] Figure 1 is a schematic diagram of the overall structure of the loading and unloading manipulator device according to an embodiment of the present invention;

[0017] Figure 2 is a front view of the loading and unloading manipulator device according to an embodiment of the present invention;

[0018] Wherein:

[0019] 1. Base;

[0020] 2. Installation and adjustment plate;

[0021] 3. Lifting installation plate; 31. Sliding seat; 311. Slide rail; 312. Slide block; 32. Driving installation seat; 33. Lifting lead screw; 34. Moving part; 341. Positioning plate; 342. Connecting rod;

[0022] 4. Displacement installation plate; 41. Limit groove;

[0023] 5. Displacement driving module;

[0024] 6. Positioning hole;

[0025] 7. Clamping component;

[0026] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments

[0027] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present utility model, "a plurality of" means two or more, unless otherwise specifically and clearly defined.

[0029] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected" and "coupled" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection, a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0030] In the present utility model, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0031] Refer to Figures 1 to 2, an embodiment of a utility model is a loading and unloading manipulator device, which includes a base 1 and a mounting and adjusting plate 2. The mounting and adjusting plate 2 is arranged at the upper end of the base 1. A longitudinal displacement component and a transverse displacement component are arranged on the base 1. The longitudinal displacement component is slidably connected to the transverse displacement component. A clamping component 7 is connected to the lower end of the transverse displacement component. The width dimension of the longitudinal displacement component is less than or equal to the width dimension of the base 1, and the width dimension of the transverse displacement component is less than or equal to the width dimension of the longitudinal displacement component;

[0032] When the longitudinal displacement component makes a reciprocating motion in the vertical direction and the transverse displacement component makes a reciprocating motion in the horizontal direction, the clamping component 7 clamps or places the product.

[0033] The base 1 is the support structure of the whole device. The design of the base 1 provides a stable operation platform. The mounting and adjusting plate 2 is fixedly connected to the base 1, and the two jointly form a U-shaped groove. The longitudinal displacement component, the transverse displacement component and the clamping component 7 are installed in the U-shaped groove. Among them, the width dimension of the longitudinal displacement component is less than the width dimension of the base 1, and the width dimension of the transverse displacement component is less than the width dimension of the longitudinal displacement component;

[0034] The longitudinal displacement component is arranged on the base 1 and is used to realize the vertical movement of the manipulator. The transverse displacement component is slidably connected to the moving displacement component and is used to realize the horizontal movement of the manipulator; the clamping component 7 is connected to the lower end of the transverse displacement component and is used to directly clamp and place the product. Under the action of the longitudinal displacement component and the transverse displacement component, the clamping component 7 can move freely in both the longitudinal and transverse directions and cooperate with other mechanisms to complete precise loading and unloading operations.

[0035] When starting the operation, the longitudinal displacement component first makes a movement in the vertical direction to adjust the height of the manipulator to avoid the assembly line; subsequently, the transverse displacement component makes a movement in the horizontal direction so that the clamping component 7 can move to the accurate product position; after the clamping component 7 reaches the target position, it performs the clamping or placing action to complete the precise clamping or placing of the product; through this longitudinal and transverse combined movement, the manipulator can flexibly complete the operation in a narrow space.

[0036] The sliding connection between the components effectively reduces the volume of the device, enabling the device to flexibly complete the loading and unloading operation in a narrow space. Since the clamping component 7 can move freely in both the longitudinal and transverse directions, the device can accurately position and clamp the product, avoiding the inconvenience of operation caused by limited space.

[0037] The longitudinal displacement assembly includes a lifting mounting plate 3, a lifting driving member, and a sliding seat 31. The sliding seat 31 is disposed on the base 1 and fixedly connected to the base 1. The lifting mounting plate 3 is slidably connected to the sliding seat 31. The lifting driving member is disposed at the lower end of the lifting mounting plate 3 and is used to drive the lifting mounting plate 3 to reciprocate on the sliding seat 31.

[0038] The sliding seat 31 includes a slide rail 311 and a slider 312. The slide rail 311 is installed on both sides in the length direction of the base 1. The slider 312 is slidably connected to the slide rail 311. A spring strip is provided on one side of the slider 312 connected to the slide rail 311. A plurality of groups of positioning holes 6 are uniformly arranged on the slide rail 311. When the slider 312 moves to a preset position, the spring strip will be inserted into the corresponding positioning hole 6 under the action of elastic force, thereby locking the position of the slider 312. Controlled by the control component, the slider 312 moves to the required preset position. After reaching the target position, the spring strip is inserted into the corresponding positioning hole 6 to lock the slider 312, ensuring that the longitudinal displacement assembly will not move under the influence of vibration or other external forces during operation.

[0039] The above uses a spring loading mechanism to fix the slider 312. In this embodiment, a magnetic locking mechanism can also be used. This mechanism uses the attraction of a magnet to fix the position of the slider 312. Magnets can be embedded in the positioning holes 6 on the slide rail 311. When the slider 312 moves to a specific position, the magnetic material on the slider 312 will be attracted by the magnet on the slide rail 311, thereby achieving locking. This mechanism can achieve locking without physical contact, has a fast response speed, and less wear, and is particularly suitable for some applications that require rapid positioning and frequent movement, such as automated assembly lines or the adjustment of certain precision instruments. In addition, a wedge locking mechanism can also be used. Wedge locking usually involves a wedge member. When the wedge member is knocked in or pushed in, it will lock the slider 312 on the slide rail 311 due to the wedge angle. Such a mechanism has a simple structure and low cost and is suitable for occasions that require strong locking. In addition to the above several locking mechanisms, a pneumatic locking mechanism, an optoelectronic locking mechanism, or a mechanical locking mechanism can also be used.

[0040] The lifting mounting plate 3 is slidably connected to the slide rail 311 through the slider 312. When the slider 312 moves, the lifting mounting plate 3 also moves accordingly. The lifting driving member is disposed at the lower end of the lifting mounting plate 3 and is used to lift the lifting mounting plate 3 upward or drive it downward. The lifting driving member includes a driving mounting seat 32, a lifting lead screw 33, and a driving motor. The driving mounting seat 32 is fixedly connected to the base 1. The lifting lead screw 33 is disposed between the driving mounting seat 32 and the driving motor. When the driving motor rotates forward, the lead screw rotates, and the lifting mounting plate 3 moves upward. When the driving source rotates in reverse, the lead screw rotates in the reverse direction, and the lifting mounting plate 3 moves downward.

[0041] The lateral displacement assembly includes a displacement mounting plate 4, a displacement driving module 5 and a moving member 34 provided on the displacement mounting plate 4. The displacement mounting plate 4 is fixedly connected to the lifting mounting plate 3. The displacement driving module 5 is connected to the moving member 34 and is used to drive the moving member 34 to perform a reciprocating lateral movement.

[0042] The moving member 34 includes a positioning plate 341 and a connecting rod 342. The positioning plate 341 is connected to the displacement driving module 5. One end of the connecting rod 342 is connected to the positioning plate 341, and the other end of the connecting rod 342 is connected to the clamping assembly 7.

[0043] The displacement mounting plate 4 is provided with a limiting groove 41. The connecting rod 342 is located in the limiting groove 41 and is used to limit the movement distance of the connecting rod 342.

[0044] The displacement driving module 5 includes a driving module, a sliding seat and a sliding block. The sliding seat is arranged on the displacement mounting plate 4. One end of the sliding block is connected to the positioning plate 341, and the other end is slidably connected to the sliding seat. Correspondingly, the other end of the positioning plate 341 is connected to the connecting rod 342, and the other end of the connecting rod 342 is connected to the clamping assembly 7. When the driving module operates, it drives the sliding block to slide on the sliding seat, thereby driving the clamping assembly 7 to perform a reciprocating movement in the lateral direction. This setting enables the manipulator device to achieve precise displacement in the lateral direction, thereby improving the operation accuracy and efficiency in the entire loading and unloading process.

[0045] A limiting groove 41 is formed on the displacement mounting plate 4. Under the action of the sliding block and the sliding seat, the connecting rod 342 moves in the limiting groove 41. The purpose of setting the limiting groove 41 is to limit the maximum moving distance of the connecting rod 342. When the connecting rod 342 moves to the edge of the limiting groove 41, the boundary in the groove will limit its further movement, thereby preventing the connecting rod 342 from sliding out of the working range of the device. The design of the limiting groove 41 not only protects the device but also ensures that the clamping assembly 7 can perform precise operations within a reasonable range, avoiding deviations or failures when clamping or releasing products.

[0046] The clamping assembly 7 includes a clamping mounting column, a clamping driving module and clamping jaws. The clamping driving module is arranged between the clamping mounting column and the clamping jaws and is used to control the clamping or opening of the clamping jaws.

[0047] The manipulator device is provided with a mounting block for installing the clamping driving module. Specifically, one end of the clamping mounting column is connected to the connecting rod 342, and the other end is connected to the mounting block. The fixed end of the clamping driving module is fixedly connected to the mounting block, and the driving end is connected to the clamping jaws and is used to control the clamping or opening of the clamping jaws.

[0048] Through the coordinated operation of the longitudinal and lateral displacement components, the device enables the manipulator to move freely in both the vertical and horizontal directions. When the operation is started, the movement in the vertical direction is carried out first to adjust the height and avoid the assembly line. Subsequently, the movement in the horizontal direction is carried out to accurately position the clamping component 7 at the product position. After the clamping component 7 reaches the target position, the clamping jaws are controlled by the clamping drive module to perform the clamping or releasing operation, completing the entire loading and unloading process.

[0049] The above are only the preferred embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present utility model, or directly or indirectly applied to other related technical fields, shall equally be included in the patent protection scope of the present utility model.

Claims

1. A loading and unloading manipulator device, characterized in that, It includes a base (1) and a mounting and adjusting plate (2). The mounting and adjusting plate (2) is arranged at the upper end of the base (1). A longitudinal displacement assembly and a transverse displacement assembly are provided on the base (1). The longitudinal displacement assembly is slidably connected to the transverse displacement assembly. A clamping assembly (7) is connected to the lower end of the transverse displacement assembly. The width dimension of the longitudinal displacement assembly is less than or equal to the width dimension of the base (1). The width dimension of the transverse displacement assembly is less than or equal to the width dimension of the longitudinal displacement assembly. When the longitudinal displacement assembly makes a reciprocating motion in the vertical direction and the transverse displacement assembly makes a reciprocating motion in the transverse direction, the clamping assembly (7) clamps or releases the product.

2. The loading and unloading manipulator device according to claim 1, characterized in that, The longitudinal displacement assembly includes a lifting and mounting plate (3), a lifting driving member, and a sliding seat (31). The sliding seat (31) is arranged on the base (1) and is fixedly connected to the base (1). The lifting and mounting plate (3) is slidably connected to the sliding seat (31). The lifting driving member is arranged at the lower end of the lifting and mounting plate (3) and is used to drive the lifting and mounting plate (3) to make a reciprocating motion on the sliding seat (31).

3. The loading and unloading manipulator device according to claim 2, characterized in that, The transverse displacement assembly includes a displacement mounting plate (4), a displacement driving module (5) arranged on the displacement mounting plate (4), and a moving member (34). The displacement mounting plate (4) is fixedly connected to the lifting and mounting plate (3). The displacement driving module (5) is connected to the moving member (34) and is used to drive the moving member (34) to make a reciprocating motion in the transverse direction.

4. The loading and unloading manipulator device according to claim 3, characterized in that, The moving member (34) includes a positioning plate (341) and a connecting rod (342). The positioning plate (341) is connected to the displacement driving module (5). One end of the connecting rod (342) is connected to the positioning plate (341), and the other end of the connecting rod (342) is connected to the clamping assembly (7).

5. The loading and unloading manipulator device according to claim 4, characterized in that The displacement mounting plate (4) is provided with a limiting groove (41). The connecting rod (342) is located in the limiting groove (41) and is used to limit the movement distance of the connecting rod (342).

6. The loading and unloading manipulator device according to claim 1, characterized in that The clamping assembly (7) includes a clamping mounting column, a clamping driving module, and clamping jaws. The clamping driving module is arranged between the clamping mounting column and the clamping jaws and is used to control the clamping or opening of the clamping jaws.

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