CN102009409A - Two-arm manipulator device - Google Patents

Two-arm manipulator device Download PDF

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Publication number
CN102009409A
CN102009409A CN2009101952769A CN200910195276A CN102009409A CN 102009409 A CN102009409 A CN 102009409A CN 2009101952769 A CN2009101952769 A CN 2009101952769A CN 200910195276 A CN200910195276 A CN 200910195276A CN 102009409 A CN102009409 A CN 102009409A
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CN
China
Prior art keywords
arm
connecting rod
dual
anchor clamps
rod
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Granted
Application number
CN2009101952769A
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Chinese (zh)
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CN102009409B (en
Inventor
李春平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiashan Fujitech Plastic Co ltd
Original Assignee
SHANGHAI FUJITECH PLASTIC CO Ltd
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Publication date
Application filed by SHANGHAI FUJITECH PLASTIC CO Ltd filed Critical SHANGHAI FUJITECH PLASTIC CO Ltd
Priority to CN 200910195276 priority Critical patent/CN102009409B/en
Publication of CN102009409A publication Critical patent/CN102009409A/en
Application granted granted Critical
Publication of CN102009409B publication Critical patent/CN102009409B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The invention relates to a two-arm manipulator device, which comprises a fixed base, a rotary cylinder, a take-out arm, a descending cylinder, a pull guide arm, a powerful clamp, an adjustable connecting rod and an adjustable sucker clamp. The rotary cylinder is arranged on the fixed base, the take-out arm is connected to the rotary cylinder, the descending cylinder is arranged at one end of the take-out arm, the pull guide arm is connected with the take-out arm, the powerful clamp is connected with the descending cylinder, the adjustable connecting rod is connected with the powerful clamp and the adjustable sucker clamp is arranged on the adjustable connecting rod. Compared with prior art, by the take-out program and function of the original manipulator, the invention plays a role of additionally arranging a small arm by additionally arranging a length-adjustable connecting rod, thereby achieving the take-out effect of the two-arm manipulator so as to meet the automatic production process.

Description

A kind of dual-arm robot equipment
Technical field
The present invention relates to a kind of manipulator equipment, especially relate to a kind of dual-arm robot equipment.
Background technology
At present, the many injection mo(u)lding processing factories of China all select to be equipped with manipulator and realize full automatic production process.Thereby reach reduce labor intensity, the purpose of saving personnel, improve production efficiency and product quality.But what all manipulator production firms mostly produced is the standard type, promptly draws/gripping product or the mouth of a river (running channel) by different mode standards or instruction and editable pattern.The common manipulator that has two types: single armed manipulator and dual-arm robot.And on an injection machine one type manipulator can only be installed.If what our injection machine was installed at the beginning is exactly single armed manipulator (considering the cost problem), can our later production run and automatically just be subjected to certain restriction.During three template dies that can not drop automatically for the production mouth of a river, we just can not open fully-automatic production.Because for the single armed manipulator, it can only select to take the product or the mouth of a river, and can not take the simultaneously product and the mouth of a river.If we must run fully-automatic production, then need to revise mould or be replaced with dual-arm robot, this means again need pay a higher extra charge.Also need delivery and set-up time about at least one week simultaneously.
Summary of the invention
Purpose of the present invention is exactly to provide a kind of improvement cost low, easy-to-disassemble and assemble dual-arm robot equipment for the defective that overcomes above-mentioned prior art existence.
Purpose of the present invention can be achieved through the following technical solutions:
A kind of dual-arm robot equipment, it is characterized in that, this equipment comprises holder, rotary cylinder, take out arm, the decline cylinder, the pulling leading arm, strong holding device, connecting rod can be regulated and the sucker anchor clamps can be regulated, described rotary cylinder is located on the holder, described taking-up arm is connected on the rotary cylinder, described decline cylinder is located at an end that takes out arm, described pulling leading arm is connected with the taking-up arm, described strong holding device is connected with the decline cylinder, the described connecting rod of regulating is connected with strong holding device, and the described sucker anchor clamps of regulating are located at and can regulate on the connecting rod.
The described connecting rod of regulating comprises master connecting-rod, slave connecting rod and set bolt, and described master connecting-rod is connected with strong holding device, described slave connecting rod with can regulate the sucker anchor clamps and be connected, described set bolt connects master connecting-rod and slave connecting rod.
Described master connecting-rod is made by aluminium.
Described slave connecting rod is made by aluminium.
The described sucker anchor clamps of regulating comprise fixed head, gold utensil and sucker anchor clamps, described fixed head with can regulate connecting rod and be connected, described gold utensil and sucker anchor clamps are located on the fixed head, connect product.
Described fixed head adopts non-metallic plates to make.
Described non-metallic plates comprises bakelite plate.
Compared with prior art, the present invention has utilized the taking-up formula and the function of original manipulator, play the purpose that increases a little arm by the connecting rod that installs an adjustable length additional, thereby reach the taking-up effect of dual-arm robot, produce full automatic production process to satisfy, and have the following advantages:
(1) improvement cost is very low: the price of homemade in the market small-sized single armed manipulator is also more than RMB13000 unit, the price of the dual-arm robot of deep low gear corresponding with it is then up to more than the RMB25000 unit, and the expense of repacking is no more than RMB1000 unit;
(2) the transformation time is short: this repacking does not need the device fabrication merchant to participate in carrying out, do not need special process equipment (milling machine can be finished) yet, can in the company of oneself, just can finish all repacking processing fully, add the time of debugging, just can finish in one day;
(3) easy disassembling: as long as load onto the connecting rod that increases an adjustable length during use, connect simultaneously and go up corresponding tracheae and detection signal, mix up again highly and extracting position has just been finished, not the time spent, adjustable link is pulled down just.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Among the figure 1 for holder, 2 for rotary cylinder, 3 for take out arm, 4 for the decline cylinder, 5 for pulling guiding arm, 6 for strong holding device, 7 for can regulate connecting rod, 8 for can regulate the sucker anchor clamps, 71 for master connecting-rod, 72 for slave connecting rod, 73 for bolt, 81 for fixed head, 82 for sucker gold utensil, 83 be anchor clamps
The specific embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
Embodiment
A kind of dual-arm robot equipment, its structure as shown in Figure 1, this equipment comprises holder 1, rotary cylinder 2, pulling leading arm 3, decline cylinder 4, takes out arm 5, strong holding device 6, can regulate connecting rod 7 and can regulate sucker anchor clamps 8, rotary cylinder 2 is located on the holder 1, taking out arm 3 is connected on the rotary cylinder 2, decline cylinder 4 is located at an end that takes out arm 3, pulling leading arm 5 is connected with taking-up arm 3, strong holding device 6 is connected with decline cylinder 4, can regulate connecting rod 7 and be connected, can regulate sucker anchor clamps 8 and be located at and to regulate on the connecting rod 7 with strong holding device 6.Connecting rod 7 be can regulate and master connecting-rod 71, slave connecting rod 72 and set bolt 73 comprised, master connecting-rod 71 is connected with strong holding device 6, slave connecting rod 72 with can regulate sucker anchor clamps 8 and be connected, set bolt 73 connects master connecting-rod 71 and slave connecting rods 72, master connecting-rod 71 and slave connecting rod 72 all adopt lightweight aluminium to make; Sucker anchor clamps 8 be can regulate and fixed head 81, sucker gold utensil 82 comprised, anchor clamps 83, fixed head 81 with can regulate connecting rod 7 and be connected, fixed head 81 adopts the thick bakelite plate of 5mm to make, big or small then according to the size of the product of getting and the die cavity quantity of product, sucker gold utensil 82 and anchor clamps 83 are located on the fixed head 81, connect product.
The present invention has utilized the taking-up formula and the function of original manipulator, plays the purpose that increases a little arm by the connecting rod that installs an adjustable length additional, thereby reaches the taking-up effect of dual-arm robot, produces full automatic production process to satisfy.Use the action step of this equipment as follows:
(1) after the mould die sinking was finished, two arms of manipulator were simultaneously descending;
(2) strong holding device 6 picks up the mouth of a river, and the absorption function of sucker anchor clamps 8 is opened simultaneously;
(3) after the mouth of a river was confirmed by strong holding device 6 grippings, two arms began pulling and advance;
(4) injection machine ejects the contact sucker with product; Product is drawn by sucker anchor clamps 8;
(5) after product was drawn affirmation, two arm pullings simultaneously retreated;
Rotate after (6) two arms rise to original position simultaneously, drop to conveyer belt again, product is put down, finish whole taking-up action.

Claims (7)

1. a dual-arm robot is equipped, it is characterized in that, this equipment comprises holder, rotary cylinder, take out arm, the decline cylinder, the pulling leading arm, strong holding device, connecting rod can be regulated and the sucker anchor clamps can be regulated, described rotary cylinder is located on the holder, described taking-up arm is connected on the rotary cylinder, described decline cylinder is located at an end that takes out arm, described pulling leading arm is connected with the taking-up arm, described strong holding device is connected with the decline cylinder, the described connecting rod of regulating is connected with strong holding device, and the described sucker anchor clamps of regulating are located at and can regulate on the connecting rod.
2. a kind of dual-arm robot equipment according to claim 1, it is characterized in that, the described connecting rod of regulating comprises master connecting-rod, slave connecting rod and set bolt, described master connecting-rod is connected with strong holding device, described slave connecting rod with can regulate the sucker anchor clamps and be connected, described set bolt connects master connecting-rod and slave connecting rod.
3. a kind of dual-arm robot equipment according to claim 2 is characterized in that described master connecting-rod is made by aluminium.
4. a kind of dual-arm robot equipment according to claim 2 is characterized in that described slave connecting rod is made by aluminium.
5. a kind of dual-arm robot equipment according to claim 1, it is characterized in that the described sucker anchor clamps of regulating comprise fixed head, gold utensil and sucker anchor clamps, described fixed head with can regulate connecting rod and be connected, described gold utensil and sucker anchor clamps are located on the fixed head, connect product.
6. a kind of dual-arm robot equipment according to claim 5 is characterized in that described fixed head adopts non-metallic plates to make.
7. a kind of dual-arm robot equipment according to claim 6 is characterized in that described non-metallic plates comprises bakelite plate.
CN 200910195276 2009-09-07 2009-09-07 Two-arm manipulator device Expired - Fee Related CN102009409B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 200910195276 CN102009409B (en) 2009-09-07 2009-09-07 Two-arm manipulator device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 200910195276 CN102009409B (en) 2009-09-07 2009-09-07 Two-arm manipulator device

Publications (2)

Publication Number Publication Date
CN102009409A true CN102009409A (en) 2011-04-13
CN102009409B CN102009409B (en) 2013-03-13

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CN 200910195276 Expired - Fee Related CN102009409B (en) 2009-09-07 2009-09-07 Two-arm manipulator device

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102490325A (en) * 2011-11-24 2012-06-13 长春富维-江森自控汽车饰件系统有限公司 Stack mold gripper
CN105382120A (en) * 2015-12-25 2016-03-09 东莞市瑞辉机械制造有限公司 Punching machine and mechanical arm installation rod thereof

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1811265A1 (en) * 1967-11-29 1969-07-24 Shell Int Research Apparatus for carrying out work on a subsea wellhead
JPH09327734A (en) * 1996-06-12 1997-12-22 Ishikawajima Harima Heavy Ind Co Ltd Sheet loader of transfer press
JPH10146790A (en) * 1996-11-18 1998-06-02 Toshiba Mach Co Ltd Product taking device in molding machine
CN1666854A (en) * 2004-03-10 2005-09-14 发那科株式会社 Molded-product removing device
CN201128154Y (en) * 2007-08-30 2008-10-08 于复生 Gas sucker type manipulator
CN201300523Y (en) * 2008-12-01 2009-09-02 中山市钜通机电技术有限公司 Sidle manipulator for horizontal injection molding machine
CN201300522Y (en) * 2008-12-01 2009-09-02 中山市钜通机电技术有限公司 Manipulator for horizontal injection molding machine
CN201483489U (en) * 2009-09-07 2010-05-26 上海富亿德塑胶有限公司 Dual-arm manipulator equipment

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1811265U (en) * 1957-03-12 1960-05-12 Fischer Ag Georg TURNING TOOL WITH INSERTABLE CUTTER BODY.

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1811265A1 (en) * 1967-11-29 1969-07-24 Shell Int Research Apparatus for carrying out work on a subsea wellhead
JPH09327734A (en) * 1996-06-12 1997-12-22 Ishikawajima Harima Heavy Ind Co Ltd Sheet loader of transfer press
JPH10146790A (en) * 1996-11-18 1998-06-02 Toshiba Mach Co Ltd Product taking device in molding machine
CN1666854A (en) * 2004-03-10 2005-09-14 发那科株式会社 Molded-product removing device
CN201128154Y (en) * 2007-08-30 2008-10-08 于复生 Gas sucker type manipulator
CN201300523Y (en) * 2008-12-01 2009-09-02 中山市钜通机电技术有限公司 Sidle manipulator for horizontal injection molding machine
CN201300522Y (en) * 2008-12-01 2009-09-02 中山市钜通机电技术有限公司 Manipulator for horizontal injection molding machine
CN201483489U (en) * 2009-09-07 2010-05-26 上海富亿德塑胶有限公司 Dual-arm manipulator equipment

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102490325A (en) * 2011-11-24 2012-06-13 长春富维-江森自控汽车饰件系统有限公司 Stack mold gripper
CN102490325B (en) * 2011-11-24 2014-02-19 长春富维-江森自控汽车饰件系统有限公司 Stack mold gripper
CN105382120A (en) * 2015-12-25 2016-03-09 东莞市瑞辉机械制造有限公司 Punching machine and mechanical arm installation rod thereof

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