CN102344041A - Item taking-placing device - Google Patents
Item taking-placing device Download PDFInfo
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- CN102344041A CN102344041A CN2011102433028A CN201110243302A CN102344041A CN 102344041 A CN102344041 A CN 102344041A CN 2011102433028 A CN2011102433028 A CN 2011102433028A CN 201110243302 A CN201110243302 A CN 201110243302A CN 102344041 A CN102344041 A CN 102344041A
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- disk seat
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Abstract
An item taking-placing device comprises a rack, a sucker, a sucker seat and a sucker position changing mechanism. The item taking-placing device is characterized in that the sucker position changing mechanism comprises a first rocker, a second rocker and a first connecting rod; the first end of the first rocker is arranged on the rack in a rotary manner, the first end of the second rocker is arranged on the rack in a rotary manner, the both ends of the first connecting rod are hinged with the second end of the first rocker and the second end of the second rocker respectively; the sucker position changing mechanism also comprises a swinging driving mechanism which can drive the first rocker or second rocker to perform reciprocating swinging; and the sucker is arranged on the sucker seat, and the sucker seat is arranged on the first connecting rod. The first rocker or second rocker is driven to perform reciprocating swinging to change the positions and angles of the first connecting rod and the sucker, thus the sucker can switch between the taking position and the placing position and the taking/placing of an item can be realized; and the item taking-placing device has simple structure, concise movements, higher item taking/placing speed and high working efficiency and can be widely used in machines such as packing machines and printing machines.
Description
Technical field
The present invention relates to a kind of article fetching device that is used for mobile article.
Background technology
The article fetching device is that article are taken out from certain position, and moves, is placed into the device of another position.
The most structure of existing article fetching device is comparatively complicated, easy fault, and action step is more, and work efficiency is lower.For example, the bag taking mechanism of a kind of wrapping machine of Chinese utility model patent specification sheets CN201037052Y bulletin, it comprises that inhaling bag send bag mechanism, the suction bag send bag mechanism to comprise evolution mechanism and inhales bagging apparatus, inhales bagging apparatus and is installed in the evolution mechanism; Evolution mechanism comprises rotating shaft, telescopic cylinder and rotating shaft rotating drive mechanism; Rotating shaft is rotatable to be installed on the frame; The cylinder body of telescopic cylinder is installed in the rotating shaft, inhales bagging apparatus and is installed on the piston rod of telescopic cylinder, and rotating shaft is connected with the rotating shaft rotating drive mechanism; Inhale bagging apparatus and comprise vacuum cup and sucker disk seat, vacuum cup is located on the sucker disk seat, and sucker disk seat is fixedly mounted on the piston rod of telescopic cylinder.Wherein, The rotating shaft rotating drive mechanism comprises pipe link and drives cylinder, drives the cylinder body of cylinder and frame is hinged, an end of piston rod and pipe link is hinged, and the other end of pipe link is connected with rotating shaft; (the rotating shaft rotating drive mechanism also can be connected with rotating shaft through strap drive or chain-driving can to drive the rotating shaft rotation through pipe link when the piston rod of driving cylinder is flexible; Engine installation can adopt electrical motor, through just commentaries on classics, the counter-rotating at control motor, can drive rotating shaft and rotate).During work, inhale bagging apparatus and switch inhaling the bag position and put between these two positions, bag position, be specially: the piston rod that drives cylinder shrinks; Pipe link drives rotating shaft and rotates, and inhales bagging apparatus and is in a suction bag position, and telescopic cylinder, sucker disk seat and vacuum cup are also along with upwards rotating; Vacuum cup position and storage bag mechanism to go out sack corresponding; The piston rod of telescopic cylinder stretches out then, and vacuum cup holds packaging bag foremost, and the piston rod of telescopic cylinder shrinks subsequently; Vacuum cup is held packaging bag foremost, and packaging bag slightly is out of shape and is removed; Piston rod with the rear drive cylinder stretches out, and pipe link drives rotating shaft and rotates, and the suction bagging apparatus is in puts a bag position, and also along with rotating, this moment, vacuum cup discharged packaging bag, accomplished the process of a bag taking for telescopic cylinder, sucker disk seat and vacuum cup.In this bag taking mechanism, evolution mechanism comprises telescopic cylinder and these two mechanisms that produce action of rotating shaft rotating drive mechanism, and structure is comparatively complicated, easy fault; Once pick and place in bag process, telescopic cylinder and rotating shaft rotating drive mechanism (as driving cylinder) action in regular turn, switch the position of dividing two-stage to accomplish vacuum cup, therefore accomplishes the process need long period that once picks and places bag, and it is slower to pick and place bag speed, and work efficiency is lower.
Summary of the invention
Technical matters to be solved by this invention provides a kind of article fetching device of simple in structure and high efficiency.The technical scheme that adopts is following:
A kind of article fetching device; Comprise frame, sucker, sucker disk seat and sucker evolution mechanism; It is characterized in that: said sucker evolution mechanism comprises first rocking bar, second rocking bar and first connecting rod; First end of first rocking bar is rotatable to be installed on the frame, and first end of second rocking bar is rotatable to be installed on the frame, and the two ends of first connecting rod are hinged with second end of second end of first rocking bar, second rocking bar respectively; Said sucker evolution mechanism also comprises the wobble drive mechanism that can drive first rocking bar or the second rocking bar reciprocally swinging; Sucker is located on the sucker disk seat, and sucker disk seat is installed on the first connecting rod.
Usually, above-mentioned sucker evolution mechanism also comprises first rotating shaft and second rotating shaft, and first rotating shaft and second rotating shaft all are installed on the frame through bearing seat; First end of first rocking bar is captiveed joint with first rotating shaft, thereby realizes rotatable being installed on the frame of first end of first rocking bar; First end of second rocking bar is captiveed joint with second rotating shaft, thereby realizes rotatable being installed on the frame of first end of second rocking bar.
In a kind of concrete scheme, above-mentioned wobble drive mechanism comprises electrical motor, the 3rd rotating shaft, round turntable, second connecting rod and third connecting rod; First end of second connecting rod connects first rotating shaft or second rotating shaft; Second end of second connecting rod and first end of third connecting rod are hinged; The position hinged (stationkeeping that common round turntable departs from its center is provided with bearing pin, and second end of third connecting rod is socketed on this bearing pin) of departing from its center on second end of third connecting rod and the round turntable; The 3rd rotating shaft is installed on the frame through bearing seat, and round turntable is fixed in the 3rd rotating shaft and is coaxial with the 3rd rotating shaft, and shaft of motor and the 3rd rotating shaft are in transmission connection.When electrical motor turns round continuously; Driving the 3rd rotating shaft and round turntable rotates; Round turntable drives second connecting rod around first rotating shaft or the second rotating shaft reciprocally swinging through third connecting rod; First rotating shaft simultaneously or second rotating shaft are back and forth rotated, thereby drive first rocking bar around the first rotating shaft reciprocally swinging, or drive second rocking bar around the second rotating shaft reciprocally swinging.Usually, shaft of motor is in transmission connection with the 3rd rotating shaft through chain-driving or synchronous band.
In the concrete scheme of another kind, above-mentioned wobble drive mechanism comprises electrical motor, the 3rd rotating shaft, crank, second connecting rod and third connecting rod; First end of second connecting rod connects first rotating shaft or second rotating shaft; Second end of second connecting rod and first end of third connecting rod are hinged; Second end of third connecting rod and first end of crank are hinged; The 3rd rotating shaft is installed on the frame through bearing seat, and second end of crank is captiveed joint with the 3rd rotating shaft, and shaft of motor and the 3rd rotating shaft are in transmission connection.When electrical motor turns round continuously; Driving crank rotates around the 3rd rotating shaft; Crank drives second connecting rod around first rotating shaft or the second rotating shaft reciprocally swinging through third connecting rod; First rotating shaft simultaneously or second rotating shaft are back and forth rotated, thereby drive first rocking bar around the first rotating shaft reciprocally swinging, or drive second rocking bar around the second rotating shaft reciprocally swinging.Usually, shaft of motor is in transmission connection with the 3rd rotating shaft through chain-driving or synchronous band.
In the concrete scheme of another kind, above-mentioned wobble drive mechanism comprises pipe link and drives cylinder, and the cylinder body and the frame that drive cylinder are hinged, and the piston rod of driving cylinder and an end of pipe link are hinged, and the other end of pipe link is connected with first rotating shaft or second rotating shaft.When the piston rod of driving cylinder is flexible, can drives first rotating shaft or second rotating shaft rotation through pipe link, thereby drive first rocking bar, or drive second rocking bar around the second rotating shaft reciprocally swinging around the first rotating shaft reciprocally swinging.
In the concrete scheme of another kind, above-mentioned wobble drive mechanism comprises servomotor torque constant, and the rotating shaft of servomotor torque constant and first rotating shaft or second rotating shaft are in transmission connection.When the rotating shaft of servomotor torque constant is back and forth rotated, can drive first rotating shaft or second rotating shaft is back and forth rotated, thereby drive first rocking bar, or drive second rocking bar around the second rotating shaft reciprocally swinging around the first rotating shaft reciprocally swinging.Usually, the rotating shaft of servomotor torque constant is in transmission connection through chain-driving, band or gear cluster and first rotating shaft synchronously or second rotating shaft; The perhaps input end of the rotating shaft connection reducer of servomotor torque constant, the mouth of retarder are in transmission connection through chain-driving, band or gear cluster and first rotating shaft synchronously or second rotating shaft again; Perhaps the rotating shaft of servomotor torque constant is connected with first rotating shaft or second rotating shaft through coupler.
In the preferred version; Installation site for the ease of to sucker is regulated; Sucker can accurately be arrived get article position and put article position; To adapt to demand of practical production, preferred above-mentioned first connecting rod is provided with the sucker position adjusting mechanism, and the sucker position adjusting mechanism comprises regulating block and connecting arm; First connecting rod is provided with connecting bore, and regulating block is provided with strip through-hole, and regulating block and first connecting rod are through bolted connection, and the screw rod of bolt is in strip through-hole and the connecting bore; One end of connecting arm is captiveed joint (but regulating block and connecting arm one) with regulating block; The other end of connecting arm is provided with sucker disk seat mounting hole and screw hole that at least one communicates with the sucker disk seat mounting hole; Sucker disk seat is a cylinder, and the shape of cross section of sucker disk seat mounting hole and size and sucker disk seat are complementary, and sucker disk seat is in the sucker disk seat mounting hole; Tightening screw is installed, the end of tightening screw and sucker disk seat closed contact in the screw hole.Connecting bore on the above-mentioned first connecting rod can be screw, and the screw rod of bolt is connected with screw, and the head of bolt is pressed on regulating block on the first connecting rod; Connecting bore on the above-mentioned first connecting rod also can be manhole, and the screw rod end of bolt is connected with nut, and the head of this nut and bolt is jointly with regulating block and first connecting rod locking.Usually, the width of above-mentioned strip through-hole is slightly larger than the diameter of the screw rod of bolt.In a concrete scheme, sucker disk seat is a cylinder, and the sucker disk seat mounting hole is the manhole that size and sucker disk seat are complementary; Be provided with the turnover gas passage that is communicated with sucker in the sucker disk seat of preferred cylindrical shape, but the turnover tracheae of sucker disk seat double as sucker like this.Pass through said structure; Installation site that can multi-faceted adjusting sucker; Specify as follows: through screw rod residing position in strip through-hole of adjustable bolt; Angle between adjustment strip through-hole and the first connecting rod, the adjustment sucker disk seat is in the position in the sucker disk seat mounting hole, all the position of scalable sucker.
The present invention adopts first rocking bar, second rocking bar and first connecting rod to match, through driving first rocking bar or the second rocking bar reciprocally swinging, and the position and the angle of conversion first connecting rod and top sucker thereof; Sucker is switched getting article position and put between the article position; Realize picking and placeing of article, simple in structure, action is succinct; Pick and place the article rapid speed, high efficiency.Utilize the continuous running of electrical motor to drive first rocking bar or the second rocking bar reciprocally swinging in the preferred version, thereby the position of conversion first connecting rod and top sucker thereof is reliable, and the operating speed through the adjustment electrical motor, the article speed that picks and places can be adjusted.
The present invention is with a wide range of applications; Can be widely used in machineries such as package packing machine and printing machinery; For example: be used for picking and placeing bagging apparatus, pick and place the cardboard device, sealing the diaphragm fetching device of wrapping machine; The goods receipts closed assembly that is used for plastic molding equipment is put, and is used for the last paper apparatus of printer, is used for the bowl cover fetching device of bowl cover printer etc.
Description of drawings
Fig. 1 is the block diagram of the preferred embodiment of the present invention;
Fig. 2 is the block diagram of preferred embodiment of the present invention other direction;
Fig. 3 is the structural representation of sucker position adjusting mechanism in the preferred embodiment of the present invention;
Fig. 4 is the A-A cutaway view of Fig. 3;
Fig. 5 is the B-B cutaway view of Fig. 3;
Fig. 6 is the scheme drawing of preferred embodiment of the present invention mode of operation one;
Fig. 7 is the scheme drawing of preferred embodiment of the present invention mode of operation two;
Fig. 8 is the scheme drawing of preferred embodiment of the present invention mode of operation three.
The specific embodiment
As depicted in figs. 1 and 2, this article fetching device comprises frame 1, sucker 2, sucker disk seat 3 and sucker evolution mechanism.
Sucker evolution mechanism comprises first rocking bar 4, second rocking bar 5, first connecting rod 6, first rotating shaft 7, second rotating shaft 8 and the wobble drive mechanism that can drive first rocking bar, 4 reciprocally swingings; First rotating shaft 7 is installed on the frame 1 through bearing seat 9, and first end of first rocking bar 4 is captiveed joint with first rotating shaft 7, thereby realizes rotatable being installed on the frame 1 of first end of first rocking bar 4; Second rotating shaft 8 is installed on the frame 1 through bearing seat 10, and first end of second rocking bar 5 is captiveed joint with second rotating shaft 8, thereby realizes rotatable being installed on the frame 1 of first end of second rocking bar 5; The two ends of first connecting rod 6 are hinged with second end of second end of first rocking bar 4, second rocking bar 5 respectively.
In the present embodiment, wobble drive mechanism comprises electrical motor, the 3rd rotating shaft 11, round turntable 12, second connecting rod 13 and third connecting rod 14; First end of second connecting rod 13 connects first rotating shaft 7 (in another embodiment, first end of second connecting rod 13 also can connect second rotating shaft 8); Second end of second connecting rod 13 and first end of third connecting rod 14 are hinged; The position of departing from its center on second end of third connecting rod 14 and the round turntable 12 hinged (stationkeeping that round turntable 12 departs from its center in the present embodiment is provided with bearing pin 15, and second end of third connecting rod 14 is socketed on this bearing pin 15); The 3rd rotating shaft 11 is installed on the frame 1 through bearing seat 16, and round turntable 12 is fixed in the 3rd rotating shaft 11 and is coaxial with the 3rd rotating shaft 11, and shaft of motor and the 3rd rotating shaft 11 are in transmission connection.In the present embodiment, shaft of motor is through chain-driving and the 3rd rotating shaft 11 be in transmission connection (be equipped with driven sprocket 17 in the 3rd rotating shaft 11, do not draw among electrical motor and all the other the drive mechanism figure).
Sucker 2 is located on the sucker disk seat 3, and sucker disk seat 3 is installed on the first connecting rod 6.With reference to figure 3-Fig. 5, in the present embodiment, first connecting rod 6 is provided with the sucker position adjusting mechanism, and the sucker position adjusting mechanism comprises regulating block 18 and connecting arm 19; First connecting rod 6 is provided with connecting bore 20, and regulating block 18 is provided with strip through-hole 21, and regulating block 18 is connected through bolt 22 with first connecting rod 6, and the screw rod 221 of bolt 22 is in strip through-hole 21 and the connecting bore 20; One end of connecting arm 19 is captiveed joint (but regulating block 18 with connecting arm 19 one) with regulating block 18; The other end of connecting arm 19 is provided with sucker disk seat mounting hole 23 and two screw holes 24 that communicate with sucker disk seat mounting hole 23; Sucker disk seat 3 is a cylinder, and the shape of cross section of sucker disk seat mounting hole 23 and size and sucker disk seat 3 are complementary, and sucker disk seat 3 is in the sucker disk seat mounting hole 23; Tightening screw 25 is installed, the end of tightening screw 25 and sucker disk seat 3 closed contacts in the screw hole 24.In the present embodiment, the connecting bore 20 on the first connecting rod 6 is a screw, and the screw rod 221 of bolt 22 is connected with screw (being connecting bore 20), and the head 222 of bolt 22 is pressed on regulating block 18 on the first connecting rod 6.The width of strip through-hole 21 is slightly larger than the diameter of the screw rod 221 of bolt 22.In the present embodiment, sucker disk seat 3 is a cylinder, and sucker disk seat mounting hole 23 is the manhole that size and sucker disk seat 3 are complementary; Be provided with the turnover gas passage 26 that is communicated with sucker 2 in the sucker disk seat 3 of cylindrical shape, but the turnover tracheae of sucker disk seat 3 double as suckers 2 like this.
Brief description is the principle of work of these article fetching device (specifying with the bowl cover fetching device of these article fetching device as the bowl cover printer) once:
When electrical motor turns round continuously; Drive the 3rd rotating shaft 11 and round turntable 12 rotations; Round turntable 12 drives second connecting rod 13 around first rotating shaft, 7 reciprocally swingings through third connecting rod 14, and first rotating shaft 7 is simultaneously back and forth rotated, thereby drives first rocking bar 4 around first rotating shaft, 7 reciprocally swingings.
During first rocking bar, 4 reciprocally swingings; Under the cooperation of second rocking bar 5, make the position and the angular transformation of first connecting rod 6 and top sucker 2 thereof, make sucker 2 switch (in the present embodiment getting article position and put between the article position; Frame 1 is provided with bowl cover supporting plate 27; Bowl cover supporting plate 27 is provided with bowl cover outlet 28, and stacked bowl cover is placed on the bowl cover supporting plate 27, and bowl cover position bottom and bowl cover export 28 corresponding; When sucker 2 and bowl cover export 28 positions at once, sucker 2 is in gets article position; The below of article fetching device is provided with load-transfer device, when sucker 2 down and with the load-transfer device position at once, sucker 2 is in puts article position), realize picking and placeing of article (being bowl cover).Be specially: with reference to figure 6, when first rocking bar 4 upwards was rocked to vertex, it is corresponding that sucker 2 and bowl cover export 28 positions, and sucker 2 stretches into bowl cover outlet 28 and holds on the bowl cover supporting plate 27 bowl cover bottom; With reference to figure 7, subsequently, first rocking bar 4 is to lower swing, and first connecting rod 6 descends and upset simultaneously, and sucker 2 takes out bottom bowl cover on the bowl cover supporting plate 27, and then sucker 2 and top bowl cover thereof descend with first connecting rod 6, and the opening of sucker 2 turns over down gradually simultaneously; With reference to figure 8, when first rocking bar 4 is rocked to nadir downwards, sucker 2 down and corresponding with the load-transfer device position, this moment, sucker 2 discharged the bowl cover above it, bowl cover drops on load-transfer device, delivers to next procedure by load-transfer device; The operation that next round picks and places article (being bowl cover) is carried out in the first upwards swing of rocking bar 4 subsequently.
Utilize the continuous running of electrical motor to drive first rocking bar, 4 reciprocally swingings; And, can adjust the article speed that picks and places through the operating speed of adjustment electrical motor.
Through the sucker position adjusting mechanism; Installation site that can multi-faceted adjusting sucker specifies as follows: through moving regulating block 18, make the screw rod 221 of bolt 22 be in position suitable in the strip through-hole 21; And the angle between adjustment strip through-hole 21 and the first connecting rod 6 is to proper angle; The bolt 22 of screwing then makes the head 222 of bolt 22 that regulating block 18 is pressed on the first connecting rod 6, thereby regulating block 18, connecting arm 19 is fixed on the first connecting rod 6; Through moving sucker disk seat 3; Make that certain proper site is in the sucker disk seat mounting hole 23 on the sucker disk seat 3, in screw hole 24, install the tightening screw 25 and the tightening screw 25 of screwing then; Make the end and sucker disk seat 3 closed contacts of tightening screw 25, thereby sucker disk seat 3 is fixed on the connecting arm 19.
In other embodiments, above-mentioned wobble drive mechanism comprises electrical motor, the 3rd rotating shaft, crank, second connecting rod and third connecting rod; First end of second connecting rod connects first rotating shaft or second rotating shaft; Second end of second connecting rod and first end of third connecting rod are hinged; Second end of third connecting rod and first end of crank are hinged; The 3rd rotating shaft is installed on the frame through bearing seat, and second end of crank is captiveed joint with the 3rd rotating shaft, and shaft of motor and the 3rd rotating shaft are in transmission connection.When electrical motor turns round continuously; Driving crank rotates around the 3rd rotating shaft; Crank drives second connecting rod around first rotating shaft or the second rotating shaft reciprocally swinging through third connecting rod; First rotating shaft simultaneously or second rotating shaft are back and forth rotated, thereby drive first rocking bar around the first rotating shaft reciprocally swinging, or drive second rocking bar around the second rotating shaft reciprocally swinging.Usually, shaft of motor is in transmission connection with the 3rd rotating shaft through chain-driving or synchronous band.
In other embodiments, above-mentioned wobble drive mechanism comprises pipe link and drives cylinder, and the cylinder body and the frame that drive cylinder are hinged, and the piston rod of driving cylinder and an end of pipe link are hinged, and the other end of pipe link is connected with first rotating shaft or second rotating shaft.When the piston rod of driving cylinder is flexible, can drives first rotating shaft or second rotating shaft rotation through pipe link, thereby drive first rocking bar, or drive second rocking bar around the second rotating shaft reciprocally swinging around the first rotating shaft reciprocally swinging.
In other embodiments, above-mentioned wobble drive mechanism comprises servomotor torque constant, and the rotating shaft of servomotor torque constant and first rotating shaft or second rotating shaft are in transmission connection.When the rotating shaft of servomotor torque constant is back and forth rotated, can drive first rotating shaft or second rotating shaft is back and forth rotated, thereby drive first rocking bar, or drive second rocking bar around the second rotating shaft reciprocally swinging around the first rotating shaft reciprocally swinging.Usually, the rotating shaft of servomotor torque constant is in transmission connection through chain-driving, band or gear cluster and first rotating shaft synchronously or second rotating shaft; The perhaps input end of the rotating shaft connection reducer of servomotor torque constant, the mouth of retarder are in transmission connection through chain-driving, band or gear cluster and first rotating shaft synchronously or second rotating shaft again; Perhaps the rotating shaft of servomotor torque constant is connected with first rotating shaft or second rotating shaft through coupler.
In other embodiments, the connecting bore on the first connecting rod also can be manhole, and the screw rod end of bolt is connected with nut, and the head of this nut and bolt is jointly with regulating block and first connecting rod locking.
Claims (9)
1. article fetching device; Comprise frame, sucker, sucker disk seat and sucker evolution mechanism; It is characterized in that: said sucker evolution mechanism comprises first rocking bar, second rocking bar and first connecting rod; First end of first rocking bar is rotatable to be installed on the frame, and first end of second rocking bar is rotatable to be installed on the frame, and the two ends of first connecting rod are hinged with second end of second end of first rocking bar, second rocking bar respectively; Said sucker evolution mechanism also comprises the wobble drive mechanism that can drive first rocking bar or the second rocking bar reciprocally swinging; Sucker is located on the sucker disk seat, and sucker disk seat is installed on the first connecting rod.
2. article fetching device according to claim 1; It is characterized in that: said sucker evolution mechanism also comprises first rotating shaft and second rotating shaft; First rotating shaft and second rotating shaft all are installed on the frame through bearing seat; First end of first rocking bar is captiveed joint with first rotating shaft, and first end of second rocking bar is captiveed joint with second rotating shaft.
3. article fetching device according to claim 2 is characterized in that: said wobble drive mechanism comprises electrical motor, the 3rd rotating shaft, round turntable, second connecting rod and third connecting rod; First end of second connecting rod connects first rotating shaft or second rotating shaft; Second end of second connecting rod and first end of third connecting rod are hinged; The position of departing from its center on second end of third connecting rod and the round turntable is hinged; The 3rd rotating shaft is installed on the frame through bearing seat, and round turntable is fixed in the 3rd rotating shaft and is coaxial with the 3rd rotating shaft, and shaft of motor and the 3rd rotating shaft are in transmission connection.
4. article fetching device according to claim 2 is characterized in that: said wobble drive mechanism comprises electrical motor, the 3rd rotating shaft, crank, second connecting rod and third connecting rod; First end of second connecting rod connects first rotating shaft or second rotating shaft; Second end of second connecting rod and first end of third connecting rod are hinged; Second end of third connecting rod and first end of crank are hinged; The 3rd rotating shaft is installed on the frame through bearing seat, and second end of crank is captiveed joint with the 3rd rotating shaft, and shaft of motor and the 3rd rotating shaft are in transmission connection.
5. article fetching device according to claim 2; It is characterized in that: said wobble drive mechanism comprises pipe link and drives cylinder; The cylinder body and the frame that drive cylinder are hinged; The piston rod of driving cylinder and an end of pipe link are hinged, and the other end of pipe link is connected with first rotating shaft or second rotating shaft.
6. article fetching device according to claim 2 is characterized in that: said wobble drive mechanism comprises servomotor torque constant, and the rotating shaft of servomotor torque constant and first rotating shaft or second rotating shaft are in transmission connection.
7. according to each described article fetching device of claim 1-6, it is characterized in that: said first connecting rod is provided with the sucker position adjusting mechanism, and the sucker position adjusting mechanism comprises regulating block and connecting arm; First connecting rod is provided with connecting bore, and regulating block is provided with strip through-hole, and regulating block and first connecting rod are through bolted connection, and the screw rod of bolt is in strip through-hole and the connecting bore; One end of connecting arm is captiveed joint with regulating block; The other end of connecting arm is provided with sucker disk seat mounting hole and screw hole that at least one communicates with the sucker disk seat mounting hole; Sucker disk seat is a cylinder, and the shape of cross section of sucker disk seat mounting hole and size and sucker disk seat are complementary, and sucker disk seat is in the sucker disk seat mounting hole; Tightening screw is installed, the end of tightening screw and sucker disk seat closed contact in the screw hole.
8. article fetching device according to claim 7 is characterized in that: said sucker disk seat is a cylinder, and the sucker disk seat mounting hole is the manhole that size and sucker disk seat are complementary.
9. article fetching device according to claim 8 is characterized in that: be provided with the turnover gas passage that is communicated with sucker in the said sucker disk seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110243302 CN102344041B (en) | 2011-08-23 | 2011-08-23 | Item taking-placing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110243302 CN102344041B (en) | 2011-08-23 | 2011-08-23 | Item taking-placing device |
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| CN102344041A true CN102344041A (en) | 2012-02-08 |
| CN102344041B CN102344041B (en) | 2013-03-13 |
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| CN 201110243302 Active CN102344041B (en) | 2011-08-23 | 2011-08-23 | Item taking-placing device |
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| CN104803191A (en) * | 2015-04-24 | 2015-07-29 | 辽宁春光机械有限公司 | Automatic bag suction device of four-edge-sealing packaging machine |
| CN106429344A (en) * | 2016-12-05 | 2017-02-22 | 龙曦 | Material pick-and-place overturning device |
| CN107082261A (en) * | 2017-06-10 | 2017-08-22 | 安徽普伦智能装备有限公司 | A kind of 90 degree of lifting turning devices of cake part feeding |
| CN107399103A (en) * | 2017-08-31 | 2017-11-28 | 惠州佳景印刷制品有限公司 | A kind of paper bag draw frame machine for being used to make the intelligent robot of handbag |
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| CN112193510A (en) * | 2020-09-11 | 2021-01-08 | 芜湖顺威智能科技有限公司 | Multifunctional pickup device |
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| CN113624774A (en) * | 2021-07-29 | 2021-11-09 | 桂林电子科技大学 | Welding point crack detection device for machine vision |
| CN114506676A (en) * | 2022-03-15 | 2022-05-17 | 技源生物制品(徐州)有限公司 | Bottle machinery tongs |
| CN116216287A (en) * | 2023-05-10 | 2023-06-06 | 天津伍嘉联创科技发展股份有限公司 | Material tray taking and placing mechanism |
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Address after: University of Jinping District 515065 in Guangdong province Shantou City Road Shengping Industrial Zone second A, B1, B2, C building Patentee after: Guangdong Huasheng Ming rabbit environmental protection Polytron Technologies Inc Address before: University of Jinping District 515065 in Guangdong province Shantou City Road Shengping Industrial Zone second A, B1, B2, C building Patentee before: Guangdong Huasheng Plastic Co., Ltd. |