CN104097103A - Material feeding and discharging manipulator device - Google Patents
Material feeding and discharging manipulator device Download PDFInfo
- Publication number
- CN104097103A CN104097103A CN201410322828.9A CN201410322828A CN104097103A CN 104097103 A CN104097103 A CN 104097103A CN 201410322828 A CN201410322828 A CN 201410322828A CN 104097103 A CN104097103 A CN 104097103A
- Authority
- CN
- China
- Prior art keywords
- grasping mechanism
- mobile terminal
- manipulator device
- loading
- unloading manipulator
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/048—Multiple gripper units
Abstract
A material feeding and discharging manipulator device comprises a frame. The frame is provided with a frame base, and a motor fixed to the frame base is linked to a movable adjusting screw through an elastic coupling to form a first transmission mechanism; the frame is further provided with parallel first guide pairs which are connected to a movable seat, and the movable seat is provided with a fixed end grasping mechanism and a movable end grasping mechanism and is further provided with parallel second guide rail pairs and a second transmission mechanism used for implementing the motion of the movable end grasping mechanism; the movable seat is further provided with a third transmission mechanism driving the fixed end grasping mechanism and the movable end grasping mechanism to rotate simultaneously; the grasping mechanisms are provided with clamps controlled to clamp in a pneumatic, hydraulic or electric manner. The material feeding and discharging manipulator device is adaptive to different diameters, lengths and specifications, action response is fast, and producing efficiency is high.
Description
Technical field
The present invention relates to one for loading and unloading manipulator device between " belt conveyor DTII type carrying roller " process equipment, can realize different-diameter, length specification materials in the tube, axle material automatic loading/unloading.
Background technology
The mechanical handing circulating for material between existing " belt conveyor DTII type carrying roller " process equipment, its mechanical device adopts framework robot manipulator structure more, by adopting vertical lifting mechanism, horizontal mobile mechanism, flat tight Mechanism Combination form to complete the material handling between process equipment, its shortcoming is: sequence of movement is cumbersome, expend logistics time long,, there is larger potential safety hazard in high-altitude material handling.
Summary of the invention
Technical problem to be solved by this invention is: can adapt to different-diameter, length specification materials in the tube, axle material automatic loading/unloading, security is good, the robot device that movement response is fast;
For addressing the above problem, the technology that the present invention adopts is: a kind of loading and unloading manipulator device, comprise frame, in frame, be provided with gantry base, the motor being fixed in gantry base connects with the logical yielding coupling of support adjusting screw, form the first transmission mechanism, in described frame, be also provided with a pair of the first guideway being parallel to each other, described guideway connects with Mobile base, described Mobile base is provided with stiff end grasping mechanism, mobile terminal grasping mechanism, on described Mobile base, be also provided with a pair of the second guideway being parallel to each other, on described Mobile base, be also provided with the second transmission mechanism for realizing mobile grasping mechanism motion, on this support, be also provided with and drive stiff end grasping mechanism simultaneously, the 3rd transmission mechanism that mobile terminal grasping mechanism rotates, described grasping mechanism is provided with fixture, described fixture is by pneumatic, hydraulic pressure, electronic control realizes and clamping.When work, Mobile base is adjusted to assigned address by the first transmission mechanism, the mobile terminal grasping mechanism on Mobile base and stiff end grasping mechanism are adjusted to desired location by the 3rd transmission mechanism, the motor starting on the second transmission mechanism drives grasping mechanism rotation through the chain transmission of sprocket wheel, chain composition, while arriving designated bit places, stop the rotation, fixture on grasping mechanism is realized tight to materials in the tube or axle feed collet by pneumatic, hydraulic pressure, electronic control, while arriving feeding position, fixture unclamps, and grasping mechanism is homing under the rotary actuation of motor again.In the time that changing, materials in the tube, axle material diameter only need to change mobile grip block, fixed clamp piece, or fixture is arranged to " <, > " form, to adapt to the different materials in the tube of diameter or axle material;
This robot device adopts automatic operation mode, can set journey by control system, realizes the complete automatic operation of whole process, and the present invention is mainly for the production of belt conveyor DTII type carrying roller process equipment and handling equipment thereof.
Brief description of the drawings
Fig. 1: a kind of loading and unloading manipulator device schematic perspective view;
Fig. 2: a kind of loading and unloading manipulator device front view;
Fig. 3: a kind of loading and unloading manipulator device left view;
Fig. 4: a kind of loading and unloading manipulator device top view;
In figure: 1, frame, 2, Mobile base, 3, stiff end grasping mechanism, 4, mobile terminal grasping mechanism, 5, the first transmission mechanism, 6, the second transmission mechanism, 7, the 3rd transmission mechanism, 8, gantry base, 9, motor cabinet one, 10, motor one, 11, yielding coupling one, 12, leading screw one, 13, motor two, 14, motor cabinet two, 15, sprocket wheel one, 16, chain, 17, sprocket wheel two, 18, motor three, 19, motor cabinet three, 20, yielding coupling two, 21, bearing block, 22, stiff end grasping mechanism, 23, power transmission shaft, 24, mobile terminal grasping mechanism,
25, clamping cylinder, 26, mobile grip block, 27, fixed clamp piece, 28, mobile terminal grasping mechanism connection seat, 29, guide rail slide block two, 30, feed screw nut, 31, guide rail two, 32, leading screw two, 33, support base gusset piece, 34, one of guide rail slide block one, 35, guide rail one, 36, leading screw.
Detailed description of the invention
Below by by reference to the accompanying drawings a kind of single arm type loading and unloading manipulator of the present invention device being described in further detail;
As shown in Figure 1, a kind of loading and unloading manipulator device, comprise frame 1, Mobile base 2, stiff end grasping mechanism 3, mobile terminal grasping mechanism 4, the first transmission mechanism 5, the second transmission mechanism 6 and the 3rd transmission mechanism 7, in described frame, be provided with motor cabinet 1, motor cabinet 1 is connected with gantry base 8, gantry base 8 is connected with leading screw seat 35, the motor 1 that leading screw is fixed on motor cabinet 1 connects by yielding coupling 1 with leading screw 1, described Mobile base 2 is provided with stiff end grasping mechanism 22, mobile terminal grasping mechanism 24, on described Mobile base 2, be also provided with the motor cabinet 2 14 of fixed electrical machinery 2 13 and the motor cabinet 3 19 of fixed electrical machinery 3 18, on described motor 2 13 output shafts, be fixed with sprocket wheel 1, sprocket wheel 1 engages with chain 16, chain 16 simultaneously with sprocket wheel 2 17 engage, sprocket wheel 2 17 is fixed on leading screw 2 32, turn-screw 2 32 is screw thread pair with the feed screw nut 30 on mobile terminal grasping mechanism connection seat 28 and connects, mobile terminal grasping mechanism connection seat 28 connects with guide rail slide block 2 29, guide rail slide block 2 29 is slidably connected with guide rail 2 31, described Mobile base 2 and support base gusset piece 33 tight joints, support base gusset piece 33 connects with guide rail slide block 1, guide rail slide block 1 and guide rail 1 be slidably connected into, its middle sprocket 1, chain 16, the chain and sprocket driving device of sprocket wheel 2 17 compositions also can use other transmission devices to replace, all belong to protection scope of the present invention,
Operation principle of the present invention is: in the time that production " belt conveyor DTII type carrying roller " process equipment need to be carried out loading and unloading action, motor 3 18 on support 3 19 drives power transmission shaft 23 to drive stiff end grasping mechanism 22, mobile terminal grasping mechanism 24 rotates, while arriving designated bit places, stop the rotation, because grasping mechanism is provided with fixture, fixture is by pneumatic, hydraulic pressure, electronic control realizes tight to materials in the tube or axle feed collet, motor 3 19 drives power transmission shaft 23 to drive stiff end grasping mechanism 22, mobile terminal grasping mechanism 24 rotates backward, while arriving feeding position, fixture unclamps, grasping mechanism is homing under the rotary actuation of motor again.Need to carry in the materials in the tube or axle material of different length, be fixed on the support base gusset piece 33 that leading screw 1 that the motor cabinet 1 in frame 1 connects promotes to be fixed on Mobile base 2 slides on guide rail 1, bearing is adjusted to assigned address, motor 2 13 drive sprocket one 15 rotations, sprocket wheel 1, the chain driving-belt movable wire thick stick 2 32 that chain 16 and sprocket wheel 2 17 form rotates, feed screw nut 30 and mobile terminal grasping mechanism 24 that leading screw 2 32 promotes to be connected on mobile terminal grasping mechanism connection seat 28 slide to adapt to capture the materials in the tube of different length on guide rail 2 31, axle material.In the time that changing, materials in the tube, axle material diameter only need to change mobile grip block 26, fixed clamp piece 27, or fixture is arranged to " <, > " form, to adapt to the different materials in the tube of diameter or axle material;
The invention has the beneficial effects as follows: can adapt to different-diameter, length specification automatic loading and unloading manipulator device, it keeps clamping firm to being held pipe fitting, automatic capturing workpiece, automatic turning, workpiece is delivered to assigned address, movement response is fast, shortened the workpiece material logistics time and, avoided potential safety hazard;
Principle and effect thereof of the above embodiments expressivity explanation the invention, and the embodiment of part utilization, but not for limiting the present invention.
Claims (7)
1. a blanking mechanical arm device, it is characterized in that: realize mobile, upset and clamping action, comprise frame, in described frame, be also provided with a pair of the first guideway being parallel to each other, described guideway connects with Mobile base, described Mobile base is provided with stiff end grasping mechanism, mobile terminal grasping mechanism, on described Mobile base, be also provided with a pair of the second guideway being parallel to each other, on described Mobile base, be also provided with the second lead screw transmission mechanism for realizing mobile grasping mechanism motion, on this support, be also provided with and drive stiff end grasping mechanism simultaneously, the 3rd transmission mechanism that mobile terminal grasping mechanism rotates, described grasping mechanism is provided with fixture
According to claim 1, a blanking mechanical arm device, is characterized in that: described fixture is realized and being clamped by pneumatic, hydraulic pressure, electronic control.
2. according to a kind of loading and unloading manipulator device described in claim 1,2, it is characterized in that: described fixture comprises mobile grip block, fixed clamp piece, clamping jaw is the circular arc corresponding with workpiece.
3. according to a kind of loading and unloading manipulator device described in claim 1,2,3, it is characterized in that: the clamping jaw on described fixture grip block also can be arranged to " <, > " form, to adapt to the different materials in the tube of diameter or axle material.
4. a kind of loading and unloading manipulator device according to claim 1, it is characterized in that: mobile terminal grasping mechanism connection seat is set on described Mobile base, described mobile terminal grasping mechanism is connected on the grasping mechanism connection seat of mobile terminal, and described mobile terminal grasping mechanism connection seat connects with guide rail slide block.
5. a kind of loading and unloading manipulator device according to claim 1; it is characterized in that: described the second lead screw transmission mechanism is provided with a motor; motor is arranged on the motor cabinet on support; described the second lead screw transmission mechanism is also provided with chain-drive mechanism; described chain-drive mechanism can also be other transmission mechanisms; comprise synchronous belt drive mechanism, gear drive, Worm Wheel Systems etc. all belong to the protection domain of this claim.
6. a kind of blanking mechanical arm device according to claim 1, is characterized in that: described mobile terminal grasping mechanism and power transmission shaft are and are slidably connected, and on described power transmission shaft, are provided with feather key, and described mobile terminal grasping mechanism is provided with guide key groove.
7. a kind of loading and unloading manipulator device according to claim 1, is characterized in that: described robot device adopts man-machine interface operator scheme, can pass through control system setting program, realizes whole process action and automatically completes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410322828.9A CN104097103A (en) | 2014-07-09 | 2014-07-09 | Material feeding and discharging manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410322828.9A CN104097103A (en) | 2014-07-09 | 2014-07-09 | Material feeding and discharging manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104097103A true CN104097103A (en) | 2014-10-15 |
Family
ID=51665850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410322828.9A Pending CN104097103A (en) | 2014-07-09 | 2014-07-09 | Material feeding and discharging manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104097103A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104842210A (en) * | 2015-04-14 | 2015-08-19 | 繁昌县陈氏金属制品有限公司 | Turning device of metal plate |
| CN105290655A (en) * | 2015-10-19 | 2016-02-03 | 镇江市恩帝斯精密机械有限公司 | Automatic discharging mechanism |
| CN107650220A (en) * | 2016-08-31 | 2018-02-02 | 国家林业局北京林业机械研究所 | Automatically broken bamboo equipment and its broken bamboo method |
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| JPH06182460A (en) * | 1991-03-01 | 1994-07-05 | Yamaura:Kk | Machine for machining c shape steel |
| KR100234155B1 (en) * | 1993-09-09 | 1999-12-15 | 유무성 | Working material loading device |
| CN201711445U (en) * | 2010-05-31 | 2011-01-19 | 盐城市三祥机械设备有限公司 | Automatic material loading and unloading manipulator |
| CN201720847U (en) * | 2010-07-15 | 2011-01-26 | 昆山广禾电子科技有限公司 | Automatic feeding and unloading manipulator |
| CN201792249U (en) * | 2010-09-15 | 2011-04-13 | 张锦民 | Double-arm synchronous feeding manipulator |
| CN202336766U (en) * | 2011-11-22 | 2012-07-18 | 洛阳瑞恒冶金成套设备制造有限公司 | Double mechanical hand structure on assembly line for producing aluminum tubes and aluminum bars |
| CN102632425A (en) * | 2012-04-26 | 2012-08-15 | 深圳市神拓机电设备有限公司 | Feeding and discharging manipulator |
| CN102990458A (en) * | 2012-11-26 | 2013-03-27 | 西北工业大学 | Three-dimensional automatic feeding, discharging and detecting device |
| CN203650530U (en) * | 2013-11-22 | 2014-06-18 | 青田县鼎坤钢构有限公司 | Steel pipe conveying mechanical hand |
-
2014
- 2014-07-09 CN CN201410322828.9A patent/CN104097103A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06182460A (en) * | 1991-03-01 | 1994-07-05 | Yamaura:Kk | Machine for machining c shape steel |
| KR100234155B1 (en) * | 1993-09-09 | 1999-12-15 | 유무성 | Working material loading device |
| CN201711445U (en) * | 2010-05-31 | 2011-01-19 | 盐城市三祥机械设备有限公司 | Automatic material loading and unloading manipulator |
| CN201720847U (en) * | 2010-07-15 | 2011-01-26 | 昆山广禾电子科技有限公司 | Automatic feeding and unloading manipulator |
| CN201792249U (en) * | 2010-09-15 | 2011-04-13 | 张锦民 | Double-arm synchronous feeding manipulator |
| CN202336766U (en) * | 2011-11-22 | 2012-07-18 | 洛阳瑞恒冶金成套设备制造有限公司 | Double mechanical hand structure on assembly line for producing aluminum tubes and aluminum bars |
| CN102632425A (en) * | 2012-04-26 | 2012-08-15 | 深圳市神拓机电设备有限公司 | Feeding and discharging manipulator |
| CN102990458A (en) * | 2012-11-26 | 2013-03-27 | 西北工业大学 | Three-dimensional automatic feeding, discharging and detecting device |
| CN102990458B (en) * | 2012-11-26 | 2015-04-29 | 西北工业大学 | Three-dimensional automatic feeding, discharging and detecting device |
| CN203650530U (en) * | 2013-11-22 | 2014-06-18 | 青田县鼎坤钢构有限公司 | Steel pipe conveying mechanical hand |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104842210A (en) * | 2015-04-14 | 2015-08-19 | 繁昌县陈氏金属制品有限公司 | Turning device of metal plate |
| CN105290655A (en) * | 2015-10-19 | 2016-02-03 | 镇江市恩帝斯精密机械有限公司 | Automatic discharging mechanism |
| CN105290655B (en) * | 2015-10-19 | 2019-01-08 | 镇江市恩帝斯精密机械有限公司 | Automatic material blanking mechanism |
| CN107650220A (en) * | 2016-08-31 | 2018-02-02 | 国家林业局北京林业机械研究所 | Automatically broken bamboo equipment and its broken bamboo method |
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Application publication date: 20141015 |