CN104097204B - Material taking/feeding manipulator - Google Patents
Material taking/feeding manipulator Download PDFInfo
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- CN104097204B CN104097204B CN201410378490.9A CN201410378490A CN104097204B CN 104097204 B CN104097204 B CN 104097204B CN 201410378490 A CN201410378490 A CN 201410378490A CN 104097204 B CN104097204 B CN 104097204B
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- arm
- protective cover
- driving mechanism
- timing belt
- feeding
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Abstract
The invention discloses a kind of material taking/feeding manipulator, its technical scheme main points are that mechanical arm comprises feeding arm and material taking arm, feeding arm is positioned at same level with material taking arm and is vertical setting mutually, feeding arm and material taking arm include arm seat, on arm seat, be equipped with two mechanical fingers, between mechanical finger, there is gap, on arm seat, be equipped with the inferior driving mechanism that driving device finger rotates, installing plate is provided with the main driving mechanism of drive installation plate around its central rotation, on installing plate, can realize X, Y, the movement of tri-directions of Z, main driving mechanism drive installation plate rotates, realize the switching of feeding and feeding, inferior driving mechanism driving device finger rotates clamping and unclamps workpiece, can feeding again can feeding, simple and convenient, save taking up room of machine, realize three-dimensional operation, without operation dead angle, manpower and materials are saved, shorten the production cycle, be specially adapted to more than dust or have the occasion that human body is had to harm gas, mechanization replaces artificial.
Description
Technical field
The present invention relates to a kind of manipulator, more particularly, it relates to a kind of material taking/feeding manipulator that integrates feeding and feeding function.
Background technology
Manipulator is some holding function that can imitate staff and arm; in order to the automatic pilot that captures, carries object or operation tool by fixed routine; it is transported to putting on material mouth of clamping device by be processed in process of production and clamps; on processing unit (plant), process again; it is the industrial robot occurring the earliest; also be the modern machines people who occurs the earliest; it can replace people's heavy work to realize mechanization and the automation of producing; can under hostile environment, operate with protection personal safety, thereby be widely used in the aspects such as machine-building.
Traditional manipulator all only has single feeding or feeding function, this just need to additionally set up the device of feeding or feeding on production equipment, feeding and feeding separately not only can extend manufacture cycle like this, reduce productivity ratio, and can reduce the clearance spaces on production equipment, the occupation of land space that even can increase manufacturing facilities.
Summary of the invention
The deficiency existing for prior art, the object of the present invention is to provide a kind of material taking/feeding manipulator that integrates feeding and feeding function.
For achieving the above object, the invention provides following technical scheme: a kind of material taking/feeding manipulator, comprise installing plate and mechanical arm, described mechanical arm is arranged on described installing plate, described mechanical arm comprises feeding arm and material taking arm, described feeding arm is positioned at same level with material taking arm and is vertical setting mutually, described feeding arm and material taking arm include arm seat, on described arm seat, be equipped with two mechanical fingers, on described arm seat, be equipped with driving device finger and rotate the inferior driving mechanism that clamps or unclamp to be processed workpiece, described installing plate is provided with and drives the main driving mechanism of described installing plate around its central rotation, on described installing plate, be also provided with the first drive unit that drives its directions X to move, the 3rd drive unit that the second drive unit that Y-direction moves and Z direction move, described the 3rd drive unit comprises the 3rd Timing Belt and two the 3rd synchronizing wheels, described two the 3rd synchronizing wheels connect by the 3rd Timing Belt, described the 3rd Timing Belt is provided with three protective cover fixing with main driving mechanism, described main driving mechanism is fixed and the 3rd protective cover one side, described one of them the 3rd synchronizing wheel is provided with the 3rd driving mechanism that drives its rotation, another the 3rd synchronizing wheel is provided with synchronous wheel shaft, on described synchronous wheel shaft, be arranged with bearing, described the 3rd Timing Belt is provided with the 3rd fixed head being fixedly connected with it, described the 3rd fixed head is provided with and its 3rd fixing slide block, described the 3rd protective cover is provided with the 3rd guide rail coordinating with the 3rd slide block, described the 3rd protective cover is fixedly connected with the 3rd guide rail, described the first drive unit comprises the first Timing Belt and two the first synchronizing wheels, described two the first synchronizing wheels connect by described the first Timing Belt and its top is provided with the first protective cover, described one of them first synchronizing wheel is provided with the first driving mechanism that drives its rotation, another first synchronizing wheel is provided with synchronous wheel shaft, on described synchronous wheel shaft, be arranged with bearing, described the first Timing Belt is provided with the first fixed head being fixedly connected with it, described the first fixed head is provided with and its first fixing slide block, described the first protective cover is provided with the first guide rail coordinating with the first slide block, described the first protective cover is fixedly connected with the first guide rail, described the second drive unit comprises the second Timing Belt and two the second synchronizing wheels, described two the second synchronizing wheels connect by described the second Timing Belt and its below is provided with the second protective cover, described one of them second synchronizing wheel is provided with the second driving mechanism that drives its rotation, another second synchronizing wheel is provided with synchronous wheel shaft, on described synchronous wheel shaft, be arranged with bearing, described the second Timing Belt is provided with the second fixed head being fixedly connected with it, described the second fixed head is fixedly connected with described the first fixed head, described the second fixed head below is provided with and its second fixing slide block, described the second protective cover is provided with the second guide rail coordinating with the second slide block, described time driving mechanism is positioned at arm seat and comprises cylinder body and connecting rod, in described cylinder body, be provided with piston, described piston is provided with the piston rod fixing with it, one end that described piston rod deviates from piston passes from cylinder body, the end that described piston rod is positioned at outside cylinder body is relatively provided with pushing block, rod hinge connection is passed through with pushing block both sides respectively in two the relative cylinder body of described mechanical finger one end, described arm seat is provided with two air admission holes, described air admission hole is communicated with cylinder body two ends respectively, on air admission hole, be connected with tracheae, air pump connects two tracheaes are connected and realize by magnetic valve respectively two tracheae air inlets switching with air admission hole.
By adopting technique scheme, main driving mechanism drive installation plate rotates, feeding arm is rotated to the position that receives to be processed, be sent between two mechanical fingers when to be processed, inferior driving mechanism drives two mechanical fingers to rotate and clamps to be processed, main driving mechanism drive installation plate rotates, turn to the position that feeding arm is corresponding with clamping device, process rear rotation installing plate, turn to the position that feeding arm is corresponding with clamping device, stay on clamping device processed for to be processed, rotating installing plate makes material taking arm and clamping device in correspondence position again, when inferior driving mechanism driving device finger clamps manufactured product and takes out, and so forth, can feeding again can feeding, like that just without additionally having set up take out device, simple and convenient, and save the taking up room of machine, in the process that is sent to clamping device and take out from clamping device, all realize by machine for to be processed like this, a large amount of manpower and materials are saved, shorten the production cycle and then improved productivity ratio, be specially adapted to more than dust or have the occasion that human body is had to harm gas, avoid people for going operation, protect staff's life and health, when clamping device and to be processed are with a certain distance from the feeding arm on installing plate or material taking arm exists or when difference in height, the first drive unit, the second drive unit and the 3rd drive unit can drive installation plate directions Xs, the movement of Y-direction and Z direction, expand like this range of application of material taking/feeding manipulator, be applicable to more occasions,
The 3rd driving mechanism drives the 3rd synchronizing wheel to rotate, drive the 3rd Timing Belt to move, because the 3rd fixed head is fixedly connected with and which is provided with the 3rd slide block with the 3rd Timing Belt, and the 3rd protective cover, the 3rd guide rail, main driving mechanism is all fixedly connected with, the Z direction that has realized main driving mechanism upper mounting plate like this under the movement of the 3rd Timing Belt moves, expand the range of application of material taking/feeding manipulator, be applicable to more occasions, the 3rd protective cover can play a protective role, avoiding foreign material to drop to the inside affects it and normally works, extend service life, bearing can reduce coefficient of friction in power transmission process and retainer shaft center fixing, more stable while making work,
The first driving mechanism drives the first synchronizing wheel to rotate, drive the first Timing Belt to move, because the first fixed head is fixedly connected with and which is provided with the first slide block with the first Timing Belt, and the first protective cover, the first guide rail, the 3rd slide block is all fixedly connected with, the directions X of having realized main driving mechanism upper mounting plate like this under the movement of the first Timing Belt moves, expand the range of application of material taking/feeding manipulator, be applicable to more occasions, the first protective cover can play a protective role, avoiding foreign material to drop to the inside affects it and normally works, extend service life, bearing can reduce coefficient of friction in power transmission process and retainer shaft center fixing, more stable while making work,
The second driving mechanism drives the second synchronizing wheel to rotate, drive the second Timing Belt to move, because the second Timing Belt is fixedly connected with the second fixed head, the second Timing Belt moves the second slide block driving on the second fixed head and slides on the second guide rail, and because the second fixed head is fixed with the first fixed head again, so just being inconjunction with installing plate moves, realize the movement of material taking/feeding manipulator Y-direction, expand the range of application of material taking/feeding manipulator, be applicable to more occasions, the second protective cover can play a protective role, avoiding foreign material to drop to the inside affects it and normally works, extend service life, bearing can reduce coefficient of friction in power transmission process and retainer shaft center fixing, more stable while making work.
The present invention is further set to: described time driving mechanism is positioned at arm seat and comprises cylinder body and connecting rod, in described cylinder body, be provided with piston, described piston is provided with the piston rod fixing with it, one end that described piston rod deviates from piston passes from cylinder body, the end that described piston rod is positioned at outside cylinder body is relatively provided with pushing block, rod hinge connection is passed through with pushing block both sides respectively in two the relative cylinder body of described mechanical finger one end, and described arm seat is provided with two air admission holes, and described air admission hole is communicated with cylinder body two ends respectively.
By adopting technique scheme, promote piston by gas transmission in air admission hole and move in cylinder body, piston rod drives pushing block to move, realize the rotation of mechanical finger, realize the effect that clamps or unclamp workpiece, process all realizes automatically by machine, saves manpower.
The present invention is further set to: the opposite side that described the first Timing Belt is provided with the first protective cover is relatively provided with the first shred holding up plate, the opposite side that described the second Timing Belt is provided with the second protective cover is relatively provided with the second shred holding up plate, and the opposite side that described the 3rd Timing Belt is provided with the 3rd protective cover is relatively provided with the 3rd shred holding up plate.
By adopting technique scheme; the first shred holding up plate and the first protective cover; the second shred holding up plate and the second protective cover; the 3rd shred holding up plate and the 3rd protective cover have formed good safeguard structure jointly; material taking/feeding manipulator is in the time of work; foreign material and chip cannot enter inside, play a very good protection, and have ensured the normal use that it is permanent.
The present invention is further set to: on described the first slide block, the second slide block and the 3rd slide block, be equipped with the projection of strip, on described the first guide rail, the second guide rail and the 3rd guiding cheekn, be equipped with the groove coordinating with described projection.
By adopting technique scheme, it is fixing on above-below direction in moving process that the projection of strip can be good at realizing the first slide block, the second slide block and the 3rd slide block, makes in moving process more steadily, there will not be and rock.
The present invention is further set to: described projection be shaped as semicircle and its length is identical with slide block slide block length.
By adopting technique scheme, projection be shaped as semicircle, contact-making surface is arc surface, does not have turning, in sliding process, sliding effect is more smooth like this, there will not be catching phenomenon.
Brief description of the drawings
Fig. 1 is the structure chart of material taking/feeding manipulator embodiment of the present invention;
Fig. 2 is the structure chart that material taking/feeding manipulator embodiment of the present invention loads onto the first shred holding up plate, the second shred holding up plate and the 3rd shred holding up plate;
Fig. 3 is the structure chart that material taking/feeding manipulator embodiment of the present invention loads onto the first protective cover, the second protective cover and the 3rd protective cover;
Fig. 4 is the sectional view of material taking/feeding manipulator embodiment the second slide block of the present invention and the second guide rail junction;
Fig. 5 is the structure chart of material taking/feeding manipulator embodiment feeding arm of the present invention;
Fig. 6 is the sectional view at material taking/feeding manipulator embodiment A-A of the present invention place.
Reference numeral: 1, main driving mechanism; 2, installing plate; 3, feeding arm; 4, material taking arm; 31, arm seat; 32, mechanical finger; 33, air admission hole; 34, cylinder body; 35, piston; 36, piston rod; 37, pushing block; 38, connecting rod; 51, the first synchronizing wheel; 52, the first Timing Belt; 53, the first protective cover; 54, the first driving mechanism; 55, the first fixed head; 56, the first slide block; 57, the first guide rail; 58, the first shred holding up plate; 6, synchronous wheel shaft; 7, bearing; 81, the second synchronizing wheel; 82, the second Timing Belt; 83, the second protective cover; 84, the second driving mechanism; 85, the second fixed head; 86, the second slide block; 87, the second guide rail; 88, the second shred holding up plate; 91, the 3rd synchronizing wheel; 92, the 3rd Timing Belt; 93, the 3rd protective cover; 94, the 3rd driving mechanism; 95, the 3rd fixed head; 96, the 3rd slide block; 97, the 3rd guide rail; 98, the 3rd shred holding up plate; 10, projection; 11, clamping device.
Detailed description of the invention
Referring to figs. 1 through Fig. 6, material taking/feeding manipulator embodiment of the present invention is described further.
A kind of material taking/feeding manipulator, comprise installing plate 2 and mechanical arm, described mechanical arm is arranged on described installing plate 2, described mechanical arm comprises feeding arm 3 and material taking arm 4, described feeding arm 3 is positioned at same level with material taking arm 4 and is vertical setting mutually, described feeding arm 3 and material taking arm 4 include arm seat 31, on described arm seat 31, be equipped with two mechanical fingers 32, on described arm seat 31, being equipped with driving device finger 32 rotates clamping or unclamps the inferior driving mechanism of to be processed, described installing plate 2 is provided with and drives the main driving mechanism 1 of described installing plate 2 around its central rotation, on described installing plate 2, be also provided with the first drive unit that drives its directions X to move, the 3rd drive unit that the second drive unit that Y-direction moves and Z direction move.
By adopting technique scheme, main driving mechanism 1 drive installation plate 2 rotates, feeding arm 3 is rotated to the position that receives to be processed, be sent between two mechanical fingers 32 when to be processed, inferior driving mechanism drives two mechanical fingers 32 to rotate and clamps to be processed, can be at a mechanical finger 3 phases side setting clamp to machined part in use procedure, make to clamp effect more significantly with stable, main driving mechanism 1 drive installation plate 2 rotates, turn to the position that feeding arm 3 is corresponding with clamping device 11, process rear rotation installing plate 2, turn to the position that feeding arm 3 is corresponding with clamping device 11, stay on clamping device 11 processed for to be processed, rotating installing plate 2 makes material taking arm 4 and clamping device 11 in correspondence position again, when inferior driving mechanism driving device finger 32 clamps manufactured product and takes out, and so forth, can feeding again can feeding, like that just without additionally having set up take out device, simple and convenient, and save the taking up room of machine, in the process that is sent to clamping device 11 and take out from clamping device 11, all realize by machine for to be processed like this, a large amount of manpower and materials are saved, shorten the production cycle and then improved productivity ratio, in the time that clamping device 11 and to be processed exist with a certain distance from the feeding arm 3 on installing plate 2 or material taking arm 4, the first drive unit, the second drive unit and the 3rd driving mechanism respectively can drive installation plate 2 along directions X, the movement of Y-direction and Z direction, expand like this range of application of material taking/feeding manipulator, be applicable to more occasions, feeding arm 3 and material taking arm 4 are and are mutually vertically set on some specific occasions, need not move when directions X and Y-direction are installed, when receiving the position of to be processed, the position of clamping device 11 also at right angles arranges, main driving mechanism 1 drive installation plate 2 rotates 90 degree like this, feeding handle is got back to when receiving to be processed correspondence position like this, material taking arm 4 is just also positioned at position that can feeding, can save time, shorten feeding time, improve productivity ratio, this manipulator is specially adapted to more than dust or has the occasion that human body is had to harm gas, avoid people for going operation, protect staff's life and health.
Described the 3rd drive unit comprises the 3rd Timing Belt 92 and two the 3rd synchronizing wheels 91, described two the 3rd synchronizing wheels 91 connect by the 3rd Timing Belt 92, described the 3rd Timing Belt 92 is provided with three protective cover 93 fixing with main driving mechanism, described one of them the 3rd synchronizing wheel 91 is provided with the 3rd driving mechanism 94 that drives its rotation, another the 3rd synchronizing wheel 91 is provided with synchronous wheel shaft 6, on described synchronous wheel shaft 6, be arranged with bearing, described the 3rd Timing Belt 92 is provided with the 3rd fixed head 95 being fixedly connected with it, described the 3rd fixed head 95 is provided with and its 3rd fixing slide block 96, described the 3rd protective cover 93 is provided with the 3rd guide rail 97 coordinating with the 3rd slide block 96, described the 3rd protective cover 93 is fixedly connected with the 3rd guide rail 97.
By adopting technique scheme, the 3rd driving mechanism 94 drives the 3rd synchronizing wheel 91 to rotate, drive the 3rd Timing Belt 92 to move, because the 3rd fixed head 95 is fixedly connected with and which is provided with the 3rd slide block 96 with the 3rd Timing Belt 92, and the 3rd protective cover 93, the 3rd guide rail 97, main driving mechanism is all fixedly connected with, the Z direction that has realized main driving mechanism upper mounting plate like this under the movement of the 3rd Timing Belt 92 moves, expand the range of application of material taking/feeding manipulator, be applicable to more occasions, the 3rd protective cover 93 can play a protective role, avoiding foreign material to drop to the inside affects it and normally works, extend service life, bearing can reduce coefficient of friction in power transmission process and retainer shaft center fixing, more stable while making work.
Described the first drive unit comprises the first Timing Belt 52 and two the first synchronizing wheels 51, described two the first synchronizing wheels 51 connect by described the first Timing Belt 52 and its top is provided with the first protective cover 53, described one of them first synchronizing wheel 51 is provided with the first driving mechanism 54 that drives its rotation, another first synchronizing wheel 51 is provided with synchronous wheel shaft 6, on described synchronous wheel shaft 6, be arranged with bearing 7, described the first Timing Belt 52 is provided with the first fixed head 55 being fixedly connected with it, described the first fixed head 55 is provided with and its first fixing slide block 56, described the first protective cover 53 is provided with the first guide rail 57 coordinating with the first slide block 56.
By adopting technique scheme, the first driving mechanism 54 drives the first synchronizing wheel 51 to rotate, it drives the first protective cover 53 and the first guide rail 57 to move on the first slide block 56 while rotation, and due to the first protective cover 53, the first guide rail 57 and the 3rd slide block 96 are fixing, the directions X of having realized like this main driving mechanism 1 upper mounting plate 2 moves, expand the range of application of material taking/feeding manipulator, be applicable to more occasions, the first protective cover 53 can play a protective role, avoiding foreign material to drop to the inside affects it and normally works, extend service life, bearing 7 can reduce coefficient of friction in power transmission process and retainer shaft center fixing, more stable while making work.
Described the second drive unit comprises the second Timing Belt 82 and two the second synchronizing wheels 81, described two the second synchronizing wheels 81 connect by described the second Timing Belt 82 and its below is provided with the second protective cover 83, described one of them second synchronizing wheel 81 is provided with the second driving mechanism 84 that drives its rotation, another second synchronizing wheel 81 is provided with synchronous wheel shaft 6, on described synchronous wheel shaft 6, be arranged with bearing 7, described the second Timing Belt 82 is provided with the second fixed head 85 being fixedly connected with it, described the second fixed head 85 is fixedly connected with described the first fixed head 55 and its below is provided with and its second fixing slide block 86, described the second protective cover 83 is provided with the second guide rail 87 coordinating with the second slide block 86.
By adopting technique scheme, the second driving mechanism 84 drives the second synchronizing wheel 81 to rotate, drive the second Timing Belt 82 to move, because the second Timing Belt 82 is fixedly connected with the second fixed head 85, the second Timing Belt 82 moves the second slide block 86 driving on the second fixed head 85 and slides on the second guide rail 87, and because the second fixed head 85 is fixing with the first fixed head 55 again, so just being inconjunction with installing plate 2 moves, realize the movement of material taking/feeding manipulator Y-direction, expand the range of application of material taking/feeding manipulator, be applicable to more occasions, the second protective cover 83 can play a protective role, avoiding foreign material to drop to the inside affects it and normally works, extend service life, bearing 7 can reduce coefficient of friction in power transmission process and retainer shaft center fixing, more stable while making work.
Described time driving mechanism is positioned at arm seat and comprises cylinder body 34 and connecting rod 38, in described cylinder body 34, be provided with piston 35, described piston 35 is provided with the piston rod fixing with it 36, one end that described piston rod 36 deviates from piston 35 passes from cylinder body 34, the end that described piston rod 36 is positioned at outside cylinder body 34 is relatively provided with pushing block 37, piston rod 36 is wholely set with pushing block 37, two the relative cylinder body of described mechanical finger 34 one end are hinged by connecting rod 38 with pushing block 37 both sides respectively, described arm seat is provided with two air admission holes 33, described air admission hole 33 is communicated with cylinder body 34 two ends respectively.
By adopting technique scheme, promote piston 35 in the interior motion of cylinder body 34 by air pump toward the interior gas transmission of air admission hole 33, air pump connects two tracheaes are connected and realize by magnetic valve respectively two tracheae air inlets switching with air admission hole 33, air admission hole 33 is communicated with cylinder body 34 two ends respectively, in the time deviating from one end gas transmission of pushing block 37 toward piston rod 36, the pushing block 37 promoting on piston rod 36 moves toward mechanical finger direction, connecting rod 38 outwards struts two mechanical fingers, mechanical finger is realized the function of unclamping workpiece, when toward piston rod 36 during near one end gas transmission of pushing block 37, the pushing block 37 promoting on piston rod 36 moves toward deviating from mechanical finger direction, connecting rod 38 is by two mechanical finger inward collapsibles, mechanical finger is realized the function of clamping work pieces, process all realizes automatically by machine, save manpower.
The opposite side that described the first Timing Belt 52 is provided with the first protective cover 53 is relatively provided with the first shred holding up plate 58, the opposite side that described the second Timing Belt 82 is provided with the second protective cover 83 is relatively provided with the second shred holding up plate 88, and the opposite side that described the 3rd Timing Belt 92 is provided with the 3rd protective cover 93 is relatively provided with the 3rd shred holding up plate 98.
By adopting technique scheme; the first shred holding up plate 58 and the first protective cover 53; the second shred holding up plate 88 and the second protective cover 83; the 3rd shred holding up plate 98 and the 3rd protective cover 93 have formed good safeguard structure jointly; material taking/feeding manipulator is in the time of work; foreign material and chip cannot enter inside, play a very good protection, and have ensured the normal use that it is permanent.
On described the first slide block 56, the second slide block 86 and the 3rd slide block 96, be equipped with the projection 10 of strip, on described the first guide rail 57, the second guide rail 87 and the 3rd guide rail 97 sidewalls, be equipped with and described protruding 10 grooves that coordinate.
By adopting technique scheme, it is fixing on above-below direction in moving process that the projection 10 of strip can be good at realizing the first slide block 56, the second slide block 86 and the 3rd slide block 96, makes in moving process more steadily, there will not be and rock.
Described protruding 10 be shaped as semicircle and its length is identical with slide block slide block length.
By adopting technique scheme, projection 10 be shaped as semicircle, contact-making surface is arc surface, does not have turning, in sliding process, sliding effect is more smooth like this, there will not be catching phenomenon.
It should be noted that: main driving mechanism 1 is rotary cylinder herein, the first driving mechanism 54, the second driving mechanism 84 and the 3rd driving mechanism 94 are motor, what in the present embodiment, use is the movement that driven by motor belt pulley is realized manipulator X, Y, Z direction, and the movement that realizes manipulator X, Y, Z direction can also be that cylinder pneumatic gearing, hydraulic cylinder hydraulic drive, stepper motor lead screw transmission realize.
Main driving mechanism 1 drive installation plate 2 rotates counterclockwise 90 degree, feeding arm 3 is rotated to the position that receives to be processed, the second driving mechanism 84 drives the second synchronizing wheel 81 to rotate, drive the second Timing Belt 82 to move, because the second Timing Belt 82 is fixedly connected with the second fixed head 85, the second Timing Belt 82 moves the second slide block 86 driving on the second fixed head 85 and slides on the second guide rail 87, and because the second fixed head 85 is fixing with the first fixed head 55 again, so just be inconjunction with installing plate 2 along the movement in Y-direction, be sent between two mechanical fingers 32 when to be processed, the magnetic valve of air pump is communicated with the tracheae near pushing block 37 1 sides, the pushing block 37 promoting on piston rod 36 moves toward deviating from mechanical finger direction, connecting rod 38 is by two mechanical finger inward collapsibles, two mechanical fingers 32 rotate and clamp to be processed, the second driving mechanism 84 again drive installation plate 2 returns to original position, main driving mechanism 1 drive installation plate 2 clockwise rotates 90 degree, make feeding arm 3 with clamping device 11 in corresponding position, when feeding arm 3 is with clamping device 11 during not in equal height, the 3rd driving mechanism 94 drives the 3rd synchronizing wheel 91 to rotate, drive the 3rd Timing Belt 92 to move, because the 3rd Timing Belt 92 is fixedly connected with the 3rd fixed head 95, the 3rd Timing Belt 92 moves the 3rd slide block 96 driving on the 3rd fixed head 95 and slides on the 3rd guide rail 97, realize the movement of Z direction, in the time being adjusted to highly unanimously, the first driving mechanism 54 drives the first synchronizing wheel 51 to rotate, drive the first Timing Belt 52 to move, because motor output shaft and first protective cover 53 of the first driving mechanism 54 are fixing, the first protective cover 53 and the first guide rail 57 are fixing, it drives the first protective cover 53 and the first guide rail 57 to move on the first slide block 56 while rotation, the directions X of having realized like this main driving mechanism 1 upper mounting plate 2 moves, drive installation plate 2 moves towards clamping device 11 directions, to be processed is sent to clamping on clamping device 11, the magnetic valve of air pump is communicated with the tracheae that deviates from pushing block 37 1 sides, the pushing block 37 promoting on piston rod 36 moves toward close mechanical finger direction, connecting rod 38 outwards struts two mechanical fingers, mechanical finger 32 unclamps to be processed, the first driving mechanism 54 drive installation plates 2 are return original position, to be processed processed complete after, main driving mechanism 1 drive installation plate 2 is rotated counterclockwise 90 degree, make material taking arm 4 with clamping device 11 in corresponding position, the first driving mechanism 54 drive installation plates 2 move towards clamping device 11 directions, when inferior driving mechanism driving device finger 32 clamps manufactured products and by its taking-up and be transported to assigned address, and so forth, can feeding again can feeding, like that just without additionally having set up take out device, simple and convenient, and save the taking up room of machine, in the process that is sent to clamping device 11 and take out from clamping device 11, all realize by machine for to be processed like this, a large amount of manpower and materials are saved, shorten the production cycle and then improved productivity ratio, and material taking/feeding manipulator has been realized X, Y, the adjusting of tri-directions of Z, the range of application expanding, be applicable to more occasions, realize three-dimensional operation, without operation dead angle.
Claims (4)
1. a material taking/feeding manipulator, comprise installing plate and mechanical arm, described mechanical arm is arranged on described installing plate, it is characterized in that: described mechanical arm comprises feeding arm and material taking arm, described feeding arm is positioned at same level with material taking arm and is vertical setting mutually, described feeding arm and material taking arm include arm seat, on described arm seat, be equipped with two mechanical fingers, on described arm seat, be equipped with driving device finger and rotate the inferior driving mechanism that clamps or unclamp to be processed workpiece, described installing plate is provided with and drives the main driving mechanism of described installing plate around its central rotation, on described installing plate, be also provided with the first drive unit that drives its directions X to move, the 3rd drive unit that the second drive unit that Y-direction moves and Z direction move, described the 3rd drive unit comprises the 3rd Timing Belt and two the 3rd synchronizing wheels, described two the 3rd synchronizing wheels connect by the 3rd Timing Belt, described the 3rd Timing Belt is provided with three protective cover fixing with main driving mechanism, described main driving mechanism is fixed on the 3rd protective cover one side, described one of them the 3rd synchronizing wheel is provided with the 3rd driving mechanism that drives its rotation, another the 3rd synchronizing wheel is provided with synchronous wheel shaft, on described synchronous wheel shaft, be arranged with bearing, described the 3rd Timing Belt is provided with the 3rd fixed head being fixedly connected with it, described the 3rd fixed head is provided with and its 3rd fixing slide block, described the 3rd protective cover one side is provided with the 3rd guide rail coordinating with the 3rd slide block, described the 3rd protective cover is fixedly connected with the 3rd guide rail, described the first drive unit comprises the first Timing Belt and two the first synchronizing wheels, described two the first synchronizing wheels connect by described the first Timing Belt and its top is provided with the first protective cover, described one of them first synchronizing wheel is provided with the first driving mechanism that drives its rotation, another first synchronizing wheel is provided with synchronous wheel shaft, on described synchronous wheel shaft, be arranged with bearing, described the first Timing Belt is provided with the first fixed head being fixedly connected with it, described the first fixed head is provided with and its first fixing slide block, described the first protective cover is provided with the first guide rail coordinating with the first slide block, described the first protective cover is fixedly connected with the first guide rail, described first protective cover one end and the 3rd fixed head are fixed, described the first protective cover and the 3rd protective cover are vertical setting, described the second drive unit comprises the second Timing Belt and two the second synchronizing wheels, described two the second synchronizing wheels connect by described the second Timing Belt and its below is provided with the second protective cover, described one of them second synchronizing wheel is provided with the second driving mechanism that drives its rotation, another second synchronizing wheel is provided with synchronous wheel shaft, on described synchronous wheel shaft, be arranged with bearing, described the second Timing Belt is provided with the second fixed head being fixedly connected with it, described the second fixed head is fixedly connected with described the first fixed head, described the second fixed head below is provided with and its second fixing slide block, described the second protective cover is provided with the second guide rail coordinating with the second slide block, described time driving mechanism is positioned at arm seat and comprises cylinder body and connecting rod, in described cylinder body, be provided with piston, described piston is provided with the piston rod fixing with it, one end that described piston rod deviates from piston passes from cylinder body, the end that described piston rod is positioned at outside cylinder body is relatively provided with pushing block, rod hinge connection is passed through with pushing block both sides respectively in two the relative cylinder body of described mechanical finger one end, described arm seat is provided with two air admission holes, described air admission hole is communicated with cylinder body two ends respectively, on air admission hole, be connected with tracheae, air pump connects two tracheaes are connected and realize by magnetic valve respectively two tracheae air inlets switching with air admission hole.
2. material taking/feeding manipulator according to claim 1, it is characterized in that: the opposite side that described the first Timing Belt is provided with the first protective cover is relatively provided with the first shred holding up plate, the opposite side that described the second Timing Belt is provided with the second protective cover is relatively provided with the second shred holding up plate, and the opposite side that described the 3rd Timing Belt is provided with the 3rd protective cover is relatively provided with the 3rd shred holding up plate.
3. material taking/feeding manipulator according to claim 1, it is characterized in that: on described the first slide block, the second slide block and the 3rd slide block, be equipped with the projection of strip, on described the first guide rail, the second guide rail and the 3rd guiding cheekn, be equipped with the groove coordinating with described projection.
4. material taking/feeding manipulator according to claim 3, is characterized in that: described projection be shaped as semicircle and its length is identical with slide block length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410378490.9A CN104097204B (en) | 2014-08-02 | 2014-08-02 | Material taking/feeding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410378490.9A CN104097204B (en) | 2014-08-02 | 2014-08-02 | Material taking/feeding manipulator |
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| CN104617023B (en) * | 2015-01-08 | 2017-08-22 | 北京七星华创电子股份有限公司 | A kind of handling device of crystal silicon solar batteries piece bin |
| CN107030685A (en) * | 2017-01-18 | 2017-08-11 | 柳州科瑞科技有限公司 | A kind of mechanical arm of compound transmission |
| CN108393459A (en) * | 2018-03-29 | 2018-08-14 | 中山市沃尔达智能装备有限公司 | A kind of protective device for die casting pickup spraying integral machine |
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| CN109873525B (en) * | 2018-08-07 | 2024-03-22 | 安徽御流包装机械有限公司 | Pushing device for product package |
| CN109044124A (en) * | 2018-10-28 | 2018-12-21 | 杜宗英 | The manipulator that intelligent ball blank makes and places into oil cauldron |
| CN109465810A (en) * | 2019-01-08 | 2019-03-15 | 珠海市精实测控技术有限公司 | With the traversing charging manipulator in position |
| CN109822114B (en) * | 2019-04-01 | 2023-10-13 | 青岛勇创信自动化机械有限公司 | Automatic feeding and receiving device |
| CN113441938A (en) * | 2020-03-24 | 2021-09-28 | 南宁富桂精密工业有限公司 | Method and system for controlling screw locking sequence |
| CN111645051A (en) * | 2020-06-12 | 2020-09-11 | 苏州海翌智能科技有限公司 | Quick assembly disassembly formula triaxial manipulator |
| CN113650003B (en) * | 2021-10-20 | 2021-12-24 | 莱州结力工贸有限公司 | Manipulator for machining micro heat pipe |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4793186B2 (en) * | 2006-09-07 | 2011-10-12 | 日本精工株式会社 | 3-axis drive |
| CN201259833Y (en) * | 2008-08-07 | 2009-06-17 | 盐城市电子设备厂 | Automatic material loading and unloading special finishing machine |
| CN201745768U (en) * | 2010-06-24 | 2011-02-16 | 江阴纳尔捷机器人有限公司 | Packer moving manipulator |
| CN203141491U (en) * | 2012-12-28 | 2013-08-21 | 西安沃恩机床有限公司 | Practical mechanical arm for micro-motor rotor machining |
| CN103612263A (en) * | 2013-11-08 | 2014-03-05 | 重庆风过旗扬科技发展有限公司 | Elastic manipulator with part protection structure |
| CN204019533U (en) * | 2014-08-02 | 2014-12-17 | 温岭市圣方工具有限公司 | Material taking/feeding manipulator |
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Denomination of invention: Material taking/feeding manipulator Effective date of registration: 20180829 Granted publication date: 20160504 Pledgee: Zhejiang Tyrone commercial bank Limited by Share Ltd Taizhou Wenling branch Pledgor: Sheng Fang Tools Co., ltd of Wenling city Registration number: 2018330000249 |