CN105438822B - A kind of strip class workpiece pickup and helical feed machinery arm - Google Patents
A kind of strip class workpiece pickup and helical feed machinery arm Download PDFInfo
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- CN105438822B CN105438822B CN201510936554.7A CN201510936554A CN105438822B CN 105438822 B CN105438822 B CN 105438822B CN 201510936554 A CN201510936554 A CN 201510936554A CN 105438822 B CN105438822 B CN 105438822B
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- plate
- guide
- track
- arm body
- class workpiece
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Transmission Devices (AREA)
Abstract
A kind of strip class workpiece pickup and helical feed machinery arm, including arm body, the upper surface of the arm body is connected with spiral lifting mechanism, the lower surface of the arm body is connected with track guiding mechanism, and the arm body realizes that three shaft space tracks are moved by track guiding mechanism and spiral lifting mechanism.The present invention is as a result of with the spiral lifting mechanism for determining the track guiding mechanism of track slot structure and being made up of helical member, realize that three shaft space tracks of mechanical arm are moved by track guiding mechanism and spiral lifting mechanism during use, mechanical arm be have effectively achieved in limited space to automatic, the continuous pickup of strip class workpiece and helical feed, so as to instead of manual operation, drastically increase production efficiency, reduce labor intensity and saved production cost, and improve packaging quality.And the structure of the present invention is reliable, install and easy to use, the pickup for strip class workpiece is accurate.
Description
Technical field
The invention belongs to equipment Technology field, is specifically related to a kind of strip class workpiece pickup and helical feed machinery
Arm, it is especially suitable for having the pickup and conveying of the strip class workpiece of spiral winding requirement in packaging field.
Background technology
For the product formed by the strip class workpiece spiral winding packaging with certain rigidity, such as thin steel strip spiral
Transformer three-dimensional winding iron core is wound, the enterprise of domestic production at present is not yet using with continuous, automatic transport thin steel strip and automatic spiral shell
The equipment production of rotation winding, is mainly assembled using manual type.However, by being accomplished manually thin steel strip alignment, winding, defeated
The step such as send, the problems such as production efficiency is low, labor intensity is high, labor intensive degree is big, production cost is high be present.
The content of the invention
It is an object of the invention to problem and shortage be present for above-mentioned, there is provided a kind of to realize the automatic, fast of strip
Speed pickup and spiral continuous conveying, improve labor productivity, reduce the input of personnel and significantly improve packaging quality
Strip class workpiece picks up and helical feed machinery arm.
The technical proposal of the invention is realized in this way：
Strip class workpiece pickup of the present invention and helical feed machinery arm, including arm body, are characterized in：Institute
The upper surface for stating arm body is connected with spiral lifting mechanism, and the lower surface of the arm body is connected with track guiding mechanism,
The arm body realizes that three shaft space tracks are moved by track guiding mechanism and spiral lifting mechanism.
In order that the structure of the present invention is reliable, it is easy to arm body to realize that track converts, the track guiding mechanism includes
Guide track plate and the branch selection mechanism being arranged on guide track plate, it is oriented to axis mechanism, starting point pre-tightening mechanism, terminal pretension
Mechanism and pickup thrust mechanism, the guide track set on guide track plate the wherein axis of guide mechanism is movably connected
It is fixedly connected in groove and with arm body, the arm body realizes track conversion and water by the drive of branch selection mechanism
Square to motion.
In order to preferably limit the movement locus of arm body, the guide track groove includes upper track groove and lower track
One end of groove, the upper track groove and lower track groove, which intersects, to be connected, the starting point pre-tightening mechanism close to upper track groove position,
The terminal pre-tightening mechanism is close to lower track groove position.
For the ease of control arm ontology transformation track, the branch selection mechanism includes shift fork and reversing cylinder, described
The cylinder body of reversing cylinder is fixedly installed on the lateral surface of guide track plate, and the shift fork is slidably disposed on guide track plate
Upper surface and be fixedly connected with the projecting shaft of reversing cylinder by connecting rod, in order to prevent shift fork during slip up and down
Play, limited location pressing plate is fixedly installed on the guide track plate, and the shift fork is placed between spacing pressing plate and guide track plate
In the stopper slot of formation.
In order to simple and effectively realize the initial point location and pretension of arm body, the starting point pre-tightening mechanism includes
Point location plate and extension spring, the starting point location-plate are rotatably connected on guide track plate by starting point rotating shaft, the extension spring
One end be connected with starting point location-plate, its other end is connected with guide track plate.
In order to simple and effectively realize the termination point location and pretension of arm body, the terminal pre-tightening mechanism is included eventually
Point location plate and stage clip, the terminal location-plate are rotatably connected on guide track plate by terminal rotating shaft, the stage clip
One end be connected with terminal location-plate, its other end is connected with guide track plate.
In order that the structure of pickup thrust mechanism is simple, installation and easy to use, the pickup thrust mechanism includes pickup
Thrust cylinder, the pickup thrust cylinder are connected on guide track plate and close to starting point pre-tightening mechanism position, the hand
Arm body swings minute angle to realize the pickup of strip class workpiece by picking up the promotion of thrust cylinder.
In order that the structure for being oriented to axis mechanism is simple, and is oriented to reliably, the guiding axis mechanism includes the axis of guide and guiding
Bearing, the upper end of the axis of guide are fixedly connected with arm body, and the guide bearing is socketed in the lower end of the axis of guide and with leading
The guide track groove set on to track pad can roll connection.
In order that the structure of spiral lifting mechanism is reliable, energy is simple and effectively realizes the spiral lifting of arm body, institute
State spiral lifting mechanism include optical axis, lower helical member and the fixed plate being sequentially socketed in from lower to upper on optical axis, linear bearing and
Upper helical member, it is fixedly connected wherein the lower helical member is fixedly sleeved on linear bearing and with the upper surface of fixed plate, it is described
Arm body is located at the lower section of fixed plate and is fixedly connected with the lower end of optical axis, and the upper helical member is fixedly connected on the upper of optical axis
Hold and its lower surface contacts with each other with the upper surface of lower helical member and is connected, the face that the upper helical member and lower helical member contact with each other
It is arranged to inclined-plane, in order to prevent from occurring between upper helical member and lower helical member play, between the arm body and fixed plate
Volute spring is socketed with optical axis, the arm body realizes spiral liter in vertical direction by the drive of upper helical member
Drop motion.
In order to effectively reduce the frictional resistance between upper helical member and lower helical member, the upper helical member and lower helical member
Between be provided with some steel balls.
The present invention is as a result of with the spiral for determining the track guiding mechanism of track slot structure and being made up of helical member
Elevating mechanism, realize that three shaft space tracks of mechanical arm are transported by track guiding mechanism and spiral lifting mechanism during use
Dynamic, so as to have effectively achieved accurate pickup of the mechanical arm in the confined space, track is oriented to and the spiral of strip class workpiece
Rise conveying, drastically increase production efficiency, significantly reduce labor intensity and saved production cost, and improve
Packaging quality.
The present invention is further illustrated below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention.
Fig. 2 is the overlooking the structure diagram of the present invention.
Fig. 3 is the main structure diagram of the present invention.
Fig. 4 is the cross-sectional view of spiral lifting mechanism of the present invention.
Fig. 5 is the main structure diagram of spiral lifting mechanism of the present invention.
Embodiment
As Figure 1-Figure 5, strip class workpiece pickup of the present invention and helical feed machinery arm, including arm sheet
Body 2, spiral lifting mechanism 3 is connected with the upper surface of the arm body 2, while is connected with the lower surface of the arm body 2
Track guiding mechanism 1.In use, three axles of arm body 2 sky is realized by track guiding mechanism 1 and spiral lifting mechanism 3
Between track move.
Wherein, track guiding mechanism 1 includes guide track plate 101 and the branch being arranged on guide track plate 101 selection
Mechanism, it is oriented to axis mechanism, starting point pre-tightening mechanism, terminal pre-tightening mechanism and pickup thrust mechanism.Moreover, on guide track plate 101
The guide track groove of setting includes upper track groove 102 and lower track groove 103, one end friendship of upper track groove 102 and lower track groove 103
Fork connection, starting point pre-tightening mechanism are in place close to the lower institute of track groove 103 close to the upper position of track groove 102, terminal pre-tightening mechanism
Put.Wherein, starting point pre-tightening mechanism includes starting point location-plate 108 and extension spring 109, and the initiating terminal of starting point location-plate 108 has been connected with
Point rotating shaft 110 is simultaneously rotatably connected on guide track plate 101 by the starting point rotating shaft 110, and starting point location-plate 108 is
Positioned at the inner side of upper track groove 102, the starting point rotating shaft 110 connected thereon is handed over close to upper track groove 102 and lower track groove 103
Side where crunode, while it is respectively arranged with clamping in the side wall of the end of starting point location-plate 108 and guide track plate 101
Axle, one end of extension spring 109 are connected on the clamping axle on starting point location-plate 108, and its other end is connected to guide track plate side wall
On clamping axle on, arm body 2 completes initial point location and pretension by starting point location-plate 108 and extension spring 109.Terminal pretension
Mechanism includes terminal location-plate 111 and stage clip 112, and the initiating terminal of terminal location-plate 111 is connected with terminal rotating shaft 113 and by this
Terminal rotating shaft 113 is rotatably connected on guide track plate 101, and terminal location-plate 111 is to be located at lower track groove 103
Inner side, the terminal rotating shaft 113 connected thereon is close to the side where upper track groove 102 and the lower crosspoint of track groove 103, together
When blind hole is provided with the inside of the end of terminal location-plate 111, and guide track plate 101 is located at the end of terminal location-plate 111
Side be provided with baffle plate, blind hole is offered in the side of the baffle plate towards terminal location-plate 111, one end of stage clip 112 is placed in
In blind hole on terminal location-plate 111, its other end is placed in the blind hole on baffle plate, and arm body 2 passes through terminal location-plate 111
Complete to terminate point location and pretension with stage clip 112.Branch selection mechanism is provided in close to upper track groove 102 and lower track groove
103 cross-point locations, and set up separately with starting point pre-tightening mechanism and terminal pre-tightening mechanism in the both sides in crosspoint, branch selection machine
Structure includes shift fork 104 and reversing cylinder 105, and the cylinder body of reversing cylinder 105 is fixedly installed on the lateral surface of guide track plate 101
On, and the projecting shaft of reversing cylinder 105 is stretched into the preformed groove on guide track plate 101, shift fork 104, which is slidably disposed on, leads
It is fixedly connected to the upper surface of track pad 101 and with the projecting shaft of reversing cylinder 105 by connecting rod 106, in order to prevent shift fork
104 there is play up and down during slip, and spacing pressing plate protruding upward is fixedly installed on guide track plate 101
107, it is placed in formed with stopper slot, the linking part of shift fork 104 between the upper surface of the spacing pressing plate 107 and guide track plate 101
In the stopper slot formed between spacing pressing plate 107 and guide track plate 101, arm body 2 is dialled by what reversing cylinder 105 drove
Fork 104 is stirred to realize the conversion of its track and horizontal motion.Being oriented to axis mechanism includes the axis of guide 115 and guide bearing
116, the wherein upper end of the axis of guide 115 is fixedly connected with arm body 2, and guide bearing 116 is socketed in the lower end of the axis of guide 115 simultaneously
It can roll and be connected with the guide track groove set on guide track plate 101.In order that the structure of pickup thrust mechanism is simple and pacifies
Dress is convenient, and pickup thrust mechanism includes pickup thrust cylinder 114, and the pickup thrust cylinder 114 is positioned close to starting point pretightening machine
Structure position, and the cylinder body of the pickup thrust cylinder 114 is fixed on the lateral surface of guide track plate 101, its cylinder axis is put
In the starting point preformed groove on guide track plate 101, when carrying out the pickup of strip class workpiece, pickup thrust cylinder 114
Cylinder axis stretch out the guide bearing 116 for promoting the lower section of arm body 2 and arm body 2 is swung minute angle to realize strip class
The pickup of workpiece.
Spiral lifting mechanism 3 includes optical axis 31, lower helical member 33 and the fixation being sequentially socketed in from lower to upper on optical axis 31
Plate 32, linear bearing 34 and upper helical member 35, wherein lower helical member 33 it is fixedly sleeved on linear bearing 34 and with fixed plate 32
Upper surface be fixedly connected, arm body 2 is located at the lower section of fixed plate 32 and is fixedly connected with the lower end of optical axis 31, upper helical member
35 are fixedly connected on the upper end of optical axis 31 and its lower surface contacts with each other with the upper surface of lower helical member 33 and is connected, upper helical member 35
The face to be contacted with each other with lower helical member 33 is arranged to inclined-plane, in order to prevent being altered between upper helical member 35 and lower helical member 33
It is dynamic, volute spring 36 is socketed with the optical axis 31 between arm body 2 and fixed plate 32, while in order to effectively reduce upper spiral
Frictional resistance between part 35 and lower helical member 33, some steel balls 37 are provided between upper helical member 35 and lower helical member 33, and
In order to limit the extreme position of upper helical member 35, initial bit gear is provided with upper helical member 35 and lower helical member 33.Use
When, arm body 2 realizes its spiral lifting motion in vertical direction by the drive of upper helical member 35.
The course of work of the present invention is as follows：Starting stage, reversing cylinder 105 are released, and the axis of guide is promoted by shift fork 104
115 move along the upper track groove 102 of guide track plate 101, and fixed plate 32 is moved horizontally to the starting point of guide track plate 101,
Guide bearing 116 is compressed by starting point location-plate 108, makes upper track groove 102 of the guide bearing 116 against guide track plate 101,
Now pick up thrust cylinder 114 and release completion arm 2 pickup to strip class workpiece of body；Then, fixed plate 32 moves backward
Track bifurcation is reached, reversing cylinder 105 retracts initial position so that shift fork 104 pulls the axis of guide 115 towards guide track plate
101 lower track groove 103, while 32 horizontal forward movement of fixed plate is until the terminal of guide track plate 10, now terminal positioning
Plate 111 compresses lower track groove 103 of the guide bearing 116 against guide track plate 101, is transported so as to complete arm body 2 from starting point
The process of row to terminal.Arm body 2 is during the operation to terminal of the starting point of guide track plate 101, the upper phase of helical member 35
Lower helical member 33 is rotated to an angle, so as to drive arm body 2 to realize ascending motion in vertical direction.By described
The method of operation, it is finally reached the purpose that arm body 2 realizes strip class workpiece helical feed in motion process.
The present invention is described by embodiment, but is not limited the invention, with reference to description of the invention, institute
Other changes of disclosed embodiment, are such as readily apparent that, such change should belong to for the professional person of this area
Within the scope of the claims in the present invention limit.
Claims (8)
1. a kind of strip class workpiece pickup and helical feed machinery arm, including arm body（2）, it is characterised in that：The hand
Arm body（2）Upper surface be connected with spiral lifting mechanism（3）, the arm body（2）Lower surface be connected with track guiding
Mechanism（1）, the arm body（2）Pass through track guiding mechanism（1）And spiral lifting mechanism（3）To realize three shaft space tracks
Motion, the spiral lifting mechanism（3）Including optical axis（31）, lower helical member（33）And optical axis is sequentially socketed in from lower to upper（31）
On fixed plate（32）, linear bearing（34）With upper helical member（35）, wherein the lower helical member（33）It is fixedly sleeved in straight line
Bearing（34）Upper and and fixed plate（32）Upper surface be fixedly connected, the arm body（2）Positioned at fixed plate（32）Lower section
And and optical axis（31）Lower end be fixedly connected, the upper helical member（35）It is fixedly connected on optical axis（31）Upper end and its lower surface
With lower helical member（33）Upper surface contact with each other connection, the upper helical member（35）With lower helical member（33）The face to contact with each other
It is arranged to inclined-plane, the arm body（2）With fixed plate（32）Between optical axis（31）On be socketed with volute spring（36）, it is described
Arm body（2）Pass through upper helical member（35）Drive come realize in vertical direction spiral lifting motion, the track is led
To mechanism（1）Including guide track plate（101）And it is arranged on guide track plate（101）On branch selection mechanism, axis of guide machine
Structure, starting point pre-tightening mechanism, terminal pre-tightening mechanism and pickup thrust mechanism, wherein the axis of guide mechanism is movably connected and led
To track pad（101）In the guide track groove of upper setting and with arm body（2）It is fixedly connected, the arm body（2）Pass through
The drive of branch selection mechanism come realize track conversion and horizontal motion.
2. strip class workpiece pickup according to claim 1 and helical feed machinery arm, it is characterised in that：The guiding
Track groove includes upper track groove（102）With lower track groove（103）, the upper track groove（102）With lower track groove（103）One end
Intersect connection, the starting point pre-tightening mechanism is close to upper track groove（102）Position, the terminal pre-tightening mechanism is close to lower track
Groove（103）Position.
3. strip class workpiece pickup according to claim 1 and helical feed machinery arm, it is characterised in that：The branch
Selection mechanism includes shift fork（104）And reversing cylinder（105）, the reversing cylinder（105）Cylinder body be fixedly installed on guided way
Mark plate（101）Lateral surface on, the shift fork（104）It is slidably disposed on guide track plate（101）Upper surface and with changing
To cylinder（105）Projecting shaft pass through connecting rod（106）It is fixedly connected, and the guide track plate（101）On be fixedly installed
Spacing pressing plate（107）, the shift fork（104）It is placed in spacing pressing plate（107）With guide track plate（101）Between the stopper slot that is formed
It is interior.
4. strip class workpiece pickup according to claim 1 or 2 and helical feed machinery arm, it is characterised in that：It is described
Starting point pre-tightening mechanism includes starting point location-plate（108）And extension spring（109）, the starting point location-plate（108）Pass through starting point rotating shaft
（110）It is rotatably connected to guide track plate（101）On, the extension spring（109）One end and starting point location-plate（108）Even
Connect, its other end and guide track plate（101）Connection.
5. strip class workpiece pickup according to claim 1 or 2 and helical feed machinery arm, it is characterised in that：It is described
Terminal pre-tightening mechanism includes terminal location-plate（111）And stage clip（112）, the terminal location-plate（111）Pass through terminal rotating shaft
（113）It is rotatably connected to guide track plate（101）On, the stage clip（112）One end and terminal location-plate（111）Even
Connect, its other end and guide track plate（101）Connection.
6. strip class workpiece pickup according to claim 1 and helical feed machinery arm, it is characterised in that：The pickup
Thrust mechanism includes pickup thrust cylinder（114）, the pickup thrust cylinder（114）It is connected to guide track plate（101）It is upper and
Close to starting point pre-tightening mechanism position, the arm body（2）By picking up thrust cylinder（114）Promotion and swing small
Angle realizes the pickup of strip class workpiece.
7. strip class workpiece pickup according to claim 1 and helical feed machinery arm, it is characterised in that：The guiding
Axis mechanism includes the axis of guide（115）And guide bearing（116）, the axis of guide（115）Upper end and arm body（2）It is fixed to connect
Connect, the guide bearing（116）It is socketed in the axis of guide（115）Lower end and with guide track plate（101）The guided way of upper setting
Mark groove can roll connection.
8. strip class workpiece pickup according to claim 1 and helical feed machinery arm, it is characterised in that：The upper spiral shell
Rotating part（35）With lower helical member（33）Between be provided with some steel balls（37）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510936554.7A CN105438822B (en) | 2015-12-16 | 2015-12-16 | A kind of strip class workpiece pickup and helical feed machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510936554.7A CN105438822B (en) | 2015-12-16 | 2015-12-16 | A kind of strip class workpiece pickup and helical feed machinery arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105438822A CN105438822A (en) | 2016-03-30 |
| CN105438822B true CN105438822B (en) | 2017-12-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510936554.7A Active CN105438822B (en) | 2015-12-16 | 2015-12-16 | A kind of strip class workpiece pickup and helical feed machinery arm |
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| CN (1) | CN105438822B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108341258A (en) * | 2018-04-28 | 2018-07-31 | 罗博特科智能科技股份有限公司 | A kind of quick capture apparatus of material |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206088317U (en) * | 2015-12-16 | 2017-04-12 | 广州有色金属研究院 | Three -axis manipulator is carried to thin area type work piece based on spiral shell screwing in liter |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008273703A (en) * | 2007-04-28 | 2008-11-13 | Micro Core:Kk | Pick and place device |
| CN102528798A (en) * | 2012-01-17 | 2012-07-04 | 邹建炀 | Novel parallel transporting mechanical arm |
| CN202670738U (en) * | 2012-07-24 | 2013-01-16 | 浙江海悦自动化机械设备有限公司 | Plate taking device for sheet coating machine |
| CN203600244U (en) * | 2013-11-08 | 2014-05-21 | 重庆风过旗扬科技发展有限公司 | Manipulator with oblique movement function |
| CN203680127U (en) * | 2013-12-31 | 2014-07-02 | 厦门思尔特机器人系统有限公司 | Hydraulic corner-compressing mechanism |
| CN204505259U (en) * | 2015-02-03 | 2015-07-29 | 苏州太平洋电线电缆有限公司 | A kind of automatic material-fetching mechanical hand |
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- 2015-12-16 CN CN201510936554.7A patent/CN105438822B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206088317U (en) * | 2015-12-16 | 2017-04-12 | 广州有色金属研究院 | Three -axis manipulator is carried to thin area type work piece based on spiral shell screwing in liter |
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| CN105438822A (en) | 2016-03-30 |
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Effective date of registration: 20180720 Address after: 510000 building 15, 100 Hall of martyrs Road, Guangzhou, Guangdong Patentee after: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING Address before: 510651 Changxin Road, Tianhe District, Guangzhou, Guangdong Province, No. 363 Patentee before: GUANGZHOU Research Institute OF NON FERROUS METALS |
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Address after: 510000 building 15, 100 Hall of martyrs Road, Guangzhou, Guangdong Patentee after: Institute of intelligent manufacturing, Guangdong Academy of Sciences Address before: 510000 building 15, 100 Hall of martyrs Road, Guangzhou, Guangdong Patentee before: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING |
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