CN105619436A - T-shaped manipulator - Google Patents
T-shaped manipulator Download PDFInfo
- Publication number
- CN105619436A CN105619436A CN201610224478.1A CN201610224478A CN105619436A CN 105619436 A CN105619436 A CN 105619436A CN 201610224478 A CN201610224478 A CN 201610224478A CN 105619436 A CN105619436 A CN 105619436A
- Authority
- CN
- China
- Prior art keywords
- slide rail
- transfer arm
- plate
- driving mechanism
- move
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of a manipulator and especially relates to a T-shaped manipulator. The T-shaped manipulator comprises a motor and a main slide rail in driving connection with the motor, wherein a mounting base is arranged on the main slide rail; an x-axis driver which is used for driving the mounting base to move along the main slide rail is arranged on the main slide rail; a secondary slide rail which is vertical to the main slide rail is arranged on the mounting base; the main slide rail and the secondary slide rail are arranged in T shape; a moving plate is arranged on the secondary slide rail; a y-axis driver which is used for driving the moving plate to move along the secondary slide rail is arranged on the secondary slide rail; a moving arm which is vertical to the secondary slide rail is arranged on one side of the moving plate; a z-axis driver which is used for driving the moving arm to move up and down is arranged on the moving plate; a clamp is connected with the lower end of the moving arm. The secondary slide rail of the T-shaped manipulator can move left and right along the length direction of the main slide rail, so that the manipulator can put grasped products on the left and right sides of the main slide rail. The manipulator has high flexible adaptability and force-measuring resistance and the working efficiency is increased.
Description
Technical field
The present invention relates to mechanical manipulator technical field, particularly relate to a kind of T-shaped mechanical manipulator.
Background technology
Mechanical manipulator is that a kind of loaded down with trivial details repetition that can replace manual work works to realize the mechanical full-automatic produced, can under various environment working at high speed, and the automation of personnel safety can also be guaranteed.
Along with the development of injection moulding industry, mechanical manipulator is used for taking out the goods of injection moulding from mould and is sent in appointed place or next production process, mechanical manipulator instead of artificial work, avoid human body high temperature, high pressure, have poison gas environment under work, it is ensured that personnel safety. But, the mechanical manipulator that can all around move in prior art, is generally designed to L font mechanical manipulator.
L font mechanical manipulator only can place product in side, limits the handiness of mechanical manipulator; In addition, owing to the track of L font mechanical manipulator only stretches to the side of mechanical manipulator body, it is easy to cause mechanical manipulator overbalance even to be turned on one's side, be unfavorable for that mechanical manipulator runs operation, affect working efficiency stablely.
Summary of the invention
It is an object of the invention to provide a kind of T-shaped mechanical manipulator for weak point of the prior art, this T-shaped mechanical manipulator has better flexibility, anti-dynamometry and stability, and the advantage that can increase work efficiency.
For achieving the above object, the present invention is achieved through the following technical solutions.
Thering is provided a kind of T-shaped mechanical manipulator, comprise motor and be connected main running rail with motor driving, described main running rail is provided with mount pad, and described main running rail is also provided with the x-axis driving mechanism driving described mount pad to move along described main running rail;
Described mount pad is provided with the orthogonal secondary slide rail with described main running rail, and described main running rail forms T-shaped setting each other with described pair slide rail;
Described secondary slide rail is provided with mobile plate, and described secondary slide rail is also provided with the y-axis driving mechanism for driving described mobile plate to move along described secondary slide rail;
The side of described mobile plate is provided with and the described secondary orthogonal transfer arm of slide rail, and described mobile plate is also provided with the z-axis driving mechanism for driving described transfer arm to move up and down;
The bottom of described transfer arm is connected with fixture.
Described mobile plate comprises first and moves plate and the 2nd and move plate, and described first moves plate and the 2nd moves the both sides that described secondary slide rail is located at respectively by plate;
Described y-axis driving mechanism comprises for drive described first to move the first y-axis driving mechanism that plate moves along described secondary slide rail with for drive the described 2nd to move the 2nd y-axis driving mechanism that plate moves along described secondary slide rail.
Described transfer arm comprises main transfer arm and secondary transfer arm;
Described main transfer arm is installed vertically on the side that described first moves plate, and described secondary transfer arm is installed vertically on the side that the described 2nd moves plate;
Described z-axis driving mechanism comprises the first z-axis driving mechanism for driving described main transfer arm to move up and down and the 2nd z-axis driving mechanism for driving described main transfer arm to move up and down.
Described fixture comprises product vacuum pad and mouth of a river clamp;
Described product vacuum pad is located at the bottom of described main transfer arm, and the bottom of described secondary transfer arm is located at by described mouth of a river clamp.
Described product vacuum pad comprises the cylinder, turning wheel and the vacuum pad that connect successively, and described cylinder is installed on the bottom of described main transfer arm.
Described main running rail comprises two groups of linear main running rails arranged in parallel, and described secondary slide rail comprises two groups of linear secondary slide rails arranged in parallel.
The bottom of described main running rail is installed with base.
The useful effect of the present invention:
(1) the T-shaped mechanical manipulator of one provided by the invention, it comprises motor and is connected main running rail with motor driving, and main running rail is provided with mount pad, and main running rail is also provided with the x-axis driving mechanism that drive installation seat moves along main running rail; Mount pad is provided with the orthogonal secondary slide rail with main running rail, and main running rail forms T-shaped setting each other with pair slide rail; Secondary slide rail is provided with mobile plate, and secondary slide rail is also provided with the y-axis driving mechanism for driving mobile plate to move along secondary slide rail; The side of mobile plate is provided with and the secondary orthogonal transfer arm of slide rail, and mobile plate is also provided with the z-axis driving mechanism for driving transfer arm to move up and down; The bottom of transfer arm is connected with fixture. Orthogonal main running rail and secondary slide rail it is provided with, and main running rail forms T-shaped setting each other with secondary slide rail due to this T-shaped mechanical manipulator; Therefore so that main running rail can be symmetrically placed in the both sides of this T-shaped mechanical manipulator relative to secondary slide rail, so that this T-shaped mechanical manipulator can steadily be placed in ground, prevents it from turning on one's side, it is ensured that the stability of this T-shaped mechanical manipulator.
(2) the T-shaped mechanical manipulator of one provided by the invention, secondary slide rail moves along the length direction work left and right of main running rail, so that the object of crawl can be placed in the left and right sides of main running rail by mechanical manipulator, enhance the handiness that goods placed by mechanical manipulator, be conducive to expanding the use range of mechanical manipulator.
(3) the T-shaped mechanical manipulator of one provided by the invention, has structure simple, and production cost is low, and is applicable to the feature of large-scale mass production.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of T-shaped mechanical manipulator of the present invention.
Fig. 2 is the 2nd viewing angle constructions schematic diagram of a kind of T-shaped mechanical manipulator of the present invention.
Fig. 3 is the 3rd viewing angle constructions schematic diagram of a kind of T-shaped mechanical manipulator of the present invention.
Fig. 4 is the 4th viewing angle constructions schematic diagram of a kind of T-shaped mechanical manipulator of the present invention.
Fig. 1 to Fig. 4 includes:
Motor 1;
Main running rail 2;
Mount pad 3;
X-axis driving mechanism 4;
Secondary slide rail 5;
Mobile plate 6, first moves plate 61, the 2nd and moves plate 62;
Y-axis driving mechanism 7, first y-axis driving mechanism 71, the 2nd y-axis driving mechanism 72;
Transfer arm 8, main transfer arm 81, secondary transfer arm 82;
Z-axis driving mechanism 9, first z-axis driving mechanism 91, the 2nd z-axis driving mechanism 92;
Product vacuum pad 10, cylinder 11, turning wheel 12, vacuum pad 13;
Mouth of a river clamp 14;
Linear main running rail 15;
Linear secondary slide rail 16;
Base 17.
Embodiment
In order to make technical problem solved by the invention, technical scheme and useful effect clearly understand, below in conjunction with embodiment and accompanying drawing, the present invention is further elaborated. It is to be understood that specific embodiment described herein is only in order to explain the present invention, it is not intended to limit the present invention.
A kind of T-shaped mechanical manipulator of the present embodiment, as shown in Figures 1 to 4, comprises motor 1 and is connected main running rail 2 with motor driving, and main running rail 2 is provided with mount pad 3, and main running rail 2 is also provided with the x-axis driving mechanism 4 that drive installation seat 3 moves along main running rail 2; Mount pad 3 is provided with the orthogonal secondary slide rail 5 with main running rail, and main running rail 2 forms T-shaped setting each other with secondary slide rail 5; Secondary slide rail 5 drives and is provided with mobile plate 6, and secondary slide rail 5 is also provided with the y-axis driving mechanism 7 for driving mobile plate 6 to move along secondary slide rail 5; The side of mobile plate 6 is provided with and the secondary orthogonal transfer arm 8 of slide rail 5, and mobile plate 6 is also provided with the z-axis driving mechanism 9 for driving transfer arm 8 to move up and down; The bottom of transfer arm 8 is connected to fixture, is provided with orthogonal main running rail 2 and secondary slide rail 5 due to this T-shaped mechanical manipulator, and main running rail 2 is T-shaped setting with secondary slide rail 5; Therefore, the body of main running rail 2 can be symmetrically placed in the both sides of robot device, so that mechanical manipulator is steadily placed in ground, prevent mechanical manipulator from turning on one's side, it is ensured that the stability of mechanical manipulator; In addition, secondary slide rail 5 can move along the left and right of main running rail 2, so that the object of crawl can be placed in the left and right sides of main running rail by mechanical manipulator, further enhancing the handiness that goods placed by mechanical manipulator, is conducive to expanding the use range of mechanical manipulator.
In the present embodiment, mobile plate 6 comprises first and moves plate 61 and the 2nd and move plate 62, and first moves plate 61 and the 2nd moves the both sides that secondary slide rail 5 is located at respectively by plate 62; Described y-axis driving mechanism comprises for drive first to move the first y-axis driving mechanism 71 that plate 61 moves along secondary slide rail 5 with for drive the 2nd to move the 2nd y-axis driving mechanism 72 that plate 61 moves along secondary slide rail 5, arranges two mobile plates thus be convenient on two mobile plates parts needed for installation.
In the present embodiment, described transfer arm comprises main transfer arm and secondary transfer arm;
Described main transfer arm is installed vertically on the side that described first moves plate, and described secondary transfer arm is installed vertically on the side that the described 2nd moves plate;
Described z-axis driving mechanism comprises the first z-axis driving mechanism for driving described main transfer arm to move up and down and the 2nd z-axis driving mechanism for driving described main transfer arm to move up and down.
Transfer arm 8 comprises main transfer arm 81 and secondary transfer arm 82, arranges two transfer arms 8 thus is conducive to capturing different article; Wherein, main transfer arm 81 is installed vertically on the side that first moves plate 61, secondary transfer arm 82 is installed vertically on the side that the 2nd moves plate 62, described z-axis drives 9 devices to comprise the first z-axis driving mechanism 91 for driving described main transfer arm to move up and down and the 2nd z-axis driving mechanism 92 for driving described main transfer arm to move up and down, so that transfer arm 8 can move up and down, strengthen the orientation of the removable side of mechanical manipulator further.
In the present embodiment, fixture comprises product vacuum pad 10 and mouth of a river clamp 11; Product vacuum pad 10 is located at the bottom of main transfer arm 81, and the bottom of secondary transfer arm 82 is located at by mouth of a river clamp 11, thus is convenient to the product in moulded products to be separated with the mouth of a river.
In the present embodiment, product vacuum pad 10 comprises the cylinder 11, turning wheel 12 and the vacuum pad 13 that connect successively, and cylinder 11 is installed on the bottom of main transfer arm 81, so that mechanical manipulator can firmly capture product and strengthen the handiness of mechanical manipulator further.
In the present embodiment, main running rail 2 comprises two groups of linear main running rails 15 arranged in parallel, and secondary slide rail 5 comprises two groups of linear secondary slide rails 16 arranged in parallel. Thus strengthen the stability of slide rail sliding process.
In the present embodiment, the bottom of main running rail 2 is installed with base 17, is convenient to mechanical manipulator and can be placed in ground stablely.
Finally should be noted that; above embodiment only for illustration of the technical scheme of the present invention but not limiting the scope of the invention; although the present invention being explained in detail with reference to better embodiment; it will be understood by those within the art that; the technical scheme of the present invention can be modified or equivalent replacement, and not depart from essence and the scope of technical solution of the present invention.
Claims (7)
1. a T-shaped mechanical manipulator, it is characterised in that: comprising motor and be connected main running rail with motor driving, described main running rail is provided with mount pad, and described main running rail is also provided with the x-axis driving mechanism driving described mount pad to move along described main running rail;
Described mount pad is provided with the orthogonal secondary slide rail with described main running rail, and described main running rail forms T-shaped setting each other with described pair slide rail;
Described secondary slide rail is provided with mobile plate, and described secondary slide rail is also provided with the y-axis driving mechanism for driving described mobile plate to move along described secondary slide rail;
The side of described mobile plate is provided with and the described secondary orthogonal transfer arm of slide rail, and described mobile plate is also provided with the z-axis driving mechanism for driving described transfer arm to move up and down;
The bottom of described transfer arm is connected with fixture.
2. the T-shaped mechanical manipulator of one according to claim 1, it is characterised in that: described mobile plate comprises first and moves plate and the 2nd and move plate, and described first moves plate and the 2nd moves the both sides that described secondary slide rail is located at respectively by plate;
Described y-axis driving mechanism comprises for drive described first to move the first y-axis driving mechanism that plate moves along described secondary slide rail with for drive the described 2nd to move the 2nd y-axis driving mechanism that plate moves along described secondary slide rail.
3. the T-shaped mechanical manipulator of one according to claim 2, it is characterised in that: described transfer arm comprises main transfer arm and secondary transfer arm;
Described main transfer arm is installed vertically on the side that described first moves plate, and described secondary transfer arm is installed vertically on the side that the described 2nd moves plate;
Described z-axis driving mechanism comprises the first z-axis driving mechanism for driving described main transfer arm to move up and down and the 2nd z-axis driving mechanism for driving described main transfer arm to move up and down.
4. the T-shaped mechanical manipulator of one according to claim 3, it is characterised in that: described fixture comprises product vacuum pad and mouth of a river clamp;
Described product vacuum pad is located at the bottom of described main transfer arm, and the bottom of described secondary transfer arm is located at by described mouth of a river clamp.
5. the T-shaped mechanical manipulator of one according to claim 4, it is characterised in that: described product vacuum pad comprises the cylinder, turning wheel and the vacuum pad that connect successively, and described cylinder is installed on the bottom of described main transfer arm.
6. the T-shaped mechanical manipulator of one according to claim 1, it is characterised in that: described main running rail comprises two groups of linear main running rails arranged in parallel, and described secondary slide rail comprises two groups of linear secondary slide rails arranged in parallel.
7. the T-shaped mechanical manipulator of one according to claim 1, it is characterised in that: the bottom of described main running rail is installed with base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610224478.1A CN105619436A (en) | 2016-04-12 | 2016-04-12 | T-shaped manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610224478.1A CN105619436A (en) | 2016-04-12 | 2016-04-12 | T-shaped manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105619436A true CN105619436A (en) | 2016-06-01 |
Family
ID=56034971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610224478.1A Pending CN105619436A (en) | 2016-04-12 | 2016-04-12 | T-shaped manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105619436A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639744A (en) * | 2018-06-15 | 2018-10-12 | 广东统机器人智能股份有限公司 | A kind of movable type mechanical hand |
| CN109109004A (en) * | 2018-10-09 | 2019-01-01 | 黄浩翔 | A kind of portable cross clamp formula manipulator |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201592505U (en) * | 2009-12-30 | 2010-09-29 | 中国航天科技集团公司第九研究院第十六研究所 | Manipulator for horizontal injection moulding machine |
| CN202079428U (en) * | 2011-04-28 | 2011-12-21 | 扬州迈极自动化设备有限公司 | Horizontally moving dual-arm robot |
| CN203876139U (en) * | 2014-06-10 | 2014-10-15 | 福益精密模塑（上海）有限公司 | Transverse-walking manipulator |
| CN204054531U (en) * | 2014-06-30 | 2014-12-31 | 广东拓斯达科技股份有限公司 | Be applied to the manipulator of injection machine |
| AT514707A4 (en) * | 2013-09-27 | 2015-03-15 | Engel Austria Gmbh | Handling device for a molding machine |
| CN204525518U (en) * | 2015-01-24 | 2015-08-05 | 扬州威德曼自动化科技有限公司 | A kind of injection molding mechanical arm with movement limit performance |
| CN205704234U (en) * | 2016-04-12 | 2016-11-23 | 广东拓斯达科技股份有限公司 | A kind of T-shaped mechanical hand |
-
2016
- 2016-04-12 CN CN201610224478.1A patent/CN105619436A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201592505U (en) * | 2009-12-30 | 2010-09-29 | 中国航天科技集团公司第九研究院第十六研究所 | Manipulator for horizontal injection moulding machine |
| CN202079428U (en) * | 2011-04-28 | 2011-12-21 | 扬州迈极自动化设备有限公司 | Horizontally moving dual-arm robot |
| AT514707A4 (en) * | 2013-09-27 | 2015-03-15 | Engel Austria Gmbh | Handling device for a molding machine |
| CN203876139U (en) * | 2014-06-10 | 2014-10-15 | 福益精密模塑（上海）有限公司 | Transverse-walking manipulator |
| CN204054531U (en) * | 2014-06-30 | 2014-12-31 | 广东拓斯达科技股份有限公司 | Be applied to the manipulator of injection machine |
| CN204525518U (en) * | 2015-01-24 | 2015-08-05 | 扬州威德曼自动化科技有限公司 | A kind of injection molding mechanical arm with movement limit performance |
| CN205704234U (en) * | 2016-04-12 | 2016-11-23 | 广东拓斯达科技股份有限公司 | A kind of T-shaped mechanical hand |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639744A (en) * | 2018-06-15 | 2018-10-12 | 广东统机器人智能股份有限公司 | A kind of movable type mechanical hand |
| CN109109004A (en) * | 2018-10-09 | 2019-01-01 | 黄浩翔 | A kind of portable cross clamp formula manipulator |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160601 |