CN105855611B - A kind of manipulator automatic material arranging formula cutter device - Google Patents
A kind of manipulator automatic material arranging formula cutter device Download PDFInfo
- Publication number
- CN105855611B CN105855611B CN201610368450.5A CN201610368450A CN105855611B CN 105855611 B CN105855611 B CN 105855611B CN 201610368450 A CN201610368450 A CN 201610368450A CN 105855611 B CN105855611 B CN 105855611B
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- Prior art keywords
- manipulator
- cutter
- sucker
- point
- automatic material
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D27/00—Machines or devices for cutting by a nibbling action
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/02—Driving main working members
- B23Q5/027—Driving main working members reciprocating members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/006—Ejectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of manipulator automatic material arranging formula cutter device including rack, sets cutter, rectangular co-ordinate transportation manipulator and pneumatic point-to-point transmission to swing manipulator in rack；Wherein pneumatic point-to-point transmission swings the upper discharge position that manipulator is mounted on manipulator automatic material arranging formula cutter device, and rectangular co-ordinate transportation manipulator is mounted on the unloading position of manipulator automatic material arranging formula cutter device.Manipulator automatic material arranging formula cutter device according to the present invention is, it can be achieved that material surface trimming, automatic loading/unloading, and cutting width is adjustable.Pneumatic point-to-point transmission swings manipulator and uses pneumatic principle, crawl transhipment accurate positioning.Rectangular co-ordinate transportation manipulator is big compared with common catching robot stroke, can complete to transport over long distances.
Description
Technical field
The present invention relates to a kind of full manipulator automatic material arranging formula cutter devices, belong to packing mechanical equipment field.
Background technology
At present, for the cutting action in food medicine production and processing, automatic cutting process loading and unloading at this stage use people more
Work manual operations, the cutting equipment with automatic loading/unloading be also in a manner that conveyer belt or single manipulator capture,
Conveyer belt loading and unloading can not positional dissection accurate location, standard machinery hand crawl stroke it is short can not complete over long distances transport.
Invention content
It is an object of the invention to be directed to the drawbacks described above of the prior art, a kind of manipulator automatic material arranging formula cutting dress is proposed
It puts, realizes material surface trimming, automatic loading/unloading, and cutting width is adjustable.Pneumatic point-to-point transmission swings manipulator and uses pneumatic original
Reason, crawl transhipment accurate positioning.Rectangular co-ordinate transportation manipulator is big compared with common catching robot stroke, can complete to turn over long distances
Fortune.
To achieve the above object, the present invention provides following technical solution：
A kind of manipulator automatic material arranging formula cutter device including rack, sets cutter, rectangular co-ordinate to turn in rack
It transports manipulator and pneumatic point-to-point transmission swings manipulator.
Wherein pneumatic point-to-point transmission swings the upper discharge position that manipulator is mounted on manipulator automatic material arranging formula cutter device, right angle
Coordinate transportation manipulator is mounted on the unloading position of manipulator automatic material arranging formula cutter device.
Cutter includes cutter installing plate, cutter, cutter power plant.
Rectangular co-ordinate transportation manipulator includes：Horicontal motion mechanism, vertical and straight movement mechanism, sucker installing plate, sucker；It is horizontal
The mechanical structure of motion includes, horizontal drive apparatus, horizontal sliding equipment, horizontal clamping device；Vertical and straight movement mechanism packet
Include vertical driving device, vertical sliding mechanism.
Pneumatic point-to-point transmission swings machinery and includes straight line rodless cylinder, linear slider, oscillating cylinder, linear motion platform, straight
Line guide rail, shaft coupling, bearing block, swinging axle, sucker fixing axle, sucker.
Description of the drawings
Fig. 1 is the manipulator automatic material arranging formula cutter device front view of the present invention.
Fig. 2 is the manipulator automatic material arranging formula cutter device schematic diagram of the present invention.
Fig. 3 is the manipulator automatic material arranging formula cutter device side view of the present invention.
Fig. 4 is the rectangular co-ordinate transportation manipulator schematic diagram of the present invention.
The pneumatic point-to-point transmission that Fig. 5 is the present invention swings manipulator schematic diagram.
(pay attention to：Shown structure in attached drawing is simply to illustrate that the signal of feature of present invention, is not intended to according to attached drawing institute
Show structure.)
Specific embodiment
Manipulator automatic material arranging formula cutter device according to the present invention including rack 20, sets in rack 20 and cuts
Knife system, rectangular co-ordinate transportation manipulator 18 and pneumatic point-to-point transmission swing manipulator 19.
Wherein, pneumatic point-to-point transmission swings manipulator 19 and is mounted on discharge position on manipulator automatic material arranging formula cutter device, directly
Angular coordinate transportation manipulator 18 is mounted on the unloading position of manipulator automatic material arranging formula cutter device.
As shown in Figs. 1-5, manipulator automatic material arranging formula cutter device according to the present invention has consisting of portion
Part：Stud 1, turntable 2, drive link 3, guide post 4, guide sleeve 5, sliding block 6, sliding rail 7, push rod installing plate 8, cutter installing plate 9, cutter
10th, cutter power plant 11, transmission shaft 12, push plate power plant 13, leading screw 14, nut 15, push rod 16, push plate 17, right angle are sat
Mark transportation manipulator 18, pneumatic point-to-point transmission swings manipulator 19, rack 20.
Wherein, cutter includes cutter installing plate 9, cutter 10, cutter power plant 11.
As shown in figure 4, rectangular co-ordinate transportation manipulator 18 includes：Horicontal motion mechanism 21, vertical and straight movement mechanism 22, sucker
Installing plate 23, sucker 24.
Wherein, the mechanical structure of horicontal motion mechanism 21 includes, horizontal drive apparatus 25, horizontal sliding equipment 26, level
Clamping device 27.The mechanical structure of vertical and straight movement mechanism 22 includes, vertical driving device 28, vertical sliding mechanism 29.
Include straight line rodless cylinder 30 as shown in figure 5, pneumatic point-to-point transmission swings manipulator 19, linear slider 31, swing gas
Cylinder 32, linear motion platform 33, the linear guide 34, shaft coupling 35, bearing block 36, swinging axle 37, sucker fixing axle 38, sucker
24。
Specifically：
As shown in figure 4, the horicontal motion mechanism 21 of rectangular co-ordinate transportation manipulator 18 is mounted in rack 20, horizontal drive
The output terminal of device 25 is connect with horizontal sliding equipment 26, and vertical and straight movement mechanism 22 is fastenedly connected with horizontal clamping device 27, water
Flat clamping device 27 is slidably connected with horizontal sliding equipment 26.The output terminal of vertical driving device 25 connects with vertical sliding mechanism 29
It connects, sucker 24 is mounted on sucker installing plate 23, and sucker installing plate 23 is mounted on the lower end of vertical sliding mechanism 29.
As shown in figure 5, the straight line rodless cylinder 30 that pneumatic point-to-point transmission swings manipulator 19 is fixed in rack 20, both sides
Parallel installation the linear guide 34, the moving mass of straight line rodless cylinder 30 and 33 middle part of linear motion platform are fixed.Linear motion is flat
33 both sides of platform are each to fix a linear slider 31, and linear slider 31 is slidably connected with the linear guide 34；Oscillating cylinder 32 is mounted on straight
On line motion platform 33, swinging axle 37 is mounted on by bearing block 36 on straight line oscillating platform 33, and oscillating cylinder 32 passes through shaft coupling
Device 35 is connect with swinging axle 37, and sucker 24 is mounted on by sucker fixing axle 38 on swinging axle 37.
As shown in figure 3, cutter 10 is fixed on cutter installing plate 9,9 both sides of cutter installing plate are fixedly connected with guide post 4, are led
Set 5 is fixed in rack 20, is slidably connected with guide post 4；Guide post 4 is connect by stud 1 with drive link 3, and drive link 3 passes through stud
1 connect with turntable 2；The center of turntable 2 is fixed with transmission shaft 12, and 11 output terminal of cutter power plant is connect with transmission shaft 12.It pushes away
Bar 16 is mounted on push rod installing plate 8, and 16 one end of push rod installation push plate 17, push rod installing plate 8 is fastenedly connected with nut 15, nut
15 connect with leading screw 14, and leading screw 14 is fixed in rack 20, are connect with push plate power plant 13；The both sides of push rod installing plate 16 with
Sliding block 6 connects, and sliding block 6 is slidably connected with sliding rail 7, and sliding rail 7 is mounted in rack 20；Pneumatic point-to-point transmission swings manipulator 19 and installs
In rack 20, before cutter 10；Rectangular co-ordinate transportation manipulator 18 is mounted in rack 20, after cutter 10.
The operating process of manipulator automatic material arranging formula cutter device according to the present invention is：
Rectangular co-ordinate transportation manipulator 18 is assembled in a manner described, the driving of horizontal drive apparatus 25 is mounted on horizontal slide
Horizontal clamping device 27 in mechanism 26 moves back and forth in the horizontal direction, so as to drive what is connect with horizontal clamping device 27 to erect
Straight motion 22 moves in the horizontal direction；The vertical driving of driving device 28 is mounted on the sucker peace in vertical sliding mechanism 29
Loading board 23 moves back and forth in the vertical direction, so as to which the sucker 24 on sucker installing plate 23 be driven to transport on a vertical axis
It is dynamic.
The straight line rodless cylinder 30 that pneumatic point-to-point transmission swings manipulator 18 drives linear motion platform 33 to be done directly in point-to-point transmission
Line moves, and 34 linear slider 31 of the linear guide is oriented to being combined into linear motion platform 33；The driving of oscillating cylinder 32, which is mounted on, to be swung
Sucker 24 on axis 37 does pendulum motion；Sucker 24 picks up material 39, carries out horizontal direction transhipment, overturning or two according to demand
Person's aggregate motion puts down material 39 after reaching specified station, realizes transhipment.
During work, push plate power plant 13 controls leading screw 14 to rotate, and nut 15 is moved forward and backward as leading screw 14 rotates, and is driven
The push rod installing plate 8 being connect with nut 15 is slided by sliding block 6 on sliding rail 7, so as to move forward and backward push plate 17, by material 39
It shifts onto at cutter 10；Cutter power plant 11 controls transmission shaft 12 to rotate, and turntable 2 is driven to rotate, is connect so as to drive with turntable 2
Drive link 3 move, the guide post 4 being connect with drive link 3 is with up and down motion, real so as to which cutter installing plate 9 be driven to move up and down
Existing cutter 10 moves up and down.Pneumatic point-to-point transmission swings the work that push plate 17 is placed on after material 39 can be picked up, overturn by manipulator 18
In the range of work, push plate 17 shifts material 30 under cutter 9 onto, and cutter 9 is fallen, and material 30 is cut into inch strips, and cutter 9 rises, push plate 17
Material 39 is pushed to travel forward again, realizes continuous slitting.Push plate power plant 13 can control 17 forward travel distance of push plate, so as to control
39 forward travel distance of material processed makes the item being cut into dress material 39 of different size, realizes automatically controlling for slitting width.Cutter 10 will
After material 39 is cut into inch strips, the sucker 24 of rectangular co-ordinate transportation manipulator 18 picks up material 39, moves to specified station, by material
39 put down, and complete the transhipment of material 39.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention, it is all
All any modification, equivalent and improvement made within the spirit and principles in the present invention etc. should be included in the protection of the present invention
Within the scope of.
Claims (1)
1. a kind of manipulator automatic material arranging formula cutter device, it is characterised in that：
Including rack (20), cutter, rectangular co-ordinate transportation manipulator (18) and pneumatic point-to-point transmission are set in rack (20)
Swing manipulator (19)；
Wherein pneumatic point-to-point transmission swings manipulator (19) mounted on the upper discharge position of manipulator automatic material arranging formula cutter device, right angle
Coordinate transportation manipulator (18) is mounted on the unloading position of manipulator automatic material arranging formula cutter device；
Cutter includes cutter installing plate (9), cutter (10), cutter power plant (11)；
Rectangular co-ordinate transportation manipulator (18) includes：Horicontal motion mechanism (21), vertical and straight movement mechanism (22), sucker installing plate
(23), sucker (24)；Wherein
The mechanical structure of horicontal motion mechanism (21) includes, horizontal drive apparatus (25), horizontal sliding equipment (26), horizontal clamping
Mechanism (27)；
Vertical and straight movement mechanism (22) includes vertical driving device (28), vertical sliding mechanism (29)；
Pneumatic point-to-point transmission swings manipulator (19) and includes straight line rodless cylinder (30), linear slider (31), oscillating cylinder (32), straight
Line motion platform (33), the linear guide (34), shaft coupling (35), bearing block (36), swinging axle (37), sucker fixing axle (38),
Sucker (24)；
The straight line rodless cylinder (30) that pneumatic point-to-point transmission swings manipulator (19) is fixed in rack (20), the parallel installation in both sides
The moving mass of the linear guide (34) straight line rodless cylinder (30) in the middle part of linear motion platform (33) with fixing；
Linear motion platform (33) both sides are each to fix a linear slider (31), and linear slider (31) is slided with the linear guide (34) to be connected
It connects；
Oscillating cylinder (32) on linear motion platform (33), by bearing block (36) mounted on straight line put by swinging axle (37)
On moving platform (33), oscillating cylinder (32) is connect by shaft coupling (35) with swinging axle (37), and sucker (24) is fixed by sucker
Axis (38) is on swinging axle (37).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368450.5A CN105855611B (en) | 2016-05-30 | 2016-05-30 | A kind of manipulator automatic material arranging formula cutter device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368450.5A CN105855611B (en) | 2016-05-30 | 2016-05-30 | A kind of manipulator automatic material arranging formula cutter device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105855611A CN105855611A (en) | 2016-08-17 |
| CN105855611B true CN105855611B (en) | 2018-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610368450.5A Active CN105855611B (en) | 2016-05-30 | 2016-05-30 | A kind of manipulator automatic material arranging formula cutter device |
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| CN (1) | CN105855611B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106182118A (en) * | 2016-07-08 | 2016-12-07 | 东阿阿胶股份有限公司 | A kind of automatic cutting device using Pneumatic manipulator feeding |
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| CN101537578A (en) * | 2008-10-16 | 2009-09-23 | 濮阳贝英数控机械设备有限公司 | Automatic ultra precision loading and unloading device for railway bearing outer ring |
| CN204453804U (en) * | 2015-02-28 | 2015-07-08 | 武汉联钧科技有限公司 | A kind of full automaticity charging and discharging mechanism |
| CN204549430U (en) * | 2015-03-19 | 2015-08-12 | 杭州富生电器股份有限公司 | A kind of motor stator shaping pay-off |
| CN204549429U (en) * | 2015-03-19 | 2015-08-12 | 杭州富生电器股份有限公司 | Rule feed mechanism |
| CN204584906U (en) * | 2015-03-03 | 2015-08-26 | 虞雅仙 | A kind of crystal blank automatic grinding and polishing system |
| CN104924781A (en) * | 2015-06-15 | 2015-09-23 | 苏州石丸英合精密机械有限公司 | Flip longitudinal movement mechanism of keyboard laser automatic marking machine |
| CN204770978U (en) * | 2015-06-04 | 2015-11-18 | 浙江日创机电科技有限公司 | Automatic loading and unloading device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014231105A (en) * | 2013-05-28 | 2014-12-11 | トヨタ自動車株式会社 | Cutting method and cutting apparatus |
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2016
- 2016-05-30 CN CN201610368450.5A patent/CN105855611B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101537578A (en) * | 2008-10-16 | 2009-09-23 | 濮阳贝英数控机械设备有限公司 | Automatic ultra precision loading and unloading device for railway bearing outer ring |
| CN204453804U (en) * | 2015-02-28 | 2015-07-08 | 武汉联钧科技有限公司 | A kind of full automaticity charging and discharging mechanism |
| CN204584906U (en) * | 2015-03-03 | 2015-08-26 | 虞雅仙 | A kind of crystal blank automatic grinding and polishing system |
| CN204549430U (en) * | 2015-03-19 | 2015-08-12 | 杭州富生电器股份有限公司 | A kind of motor stator shaping pay-off |
| CN204549429U (en) * | 2015-03-19 | 2015-08-12 | 杭州富生电器股份有限公司 | Rule feed mechanism |
| CN204770978U (en) * | 2015-06-04 | 2015-11-18 | 浙江日创机电科技有限公司 | Automatic loading and unloading device |
| CN104924781A (en) * | 2015-06-15 | 2015-09-23 | 苏州石丸英合精密机械有限公司 | Flip longitudinal movement mechanism of keyboard laser automatic marking machine |
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| Publication number | Publication date |
|---|---|
| CN105855611A (en) | 2016-08-17 |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170118 Address after: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Applicant after: Hagongda robot group (Harbin) Asset Management Co., Ltd. Address before: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Applicant before: HIT ROBOT GROUP CO., LTD. |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee after: Harbin Institute of technology robot group (Harbin) Collaborative Innovation Research Institute Co.,Ltd. Address before: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee before: Hagongda robot group (Harbin) Asset Management Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |