CN106142062A - Upper a kind of blanking mechanical hand - Google Patents
Upper a kind of blanking mechanical hand Download PDFInfo
- Publication number
- CN106142062A CN106142062A CN201610674154.8A CN201610674154A CN106142062A CN 106142062 A CN106142062 A CN 106142062A CN 201610674154 A CN201610674154 A CN 201610674154A CN 106142062 A CN106142062 A CN 106142062A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- vertical movement
- vertical
- movement mechanism
- horizontal
- 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.)
- Withdrawn
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
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides upper a kind of blanking mechanical hand, including horizontal mobile mechanism, vertical movement mechanism, sucking disc mechanism and control system, described horizontal mobile mechanism is horizontally installed on the top of described conveyer belt, described vertical movement mechanism is vertically mounted on described horizontal mobile mechanism, described sucking disc mechanism is installed on the lower end of described vertical movement mechanism, described control system controls described horizontal mobile mechanism, vertical movement mechanism and sucking disc mechanism, described sucking disc mechanism includes cylinder auxiliary frame, rotary cylinder, sucker stand and Suction cup assembly, described cylinder auxiliary frame is fixed on the lower end of described vertical movement mechanism, it is articulated in bottom described cylinder auxiliary frame in the middle part of described rotary cylinder, described sucker stand is fixed on the middle part of described rotary cylinder, described Suction cup assembly is installed on described sucker stand.The present invention automatically goes up blanking mechanical hand and workpiece is carried out rotating transfer, has stable, accurate positioning, and automaticity is high, the advantage that work efficiency is high.
Description
Technical field
Present invention relates particularly to upper a kind of blanking mechanical hand.
Background technology
In spraying industry, the workpiece after spraying is typically transported to subsequent processing by conveyer belt and is processed, in transport
During generally use the equipment such as mechanical hand or transfer mechanism that workpiece is shifted.Present mechanical hand or transfer equipment are all
Workpiece carries out capturing transfer, and cut is caused, before being additionally, since in the surface that directly workpiece may have been sprayed by grabbing workpiece
Rear operation is different, sometimes needs to change the position of workpiece when a conveyer belt moves to another conveyer belt, needs a kind of energy right
Workpiece carries out rotating and transfer, and stable, and automaticity is high, the upper blanking mechanical hand that work efficiency is high.
Summary of the invention
Present invention aims to the deficiencies in the prior art, it is provided that upper a kind of blanking mechanical hand, this automatically on
Blanking mechanical hand can solve the problems referred to above well.
For reaching above-mentioned requirements, the present invention adopts the technical scheme that: providing upper a kind of blanking mechanical hand, this is automatic
Upper blanking machinery hands includes horizontal mobile mechanism, vertical movement mechanism, sucking disc mechanism and control system, described horizontal mobile mechanism
Being horizontally installed on the top of described conveyer belt, described vertical movement mechanism is vertically mounted on described horizontal mobile mechanism,
Described sucking disc mechanism is installed on the lower end of described vertical movement mechanism, and described control system controls described horizontal mobile mechanism, hangs down
Straight travel mechanism and sucking disc mechanism, described sucking disc mechanism includes cylinder auxiliary frame, rotary cylinder, sucker stand and Suction cup assembly,
Described cylinder auxiliary frame is fixed on the lower end of described vertical movement mechanism, is articulated in described cylinder auxiliary in the middle part of described rotary cylinder
Bottom frame, described sucker stand is fixed on the middle part of described rotary cylinder, and described Suction cup assembly is installed on described sucker stand；
Described horizontal mobile mechanism includes that horizontal servo motor, horizontal screw bolt, horizontal guide rail and slide block, described horizontal guide rail are flatly pacified
Being loaded on the top of described conveyer belt, described horizontal screw bolt is installed in described horizontal guide rail, and described servomotor is fixed on described
End and the outfan of horizontal guide rail are connected with described horizontal screw bolt, and described slide block is slidably mounted on described horizontal guide rail
And threaded with described horizontal screw bolt；Described vertical movement mechanism include vertical servo motor, vertical screw, vertical guide rail and
Fixed block, described fixed block is fixed on described slide block, and described vertical guide rail is vertical and is slidably mounted on described fixed block
On, in described vertical screw is installed on described vertical guide rail and to threaded with described fixed block, described vertical servo motor is solid
It is connected with described vertical screw due to upper end and the outfan of described vertical guide rail；Shock insulation dress it is provided with in described mounting bracket
Putting, described earthquake isolating equipment is internally provided with spring and pressure transducer, and described pressure transducer is with signal transmitting and receiving component signal even
Connecing, mounting bracket is provided with earthquake isolating equipment, described earthquake isolating equipment is internally provided with spring and pressure transducer, and described pressure passes
Sensor is connected with signal transmitting and receiving component signal, is provided with rubber base plate, described rubber base plate and pressure bottom described earthquake isolating equipment
Sensor is connected, and described pressure transducer top is provided with Lift Part, and described earthquake isolating equipment outer cover is provided with rubber sleeve, institute
State Lift Part top to be connected, bottom described rubber base plate with described rubber sleeve top inner face drift angle by elastic metallic bar
And it is provided with yielding rubber ball between described rubber base plate.
This upper blanking mechanical hand has the advantage that as follows: owing to the present invention controls described water by described control system
Flat travel mechanism and vertical movement mechanism so that it is described sucking disc mechanism can be driven to move horizontally on conveyer belt simultaneously and carry out up and down
Move back and forth, and utilize the Suction cup assembly of described sucking disc mechanism, siphon away the workpiece on conveyer belt, thus reach the mesh of transfer workpiece
, and during described workpiece transfer, utilize the spinfunction of described rotary cylinder, make workpiece without manually-operated
In the case of automatically rotate, thus be adjusted to the convenient transport of suitable transporting position, upper whole blanking mechanical hand is stable,
Omnidistance by control system control, automaticity is high, substantially increases work efficiency.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing further understanding of the present application, constitutes the part of the application, at this
A little accompanying drawings use identical reference number to represent same or analogous part, the schematic description and description of the application
For explaining the application, it is not intended that the improper restriction to the application.
In the accompanying drawings:
Fig. 1 schematically shows the knot of the earthquake isolating equipment of the upper blanking mechanical hand according to one embodiment of the application
Structure schematic diagram.
Fig. 2 schematically shows the left view of the upper blanking mechanical hand according to one embodiment of the application.
Detailed description of the invention
For making the purpose of the application, technical scheme and advantage clearer, below in conjunction with drawings and the specific embodiments, to this
Application is described in further detail.
In the following description, quoting of " embodiment ", " embodiment ", " example ", " example " etc. is shown
The embodiment so described or example can include special characteristic, structure, characteristic, character, element or limit, but the most each reality
Execute example or example the most necessarily includes special characteristic, structure, characteristic, character, element or limit.It addition, reuse phrase " according to
One embodiment of the application " although it is possible to refer to identical embodiment, but it is not necessarily referring to identical embodiment.
For the sake of simplicity, eliminate in below describing and well known to a person skilled in the art some technical characteristic.
An embodiment according to the application, it is provided that upper a kind of blanking mechanical hand, as it is shown in figure 1, include that level is moved
Motivation structure, vertical movement mechanism, sucking disc mechanism and control system, described horizontal mobile mechanism is horizontally installed on described conveyer belt
Top, described vertical movement mechanism is vertically mounted on described horizontal mobile mechanism, and described sucking disc mechanism is installed on described
The lower end of vertical movement mechanism, described control system controls described horizontal mobile mechanism, vertical movement mechanism and sucking disc mechanism, institute
Stating sucking disc mechanism, to include that cylinder auxiliary frame, rotary cylinder, sucker stand and Suction cup assembly, described cylinder auxiliary frame are fixed on described
The lower end of vertical movement mechanism, is articulated in the middle part of described rotary cylinder bottom described cylinder auxiliary frame, and described sucker stand is fixed
In the middle part of described rotary cylinder, described Suction cup assembly is installed on described sucker stand；Described horizontal mobile mechanism includes water
Flat servomotor, horizontal screw bolt, horizontal guide rail and slide block, described horizontal guide rail is horizontally installed on the top of described conveyer belt,
Described horizontal screw bolt is installed in described horizontal guide rail, and described servomotor is fixed on end and the outfan of described horizontal guide rail
Being connected with described horizontal screw bolt, described slide block is slidably mounted on described horizontal guide rail and connects with described horizontal screw bolt screw thread
Connect；Described vertical movement mechanism includes that vertical servo motor, vertical screw, vertical guide rail and fixed block, described fixed block are fixed
On described slide block, described vertical guide rail is vertical and is slidably mounted on described fixed block, and described vertical screw is installed on
In described vertical guide rail and threadeding with described fixed block, described vertical servo motor is fixed on the upper end of described vertical guide rail
And outfan is connected with described vertical screw；Being provided with earthquake isolating equipment in described mounting bracket, described earthquake isolating equipment is internal to be arranged
Spring and pressure transducer, described pressure transducer is had to be connected with signal transmitting and receiving component signal.
An embodiment according to the application, this vertical movement mechanism automatically going up blanking mechanical hand also includes driving machine
Structure, described drive mechanism includes drive pulley, driven pulley and belt, the output shaft of described vertical servo motor vertically to
On the upper end being fixed on described vertical guide rail, described drive pulley is installed on the output shaft of described vertical servo motor,
Described driven pulley is installed on described vertical screw upper end, and described belt is wound in described drive pulley and driven pulley
Between.
An embodiment according to the application, this control system automatically going up blanking mechanical hand has workpiece induction apparatus, institute
Stating workpiece induction apparatus to be installed on described cylinder auxiliary frame, described workpiece induction apparatus can detect whether workpiece puts in place.
An embodiment according to the application, this is automatically gone up blanking mechanical hand and is applicable to carry out the workpiece on conveyer belt
Transfer, upper described blanking machinery hands includes mounting bracket 1, horizontal mobile mechanism 2, vertical movement mechanism 3, sucking disc mechanism 4
And control system.Described mounting bracket 1 fixedly mounts, and described horizontal mobile mechanism 2 is horizontally installed on the upper of described conveyer belt
Side, and front end and middle part are fixing with described mounting bracket 1 respectively, described vertical movement mechanism 3 is vertically mounted in described level
In travel mechanism 2, described sucking disc mechanism 4 is installed on the lower end of described vertical movement mechanism 3, and described control system controls described water
Flat travel mechanism 2, vertical movement mechanism 3 and sucking disc mechanism 4, described horizontal mobile mechanism 2 includes horizontal servo motor 21, level
Screw rod 22, horizontal guide rail 23 and slide block 24, described horizontal guide rail 23 is horizontally installed on conveyer belt, the top of 300, described level
Screw rod 22 is installed in described horizontal guide rail 23, and described servomotor 21 is fixed on end and the outfan of described horizontal guide rail 23
Be connected with described horizontal screw bolt 22, described slide block 24 be slidably mounted on described horizontal guide rail 23 and with described horizontal screw bolt
22 is threaded.By controlling the forward or reverse of described horizontal servo motor 21, described horizontal screw bolt 22 is driven to rotate, thus
Described slide block 24 is driven to slidably reciprocate on described horizontal screw bolt 22, the purpose of the movement that is up to the standard, simple in construction, and location
Degree of accuracy is high.
Embodiment described above only represents the several embodiments of the present invention, and it describes more concrete and detailed, but not
It is understood that as limitation of the scope of the invention.It should be pointed out that, for the person of ordinary skill of the art, without departing from
On the premise of present inventive concept, it is also possible to make some deformation and improvement, these broadly fall into scope.Therefore this
Bright protection domain should be as the criterion with described claim.
Claims (3)
1. the upper blanking mechanical hand, it is characterised in that: include horizontal mobile mechanism, vertical movement mechanism, sucking disc mechanism
And control system, described horizontal mobile mechanism is horizontally installed on the top of described conveyer belt, and described vertical movement mechanism is vertical
Be installed on described horizontal mobile mechanism, described sucking disc mechanism is installed on the lower end of described vertical movement mechanism, described control
System controls described horizontal mobile mechanism, vertical movement mechanism and sucking disc mechanism, and described sucking disc mechanism includes cylinder auxiliary frame, rotation
Rotaring cylinder, sucker stand and Suction cup assembly, described cylinder auxiliary frame is fixed on the lower end of described vertical movement mechanism, described rotation
Cylinder middle section is articulated in bottom described cylinder auxiliary frame, and described sucker stand is fixed on the middle part of described rotary cylinder, described suction
Dish assembly is installed on described sucker stand；Described horizontal mobile mechanism includes horizontal servo motor, horizontal screw bolt, horizontal guide rail
And slide block, described horizontal guide rail is horizontally installed on the top of described conveyer belt, and described horizontal screw bolt is installed on described level and leads
In rail, described servomotor is fixed on the end of described horizontal guide rail and outfan is connected with described horizontal screw bolt, described slide block
It is slidably mounted on described horizontal guide rail and threadeds with described horizontal screw bolt；Described vertical movement mechanism includes vertically
Servomotor, vertical screw, vertical guide rail and fixed block, described fixed block is fixed on described slide block, and described vertical guide rail hangs down
Straight and be slidably mounted on described fixed block, in described vertical screw is installed on described vertical guide rail and with described fixed block
Threaded, described vertical servo motor is fixed on the upper end of described vertical guide rail and outfan is connected with described vertical screw；
Being provided with earthquake isolating equipment in described mounting bracket, described earthquake isolating equipment is internally provided with spring and pressure transducer, described pressure
Sensor is connected with signal transmitting and receiving component signal, is provided with rubber base plate, described rubber base plate and pressure bottom described earthquake isolating equipment
Force transducer is connected, and described pressure transducer top is provided with Lift Part, and described earthquake isolating equipment outer cover is provided with rubber sleeve,
Described Lift Part top is connected, at the bottom of described rubber base plate with described rubber sleeve top inner face drift angle by elastic metallic bar
Yielding rubber ball it is provided with between portion and described rubber base plate.
Upper blanking mechanical hand the most according to claim 1, it is characterised in that: described vertical movement mechanism also includes driving
Motivation structure, described drive mechanism includes drive pulley, driven pulley and belt, and the output shaft of described vertical servo motor erects
The straight upper end being fixed on described vertical guide rail upwards, described drive pulley is installed on the output shaft of described vertical servo motor
On, described driven pulley is installed on described vertical screw upper end, and described belt is wound in described drive pulley and driven skin
Between belt wheel.
Upper blanking mechanical hand the most according to claim 1, it is characterised in that: described control system has workpiece sensing
Device, described workpiece induction apparatus is installed on described cylinder auxiliary frame, and described workpiece induction apparatus can detect whether workpiece puts in place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610674154.8A CN106142062A (en) | 2016-08-16 | 2016-08-16 | Upper a kind of blanking mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610674154.8A CN106142062A (en) | 2016-08-16 | 2016-08-16 | Upper a kind of blanking mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106142062A true CN106142062A (en) | 2016-11-23 |
Family
ID=57331272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610674154.8A Withdrawn CN106142062A (en) | 2016-08-16 | 2016-08-16 | Upper a kind of blanking mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106142062A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107262949A (en) * | 2017-07-05 | 2017-10-20 | 广州市海目星激光科技有限公司 | A kind of laser cutting machine automatic charging device |
| CN107335733A (en) * | 2017-08-30 | 2017-11-10 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of entire row suction manipulator |
| CN107626807A (en) * | 2017-08-30 | 2018-01-26 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of drawer sliding rail end automatic punching line |
| CN108856334A (en) * | 2018-04-25 | 2018-11-23 | 广州华奥智能科技有限公司 | Long bar feeder and its feeding method |
| CN109761041A (en) * | 2019-02-21 | 2019-05-17 | 北京兆维电子(集团)有限责任公司 | A kind of quick loading and unloading structure of multistation |
| CN111703884A (en) * | 2020-07-10 | 2020-09-25 | 浙江工业大学 | Sucking disc type telescopic shockproof manipulator |
| CN108856334B (en) * | 2018-04-25 | 2024-06-04 | 深圳市乐强科技有限公司 | Long rod feeder and feeding method thereof |
-
2016
- 2016-08-16 CN CN201610674154.8A patent/CN106142062A/en not_active Withdrawn
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107262949A (en) * | 2017-07-05 | 2017-10-20 | 广州市海目星激光科技有限公司 | A kind of laser cutting machine automatic charging device |
| CN107335733A (en) * | 2017-08-30 | 2017-11-10 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of entire row suction manipulator |
| CN107626807A (en) * | 2017-08-30 | 2018-01-26 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of drawer sliding rail end automatic punching line |
| CN107626807B (en) * | 2017-08-30 | 2023-08-01 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Automatic stamping production line for drawer slide rail |
| CN108856334A (en) * | 2018-04-25 | 2018-11-23 | 广州华奥智能科技有限公司 | Long bar feeder and its feeding method |
| CN108856334B (en) * | 2018-04-25 | 2024-06-04 | 深圳市乐强科技有限公司 | Long rod feeder and feeding method thereof |
| CN109761041A (en) * | 2019-02-21 | 2019-05-17 | 北京兆维电子(集团)有限责任公司 | A kind of quick loading and unloading structure of multistation |
| CN111703884A (en) * | 2020-07-10 | 2020-09-25 | 浙江工业大学 | Sucking disc type telescopic shockproof manipulator |
| CN111703884B (en) * | 2020-07-10 | 2024-05-24 | 浙江工业大学 | Sucking disc type telescopic shockproof manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20161123 |