CN106829462A - A kind of iron pan conveying robot - Google Patents
A kind of iron pan conveying robot Download PDFInfo
- Publication number
- CN106829462A CN106829462A CN201710129960.1A CN201710129960A CN106829462A CN 106829462 A CN106829462 A CN 106829462A CN 201710129960 A CN201710129960 A CN 201710129960A CN 106829462 A CN106829462 A CN 106829462A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- pot
- support bar
- arm support
- actuating cylinder
- 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.)
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Classifications
-
- 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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Apparatus Associated With Microorganisms And Enzymes (AREA)
Abstract
The present invention provides a kind of iron pan conveying robot, including supporter, grab pot manipulator and carry swing arm support bar, pot manipulator is grabbed to be moved up and down by the driving of actuating cylinder I, complete crawl, blastokinesis off the pot is removed to make, actuating cylinder I is connected with the one end for carrying swing arm support bar, the swing arm support bar other end is carried to be connected with the swing arm rotary shaft rotation on supporter, carrying swing arm support bar receives the actuating cylinder II being fixed on supporter to be driven around swing arm rotary shaft and does left and right reciprocally swinging, stop when pot embryo is moved into parking area, a pot manipulator pot embryo that moves up and down again is grabbed to put down, work is once carried in completion.The present invention, design structure is simple, operating process, high degree of automation, can realize the fast removal to pot embryo, saves process time, improve production efficiency.
Description
Technical field
The invention belongs to machine automatization Handling device, a kind of iron pan conveying robot is particularly related to.
Background technology
During the manufacturing of iron pan, by multiple tracks production process, in process of manufacture, production process switching
When, iron pan is frequently necessary to carry, and is carried using freehand manner, and efficiency is low, workload is big, and uses mechanical system to carry, due to
The special shape of iron pan, general Handling device is not suitable for iron pan carrying, therefore, it is necessary to a kind of in iron pan process
Simple structure, easy to operate, the Handling device of high degree of automation realizes the carrying of iron pan.
The content of the invention
To solve the problems, such as to be carried in iron pan process, the invention provides a kind of iron pan conveying robot, the present apparatus
Simple structure, easy to operate, high degree of automation, in iron pan process, can realize the fast removal to pot embryo, save and add
Between man-hour.
The present invention realizes that above-mentioned purpose uses following technical scheme：
A kind of iron pan conveying robot, including supporter, carry and swing arm support bar and grab a pot manipulator, pot manipulator is grabbed by power
Cylinder I drives and moves up and down, and actuating cylinder I is connected with the one end for carrying swing arm support bar, carries the swing arm support bar other end
Rotated with the swing arm rotary shaft on supporter and be connected, carry the driving of actuating cylinder II that swing arm support bar is received to be fixed on supporter
Reciprocally swinging is done around swing arm rotary shaft.
A mechanical position limitation block is respectively provided with the carrying swing arm support bar horizontal level left and right sides on described supporter,
The extreme position that swing arm support bar swings is carried to limit.
Described mechanical position limitation block, peace in a groove, groove is opened up in its position contacted with carrying swing arm support bar
Fill a yielding rubber cushion block matched with it.
The bottom of described supporter is provided with pot embryo and places flat board, and this pot of embryo is placed flat board and be provided with and pot embryo bottom size
The arc-shaped recess for matching, arc-shaped recess bottom centre position offers hole, is equipped with arc-shaped recess and to match with it
Rubber buffer, rubber buffer bottom is provided with the projection matched with arc-shaped recess base apertures.
Described grabs pot manipulator for a rubber cup I, along center to several stripe shapes of external radiation inside rubber cup I
Projection, stripe shape projection length is the half of arc length, and several rubber cups less than rubber cup I are evenly arranged in stripe shape projection
The diameter and depth of II, i.e. rubber cup II are respectively less than rubber cup I.
Described pot manipulator of grabbing is a disk for being coated with elastomeric skin layer, uniform on disk to be laid with 1-2 circle forceful electric power
Magnetic patch.
Described being grabbed be provided with electronic ruler between pot manipulator and actuating cylinder I, and the amount of exercise of pot manipulator is grabbed to detect
Journey.
Described actuating cylinder I is fixed in a vertical channel-section steel, and channel-section steel bottom has a support flat board, in support flat board
The heart offers through hole, and the piston rod of actuating cylinder I is connected by the through hole with a pot manipulator is grabbed, and 1-2 row are opened up in groove steel sidewall
Through hole, is carried swing arm support bar and is connected with the through hole of diverse location by bolt, to adjust the high and low position of actuating cylinder I.
Beneficial effect：
1. of the invention, design structure is simple, and during work, actuating cylinder I drives grabs a pot manipulator up and down motion crawl pot embryo, so
Afterwards, actuating cylinder II drives carrying swing arm support bar drive to grab pot manipulator and does left and right reciprocally swinging around swing arm rotary shaft, will
Pot embryo stops when moving to parking area, grabs a pot manipulator pot embryo that moves up and down again and puts down, and completes a carrying job.Behaviour
Make process, high degree of automation can realize the fast removal to pot embryo, save process time, improve production efficiency；
2. the pot embryo with arc-shaped recess is set in supporter bottom and places flat board, ensure that pot embryo places steady, in arc
On the one hand the interior laying rubber buffer of depression is prevented from a pot indusium placement flat board and scratches, and another aspect rubber buffer can increase
Greatly with the frictional force of pot embryo, it is ensured that crawl process, pot embryo can be placed steadily, crawl efficiency is improved；
3. manipulator in the present invention, a kind of mode using small rubber leather cup structure design is laid in big rubber cup, using multiple
The small rubber leather cup increase adsorption area of distribution, while equally distributed small rubber leather cup can provide the bottom of a pan uniform absorption
On the one hand power, outside big rubber cup also provides certain absorption affinity, and can completely cut off extraneous air in adsorption process and enter
Enter small rubber leather cup, it is ensured that the stability of small rubber leather cup absorption；Another way is captured using forceful electric power magnetic patch to iron pan embryo, many
On the one hand the individual forceful electric power magnetic patch for being uniformly distributed setting ensure to the uniform strength of pot embryo, on the other hand magnetic field phase between multiple forceful electric power magnetic patch
It is mutually overlapping, can mutually increase mutual adsorption strength.
Brief description of the drawings
Fig. 1 is schematic diagram of the invention；
Fig. 2 is front view of the invention；
Fig. 3 is rubber cup manipulator schematic diagram；
Fig. 4 is forceful electric power magnetic patch manipulator schematic diagram；
Reference：1st, supporter, 2, grab a pot manipulator, 201, rubber cup I, 202, rubber cup II, 203, disk, 204,
Forceful electric power magnetic patch, 3, carry swing arm support bar, 4, actuating cylinder I, 5, swing arm rotary shaft, 6, actuating cylinder II, 7, mechanical position limitation block,
8th, pot embryo places flat board, 801, arc-shaped recess.
Specific embodiment
With reference to accompanying drawing 1,2,3 and 4, the present invention will be described, a kind of iron pan conveying robot, including supporter 1, carrying
Swing arm support bar 3 and grab pot manipulator 2, grab pot manipulator 2 and moved up and down by the driving of actuating cylinder I 4, actuating cylinder I 4 with remove
One end connection of fortune swing arm support bar 3, carries the other end of swing arm support bar 3 and connects with the rotation of swing arm rotary shaft 5 on supporter 1
Connect, carrying swing arm support bar 3 is driven around swing arm rotary shaft 5 and done toward physical pendulum by the actuating cylinder II 6 being fixed on supporter 1
It is dynamic.
Above be basic embodiment of the invention, can more than on the basis of further improved, optimized and limited：
Such as, a mechanical position limitation block is respectively provided with described supporter 1 in the horizontal level left and right sides of carrying swing arm support bar 3
7, carry the extreme position that swing arm support bar 3 swings to limit；
Further, described mechanical position limitation block 7, a groove, groove are opened up in its position contacted with carrying swing arm support bar 3
One yielding rubber cushion block matched with it of interior installation；
Such as, the bottom of described supporter 1 is provided with pot embryo and places flat board 8, and this pot of embryo places flat board 8 and be provided with big with pot embryo bottom
The small arc-shaped recess 801 for matching, the bottom centre position of arc-shaped recess 801 offers hole, be equipped with the arc-shaped recess 801 with
Its rubber buffer for matching, rubber buffer bottom is provided with the projection matched with the base apertures of arc-shaped recess 801；
Such as, described pot manipulator 2 of grabbing is a rubber cup I 201, some to external radiation along center inside rubber cup I201
Individual stripe shape is raised, and stripe shape projection length is the half of arc length, and several are evenly arranged in stripe shape projection less than rubber cup I201
Rubber cup II 202；
For another example, described pot manipulator 2 of grabbing is a disk 203 for being coated with elastomeric skin layer, uniform on disk to be laid with 1-2 circles
Forceful electric power magnetic patch 204；
For another example, described grabbing is provided with electronic ruler 9 between pot manipulator 2 and actuating cylinder I 4, and electronic ruler 9 connects with control panel
Connect, control to grab the motion range of pot manipulator 2 by the setting of control panel.
Finally, described actuating cylinder I 4 is fixed in a vertical channel-section steel, and channel-section steel bottom has a support flat board, support
Plate center offers through hole, and the piston rod of actuating cylinder I 4 is connected with pot manipulator 2 is grabbed by the through hole, is opened in groove steel sidewall
If 1-2 row through holes, carry swing arm support bar 3 and be connected with the through hole of diverse location by bolt, to adjust the height of actuating cylinder I 4
Lower position.
The present invention, in actual work, actuating cylinder I drives grabs a pot manipulator up and down motion crawl pot embryo, then, moves
Strength cylinder II drives carrying swing arm support bar drive to grab pot manipulator and does left and right reciprocally swinging around swing arm rotary shaft, and pot embryo is moved
Stop when moving parking area, grab a pot manipulator pot embryo that moves up and down again and put down, complete a carrying job.
The effect of supporter is the whole handling system of support, and actuating cylinder I provides power, actuating cylinder to grab a pot manipulator
II provides power for carrying, carries swing arm support bar and plays a part of a connection actuating cylinder II and grab a pot manipulator, swing arm
The effect of rotary shaft is that the rotary oscillation effect that swing arm support bar realizes carrying swing arm support bar with supporter, machinery are carried in connection
The effect of limited block is the range of movement that swing arm support bar is carried in fixed limitation, and it is then to place a pot embryo that pot embryo places flat board.
Technical scheme and implementation method cited by the present invention and non-limiting, with the technical scheme cited by the present invention and
Implementation method is equivalent or effect same approach is all in the range of the present invention is protected.
Claims (8)
1. a kind of iron pan conveying robot, it is characterised in that：Including supporter（1）, carry swing arm support bar（3）It is mechanical with pot is grabbed
Hand（2）, grab a pot manipulator（2）By actuating cylinder I（4）Driving moves up and down, actuating cylinder I（4）With carrying swing arm support bar
（3）One end connection, carry swing arm support bar（3）The other end and supporter（1）On swing arm rotary shaft（5）Connection is rotated, is removed
Fortune swing arm support bar（3）It is fixed on supporter（1）On actuating cylinder II（6）It is driven around swing arm rotary shaft（5）Do reciprocal
Swing.
2. a kind of iron pan conveying robot according to claim 1, it is characterised in that：Described supporter（1）On removing
Fortune swing arm support bar（3）The horizontal level left and right sides is respectively provided with a mechanical position limitation block（7）, swing arm support bar is carried to limit
（3）The extreme position of swing.
3. a kind of iron pan conveying robot according to claim 2, it is characterised in that：Described mechanical position limitation block（7）,
Itself and carry swing arm support bar（3）The position of contact opens up installs a buffering rubber matched with it in a groove, groove
Rubber cushion block.
4. a kind of iron pan conveying robot according to claim 1, it is characterised in that：Described supporter（1）Bottom
It is provided with pot embryo and places flat board（8）, this pot of embryo placement flat board（8）It is provided with the arc-shaped recess matched with pot embryo bottom size
（801）, arc-shaped recess（801）Bottom centre position offers hole, in arc-shaped recess（801）Inside it is equipped with the rubber matched with it
Glue cushion pad, rubber buffer bottom is provided with and arc-shaped recess（801）The projection that base apertures match.
5. a kind of iron pan conveying robot according to claim 1, it is characterised in that：Described grabs a pot manipulator（2）For
One rubber cup I（201）, rubber cup I（201）Internal along center, to external radiation, several stripe shapes are raised, and stripe shape is raised long
The half for arc length is spent, several are evenly arranged in stripe shape projection less than rubber cup I（201）Rubber cup II（202）.
6. a kind of iron pan conveying robot according to claim 1, it is characterised in that：Described grabs a pot manipulator（2）For
One disk for being coated with elastomeric skin layer（203）, it is uniform on disk to be laid with 1-2 circle forceful electric power magnetic patch（204）.
7. a kind of iron pan conveying robot according to claim 1, it is characterised in that：Described grabs a pot manipulator（2）With
Actuating cylinder I（4）Between be provided with electronic ruler（9）, a pot manipulator is grabbed to set（2）Motion range.
8. a kind of iron pan conveying robot according to claim 1, it is characterised in that：Described actuating cylinder I（4）It is fixed
In a vertical channel-section steel, channel-section steel bottom has a support flat board, and support plate center offers through hole, actuating cylinder I（4）'s
Piston rod passes through the through hole and grabs a pot manipulator（2）Connection, 1-2 row through holes are opened up in groove steel sidewall, carry swing arm support bar（3）
It is connected with the through hole of diverse location by bolt, to adjust actuating cylinder I（4）High and low position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710129960.1A CN106829462A (en) | 2017-03-07 | 2017-03-07 | A kind of iron pan conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710129960.1A CN106829462A (en) | 2017-03-07 | 2017-03-07 | A kind of iron pan conveying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106829462A true CN106829462A (en) | 2017-06-13 |
Family
ID=59138045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710129960.1A Pending CN106829462A (en) | 2017-03-07 | 2017-03-07 | A kind of iron pan conveying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106829462A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108045917A (en) * | 2017-12-28 | 2018-05-18 | 河南摩西机械制造有限公司 | A kind of iron pan movement robot |
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| CN201645354U (en) * | 2010-03-16 | 2010-11-24 | 沈阳飞机工业（集团）有限公司 | Total-freedom vacuum chuck |
| CN104044151A (en) * | 2013-03-14 | 2014-09-17 | 株式会社安川电机 | Robot system and method for transferring workpiece |
| CN104209951A (en) * | 2014-08-22 | 2014-12-17 | 哈尔滨工程大学 | Random curved surface adsorption device based on electromagnet principle |
| KR101507316B1 (en) * | 2014-03-20 | 2015-04-07 | 주식회사 영진에스지 | Magnetic type picking apparatus |
| CN104773507A (en) * | 2015-04-08 | 2015-07-15 | 李伟民 | Universal mechanical hand for grasping materials |
| CN204479922U (en) * | 2015-01-21 | 2015-07-15 | 福州和升达表业有限公司 | A kind of fixed band hook bathroom clock |
| CN104924304A (en) * | 2015-05-08 | 2015-09-23 | 江苏大学 | Mechanical mechanism and control system of pneumatic handling mechanical hand |
| CN105253623A (en) * | 2015-11-26 | 2016-01-20 | 山东科技大学 | Electromagnetic vacuum sucker |
| CN205651364U (en) * | 2016-04-22 | 2016-10-19 | 宋萌瑶 | Electromagnet structure |
| CN106142048A (en) * | 2016-08-15 | 2016-11-23 | 江苏新光数控技术有限公司 | A kind of simple and practical mechanical arm |
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2017
- 2017-03-07 CN CN201710129960.1A patent/CN106829462A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201645354U (en) * | 2010-03-16 | 2010-11-24 | 沈阳飞机工业（集团）有限公司 | Total-freedom vacuum chuck |
| CN104044151A (en) * | 2013-03-14 | 2014-09-17 | 株式会社安川电机 | Robot system and method for transferring workpiece |
| KR101507316B1 (en) * | 2014-03-20 | 2015-04-07 | 주식회사 영진에스지 | Magnetic type picking apparatus |
| CN104209951A (en) * | 2014-08-22 | 2014-12-17 | 哈尔滨工程大学 | Random curved surface adsorption device based on electromagnet principle |
| CN204479922U (en) * | 2015-01-21 | 2015-07-15 | 福州和升达表业有限公司 | A kind of fixed band hook bathroom clock |
| CN104773507A (en) * | 2015-04-08 | 2015-07-15 | 李伟民 | Universal mechanical hand for grasping materials |
| CN104924304A (en) * | 2015-05-08 | 2015-09-23 | 江苏大学 | Mechanical mechanism and control system of pneumatic handling mechanical hand |
| CN105253623A (en) * | 2015-11-26 | 2016-01-20 | 山东科技大学 | Electromagnetic vacuum sucker |
| CN205651364U (en) * | 2016-04-22 | 2016-10-19 | 宋萌瑶 | Electromagnet structure |
| CN106142048A (en) * | 2016-08-15 | 2016-11-23 | 江苏新光数控技术有限公司 | A kind of simple and practical mechanical arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108045917A (en) * | 2017-12-28 | 2018-05-18 | 河南摩西机械制造有限公司 | A kind of iron pan movement robot |
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170613 |