CN106903715A - Enamel pan puma manipulator and enamel pan production line - Google Patents
Enamel pan puma manipulator and enamel pan production line Download PDFInfo
- Publication number
- CN106903715A CN106903715A CN201710130541.XA CN201710130541A CN106903715A CN 106903715 A CN106903715 A CN 106903715A CN 201710130541 A CN201710130541 A CN 201710130541A CN 106903715 A CN106903715 A CN 106903715A
- Authority
- CN
- China
- Prior art keywords
- motor
- arm
- crawl
- rotary shaft
- connecting portion
- 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
- B25J18/00—Arms
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23D—ENAMELLING OF, OR APPLYING A VITREOUS LAYER TO, METALS
- C23D5/00—Coating with enamels or vitreous layers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Robotics (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of enamel pan puma manipulator and enamel pan production line, it is related to enamel pan to produce technique with the apparatus field, including drive mechanism, turning arm, grasping mechanism, drive mechanism is connected with turning arm, turning arm is provided with the first rotary shaft, drive mechanism drives turning arm rotation, so as to drive the first rotary shaft to rotate, first rotary shaft is connected with grasping mechanism, drive mechanism drives the first rotary shaft, so as to drive grasping mechanism to be rotated relative to the first rotary shaft, the application of slip is carried out using manipulator grabbing workpiece, manipulator processing is relative to manually " shaking, get rid of, tremble, turn " action on it is more uniform, reduce production cost, improve product quality and production efficiency.
Description
Technical field
The present invention relates to enamel pan production technique with the apparatus field, more particularly, to a kind of enamel pan puma manipulator and enamel
Pot production line.
Background technology
Enamel is unorganic glass enamel of the blackening on metal bottom base surface, metal surface carry out the enamel application of slip can in case
Only metal rusting, makes metal be unlikely to form oxide layer on surface and can resist the erosion of various liquid when being heated.Enamel
Product not only safety non-toxic, it is easy to which washing is clean, can be widely used as the ware that is used in daily life and washing is used
Tool, and under given conditions, hardness that the enamel application of slip shows on metal body is high, high temperature resistant, wear-resisting and insulation
The premium properties such as effect.
Current enamel uses manual enamel, and workpiece toward enamel container immersion workpiece is vised by pincers are warded off by workman's hand, makes table
Face wraps enamel, action that the workpiece for then vising is mentioned to be carried out in the air " shake, get rid of, trembling, turning " etc., due to the work shape of each workman
State and skills involved in the labour have very big difference, can be because the spraying matter of a variety of factors influence enamel pan in the process of the application of slip
Amount, unstable product quality, operation sustainability be low, and the artificial application of slip, and the labour intensity of workman is big, high cost, efficiency are low.
The content of the invention
It is an object of the invention to provide a kind of enamel pan puma manipulator, application of slip work is carried out using manipulator grabbing workpiece
Sequence, makes the application of slip uniform, and the stability of improve product quality reduces cost, improves production efficiency.
The enamel pan puma manipulator that the present invention is provided, including：Drive mechanism, turning arm, grasping mechanism；
The drive mechanism is connected with the turning arm, and drives the turning arm to rotate；
The turning arm is provided with the first rotary shaft, and the drive mechanism drives the first rotary shaft rotation；
First rotary shaft is connected with the grasping mechanism, and the drive mechanism drives first rotary shaft, with
The grasping mechanism is set to be rotated relative to first rotary shaft.
In any of the above-described technical scheme, it is preferred that the drive mechanism includes that the first motor and second drives electricity
Machine；
First motor is connected by transmission arm with the turning arm, and first motor is by described
Transmission arm drives the turning arm rotation；
Second motor is arranged on the turning arm, second motor by transmission mechanism with it is described
First rotary shaft is connected, and second motor drives the grasping mechanism relatively described first by the transmission mechanism
Rotary shaft is rotated.
In the technical scheme, the first motor is connected by transmission arm with turning arm, rotates turning arm, and second
Motor is arranged on turning arm, is connected with the first rotary shaft by transmission mechanism, drives grasping mechanism relative to the first rotation
Axle is rotated, and grasping mechanism is rotated different angles and is reached crawl predeterminated positions, grips workpiece, using the first motor and the
Two motors facilitate workman to overhaul respectively as driving element.
In any of the above-described technical scheme, it is preferred that the grasping mechanism includes the 3rd motor and cylinder assembly；
3rd motor is connected with the cylinder assembly, and the 3rd motor drives the cylinder assembly
Rotation.
In the technical scheme, the second motor drives grasping mechanism to rotate different angles and reaches the default position of crawl
Put, grip workpiece, workpiece is immersed in enamel after gripping workpiece, rotated by the 3rd motor drive cylinder component, make work
The part application of slip is uniform, and workpiece is taken out from enamel by the first motor and the second motor collective effect after the completion of the application of slip,
Drive cylinder assembly to rotate by the 3rd motor again, throw away more than enamel, further improve the quality and production efficiency of workpiece.
In any of the above-described technical scheme, it is preferred that the cylinder assembly includes cylinder block, piston rod and crawl hand；
The cylinder block is connected with the 3rd motor, and the 3rd motor drives the cylinder assembly
Rotation；
The crawl hand is hinged away from described 3rd motor one end with the cylinder block by the second rotary shaft,
The piston rod is provided with limiting plate away from described 3rd motor one end, and the limiting plate is against the crawl on hand.
Further, the crawl hand includes the first crawl arm and the second crawl arm, first crawl arm and described the
Two crawl arms are oppositely arranged, and first crawl arm rotates with the cylinder block with second crawl arm by described second
Axle is hinged；
First crawl arm includes first connecting portion and the first clamping part, the first connecting portion and the described first clamping
Portion is connected, and the first connecting portion and the junction of first clamping part are provided with reinforcement, the first connecting portion with
Second rotary shaft is hinged；
Second crawl arm includes second connecting portion and the second clamping part, the second connecting portion and the described second clamping
Portion is connected, and the second connecting portion and the junction of second clamping part are provided with reinforcement, the second connecting portion with
Second rotary shaft is hinged；
The limiting plate includes the first limiting plate and the second limiting plate, and first limiting plate is against the first connecting portion
On, second limiting plate is against in the second connecting portion；
Wherein, when the relatively described cylinder block of the piston rod stretches out described in the first limiting plate and second limiting plate
Relatively rotate first crawl arm and second crawl arm and tighten up grabbing workpiece, when the relatively described cylinder of the piston rod
The first limiting plate and second limiting plate make first crawl arm and second crawl arm opposite described in when cylinder body is retracted
Rotate release and unload workpiece.
In the technical scheme, cylinder assembly includes cylinder block, piston rod and crawl hand, and crawl hand includes the first crawl
Arm and the second crawl arm, the first crawl arm and the second crawl arm are oppositely arranged and by the second rotary shaft and cylinder block away from the
Three motor one end are hinged, and the distance between the first crawl arm and the second crawl arm and cylinder block keep constant, piston
The first limiting plate and the second limiting plate are provided with bar, the first crawl arm includes first connecting portion and the first clamping part, and second grabs
Taking arm includes second connecting portion and the second clamping part, and the first limiting plate is against in first connecting portion, and the second limiting plate is against second
On connecting portion, because the distance between first rotating arm and the second turning arm and cylinder block are fixed, when piston rod is with respect to cylinder
When cylinder body stretches out, the first limiting plate and the second limiting plate being against respectively in first connecting portion and second connecting portion make the first rotation
Arm and the second turning arm are relatively rotated, so that crawl hand is tightened up with grabbing workpiece, when piston rod is retracted with respect to cylinder block,
The first limiting plate and the second limiting plate being against respectively in first connecting portion and second connecting portion make first rotating arm and the second rotation
Pivoted arm is rotated opposite to each other, so that crawl hand unclamps and unloads workpiece, by the second motor and the 3rd motor control crawl hand
" shake, get rid of, trembling, turning " is completed, wraps up enamel layer uniform, improve product quality, artificial operation is replaced using hand is captured, improved
Production efficiency.
In any of the above-described technical scheme, it is preferred that first clamping part and second clamping part and processing workpiece
Shape match.
In the technical scheme, the first clamping part and the second clamping part match with the shape of processing workpiece, are easy to more preferably
Ground clamping workpiece, it is to avoid workpiece drops from crawl hand, improves the production efficiency of enamel pan.
In any of the above-described technical scheme, it is preferred that first motor, second motor and described
Three motors are respectively asynchronous motor.
In the technical scheme, the first motor, the second motor and the 3rd motor are respectively asynchronous electric
Machine, specifically, being Y-series asynchronous motor, Y-series Induction Motor Structure is simple, manufacture, using, it is easy to maintenance, have fortune
Row reliability is high, lightweight, low cost, the advantages of rotary inertia is small.
In any of the above-described technical scheme, it is preferred that the first connecting portion is mutually welded or one with first clamping part
It is body formed；The second connecting portion is mutually welded or is integrally formed with second clamping part.
In the technical scheme, first connecting portion is mutually welded or is integrally formed with the first clamping part, second connecting portion and the
Two clamping parts are mutually welded or are integrally formed, welding mechanism or to be integrally formed bonding strength high, make to grab using welding or being integrally formed
Take the stability that hand gripping workpiece ensure that manufacturing procedure when being rotated during the application of slip.
In any of the above-described technical scheme, it is preferred that the transmission mechanism is chain drive.
In the technical scheme, transmission mechanism uses chain drive, and changing second using taper sprocket and chain drives
The direction of dynamic motor, makes the first rotary shaft drive grasping mechanism to rotate, so that crawl hand completes workpiece application of slip operation.
Any one enamel pan provided present invention also offers a kind of enamel pan production line, including in above-mentioned technical proposal
Puma manipulator.
The invention provides a kind of enamel pan puma manipulator and enamel pan production line, including drive mechanism, turning arm, grab
Mechanism is taken, drive mechanism is connected with turning arm, turning arm is provided with the first rotary shaft, drive mechanism drives turning arm rotation,
So as to drive the first rotary shaft to rotate, the first rotary shaft is connected with grasping mechanism, and drive mechanism drives the first rotary shaft, so that
Drive grasping mechanism to be rotated relative to the first rotary shaft, the application of slip is carried out using manipulator grabbing workpiece, manipulator is processed relative to people
Work is more uniform in the action of " shake, get rid of, tremble, turn ", reduces production cost, improves product quality and production efficiency.
Brief description of the drawings
In order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art, below will be to specific
The accompanying drawing to be used needed for implementation method or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the front view of enamel pan puma manipulator provided in an embodiment of the present invention；
Fig. 2 is the side view of the enamel pan puma manipulator shown in Fig. 1；
Fig. 3 is the dimensional structure diagram of the enamel pan puma manipulator shown in Fig. 1；
Fig. 4 is the dimensional structure diagram of the enamel pan puma manipulator shown in Fig. 1.
Icon：1- drive mechanisms；2- turning arms；3- grasping mechanisms；4- transmission arms；The rotary shafts of 5- second；11- first drives
Motor；The motors of 12- second；The rotary shafts of 21- first；The motors of 31- the 3rd；32- cylinder assemblies；321- cylinder blocks；
322- piston rods；323- captures hand；The limiting plates of 3221- first；The limiting plates of 3222- second；The crawl arms of 3231- first；3232-
Two crawl arms；32311- first connecting portions；The clamping parts of 32312- first；32321- second connecting portions；The clamping parts of 32322- second.
Specific embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", D score, "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outward " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify describe, rather than indicate imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
Two connections of element internal.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Fig. 1 is the front view of enamel pan puma manipulator provided in an embodiment of the present invention；Fig. 2 is the enamel pan shown in Fig. 1
The side view of puma manipulator；Fig. 3 is the dimensional structure diagram of the enamel pan puma manipulator shown in Fig. 1；Fig. 4 is Fig. 1 institutes
The dimensional structure diagram of the enamel pan puma manipulator for showing.
As shown in Figures 1 to 4, the invention provides a kind of enamel pan puma manipulator, including：Drive mechanism 1, turning arm
2nd, grasping mechanism 3；
The drive mechanism 1 is connected with the turning arm 2, and drives the turning arm 2 to rotate；
The turning arm 2 is provided with the first rotary shaft 21, and the drive mechanism 1 drives first rotary shaft 21 to rotate；
First rotary shaft 21 is connected with the grasping mechanism 3, and the drive mechanism 1 drives first rotary shaft
21, so that the grasping mechanism 3 is rotated relative to first rotary shaft 21.
The invention provides a kind of enamel pan puma manipulator and enamel pan production line, including drive mechanism 1, turning arm 2,
Grasping mechanism 3, drive mechanism 1 is connected with turning arm 2, and turning arm 2 is provided with the first rotary shaft 21, and drive mechanism 1 drives rotation
Pivoted arm 2 rotates, so as to drive the first rotary shaft 21 to rotate, the first rotary shaft 21 is connected with grasping mechanism 3, and drive mechanism 1 is driven
Dynamic first rotary shaft 21, so as to drive grasping mechanism 3 to be rotated relative to the first rotary shaft 21, is applied using manipulator grabbing workpiece
Ward off, manipulator processing relative to manually in the action of " shake, get rid of, tremble, turn " it is more uniform, reduce production cost, improve
Product quality and production efficiency.
As shown in Figures 1 to 4, in one embodiment of the invention, it is preferred that the drive mechanism 1 includes that first drives
The dynamic motor 12 of motor 11 and second；
First motor 11 is connected by transmission arm 4 with the turning arm 2, and first motor 11 leads to
Crossing the transmission arm 4 drives the turning arm 2 to rotate；
Second motor 12 is arranged on the turning arm 2, and second motor 12 passes through transmission mechanism
It is connected with first rotary shaft 21, second motor 12 drives the grasping mechanism 3 by the transmission mechanism
Rotated relative to first rotary shaft 21.
In this embodiment, the first motor 11 is connected by transmission arm 4 with turning arm 2, rotates turning arm 2,
Second motor 12 is arranged on turning arm 2, is connected with the first rotary shaft 21 by transmission mechanism, drives the phase of grasping mechanism 3
First rotary shaft 21 is rotated, grasping mechanism 3 is rotated different angles and is reached crawl predeterminated positions, grip workpiece, using the
One motor 11 and the second motor 12 facilitate workman to overhaul respectively as driving element.
As shown in Figures 1 to 4, in another embodiment of the present invention, the grasping mechanism 3 includes the 3rd motor
31 and cylinder assembly 32；
3rd motor 31 is connected with the cylinder assembly 32, and the 3rd motor 31 drives the gas
Cylinder component 32 rotates.
In this embodiment, the second motor 12 drives grasping mechanism 3 to rotate different angles and reaches the default position of crawl
Put, grip workpiece, workpiece is immersed in enamel after gripping workpiece, rotated by the drive cylinder component 32 of the 3rd motor 31,
Make the workpiece application of slip uniform, by the first motor 11 and the collective effect of the second motor 12 by workpiece from enamel after the completion of the application of slip
Middle taking-up, then drive cylinder assembly 32 to rotate by the 3rd motor 31, throw away more than enamel, further improve the quality of workpiece
And production efficiency.
As shown in Figures 1 to 4, in one embodiment of the invention, it is preferred that the cylinder assembly 32 includes cylinder cylinder
Body 321, piston rod 322 and crawl hand 323；
The cylinder block 321 is connected with the 3rd motor 31, and the 3rd motor 31 drives described
Cylinder assembly 32 rotates；
The crawl hand 323 is with the cylinder block 321 away from described one end of 3rd motor 31 by the second rotation
Axle 5 is hinged, and the piston rod 322 is provided with limiting plate away from described one end of 3rd motor 31, and the limiting plate is against
On the crawl hand 323.
Further, the crawl hand 323 includes the first crawl arm 3231 and the second crawl arm 3232, first crawl
Arm 3231 is oppositely arranged with second crawl arm 3232, first crawl arm 3231 and second crawl arm 3232 and institute
Cylinder block 321 is stated to be hinged by second rotary shaft 5；
First crawl arm 3231 includes the clamping part 32312 of first connecting portion 32311 and first, the first connecting portion
32311 are connected with first clamping part 32312, the company of the first connecting portion 32311 and first clamping part 32312
The place of connecing is provided with reinforcement, and the first connecting portion 32311 is hinged with second rotary shaft 5；
Second crawl arm 3232 includes the clamping part 32322 of second connecting portion 32321 and second, the second connecting portion
32321 are connected with second clamping part 32322, the company of the second connecting portion 32321 and second clamping part 32322
The place of connecing is provided with reinforcement, and the second connecting portion 32321 is hinged with second rotary shaft 5；
The limiting plate includes the first limiting plate 3221 and the second limiting plate 3222, and first limiting plate 3221 is against institute
State in first connecting portion 32311, second limiting plate 3222 is against in the second connecting portion 32321；
Wherein, when the relatively described cylinder block 321 of the piston rod 322 stretches out described in the first limiting plate 3221 and described
Second limiting plate 3222 makes first crawl arm 3231 and second crawl arm 3232 relative rotation tighten up grabbing workpiece, when
First limiting plate 3221 and second limiting plate 3222 described in when the relatively described cylinder block 321 of the piston rod 322 is retracted
First crawl arm 3231 and second crawl arm 3232 is rotated release opposite to each other and unload workpiece.
In this embodiment, cylinder assembly 32 includes cylinder block 321, piston rod 322 and crawl hand 323, captures hand 323
Including the first crawl arm 3231 and the second crawl arm 3232, the first crawl arm 3231 is oppositely arranged and leads to the second crawl arm 3232
Cross the second rotary shaft 5 to be hinged away from the one end of the 3rd motor 31 with cylinder block 321, the first crawl arm 3231 and second is grabbed
Take the distance between arm 3232 and cylinder block 321 and keep constant, the first limiting plate 3221 and second is provided with piston rod 322
Limiting plate 3222, the first crawl arm 3231 includes the clamping part 32312 of first connecting portion 32311 and first, the second crawl arm 3232
Including the clamping part 32322 of second connecting portion 32321 and second, the first limiting plate 3221 is against in first connecting portion 32311, and second
Limiting plate 3222 is against in second connecting portion 32321, due between the turning arm 2 of first rotating arm 2 and second and cylinder block 321
Distance fix, when piston rod 322 with respect to cylinder block 321 stretch out when, be against respectively first connecting portion 32311 and second connection
The first limiting plate 3221 and the second limiting plate 3222 in portion 32321 relatively rotate the turning arm 2 of first rotating arm 2 and second,
So that crawl hand 323 is tightened up with grabbing workpiece, when piston rod 322 is retracted with respect to cylinder block 321, the first company is against respectively
The first limiting plate 3221 and the second limiting plate 3222 in socket part 32311 and second connecting portion 32321 make first rotating arm 2 and
The opposite rotation of two turning arm 2, so that crawl hand 323 unclamps and unloads workpiece.
As shown in Figures 1 to 4, in one embodiment of the invention, it is preferred that first clamping part 32312 and institute
The second clamping part 32322 is stated to match with the shape of processing workpiece.
In this embodiment, the first clamping part 32312 and the second clamping part 32322 match with the shape of processing workpiece,
It is easy to preferably clamping workpiece, it is to avoid workpiece drops from crawl hand 323, improves the production efficiency of enamel pan.
As shown in Figures 1 to 4, in one embodiment of the invention, it is preferred that first motor 11, described
Second motor 12 and the 3rd motor 31 are respectively asynchronous motor.
In this embodiment, the first motor 11, the second motor 12 and the 3rd motor 31 are respectively asynchronous
Motor, specifically, being Y-series asynchronous motor, Y-series Induction Motor Structure is simple, manufacture, using, it is easy to maintenance, have
Operational reliability high, lightweight, low cost, the advantages of rotary inertia is small.
As shown in Figures 1 to 4, in one embodiment of the invention, it is preferred that the first connecting portion 32311 and institute
The first clamping part 32312 is stated mutually to weld or be integrally formed；The second connecting portion 32321 and the phase of the second clamping part 32322
Weld or be integrally formed.
In this embodiment, first connecting portion 32311 is mutually welded or is integrally formed with the first clamping part 32312, and second connects
Socket part 32321 is mutually welded or is integrally formed with the second clamping part 32322, welding mechanism or to be integrally formed bonding strength high, is used
Welding or being integrally formed makes crawl hand 323 grip the stability that workpiece ensure that manufacturing procedure when being rotated during the application of slip.
As shown in figure 1, in one embodiment of the invention, it is preferred that the transmission mechanism is chain drive.
In this embodiment, transmission mechanism uses chain drive, and changing second using taper sprocket and chain drives
The transmission direction of motor 12, makes the first rotary shaft 21 drive grasping mechanism 3 to rotate, so that crawl hand 323 completes the workpiece application of slip
Operation.
Any one enamel pan provided present invention also offers a kind of enamel pan production line, including in above-mentioned technical proposal
Puma manipulator.
The invention provides a kind of enamel pan puma manipulator and enamel pan production line, including drive mechanism, turning arm, grab
Mechanism is taken, drive mechanism is connected with turning arm, turning arm is provided with the first rotary shaft, drive mechanism drives turning arm rotation,
So as to drive the first rotary shaft to rotate, the first rotary shaft is connected with grasping mechanism, and drive mechanism drives the first rotary shaft, so that
Grasping mechanism is driven to be rotated relative to the first rotary shaft, grasping mechanism includes crawl hand, cylinder block and piston rod, crawl hand includes
First crawl arm and the second crawl arm, are provided with the first limiting plate and the second limiting plate, the first crawl arm and second on piston rod
Crawl arm is hinged by the second rotary shaft and cylinder block, the first limiting plate and second it is spacing be against respectively the first crawl arm and
On second crawl arm, the first limiting plate and the second limiting plate make the first crawl arm and second when piston rod stretches out with respect to cylinder block
Crawl arm is relatively rotated and tightens up grabbing workpiece, and when piston rod is retracted with respect to cylinder block, the first limiting plate and the second limiting plate make
First crawl arm and the second crawl arm rotate release and unload workpiece opposite to each other, and the application of slip, manipulator are carried out using manipulator grabbing workpiece
Process relative to manually in the action of " shake, get rid of, tremble, turn " it is more uniform, reduce production cost, improve product quality and
Production efficiency.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of enamel pan puma manipulator, it is characterised in that including：Drive mechanism, turning arm, grasping mechanism；
The drive mechanism is connected with the turning arm, and drives the turning arm to rotate；
The turning arm is provided with the first rotary shaft, and the drive mechanism drives the first rotary shaft rotation；
First rotary shaft is connected with the grasping mechanism, and the drive mechanism drives first rotary shaft, so that institute
Grasping mechanism is stated to be rotated relative to first rotary shaft.
2. enamel pan puma manipulator according to claim 1, it is characterised in that
The drive mechanism includes the first motor and the second motor；
First motor is connected by transmission arm with the turning arm, and first motor is by the transmission
Arm drives the turning arm rotation；
Second motor is arranged on the turning arm, and second motor passes through transmission mechanism and described first
Rotary shaft is connected, and second motor drives the grasping mechanism relative to the described first rotation by the transmission mechanism
Axle is rotated.
3. enamel pan puma manipulator according to claim 2, it is characterised in that
The grasping mechanism includes the 3rd motor and cylinder assembly；
3rd motor is connected with the cylinder assembly, and the 3rd motor drives the cylinder assembly rotation
Turn.
4. enamel pan puma manipulator according to claim 3, it is characterised in that
The cylinder assembly includes cylinder block, piston rod and crawl hand；
The cylinder block is connected with the 3rd motor, and the 3rd motor drives the cylinder assembly rotation
Turn；
The crawl hand is hinged away from described 3rd motor one end with the cylinder block by the second rotary shaft, described
Piston rod is provided with limiting plate away from described 3rd motor one end, and the limiting plate is against the crawl on hand.
5. enamel pan puma manipulator according to claim 4, it is characterised in that
The crawl hand includes the first crawl arm and the second crawl arm, and first crawl arm is relative with second crawl arm to be set
Put, first crawl arm is hinged with the cylinder block with second crawl arm by second rotary shaft；
First crawl arm includes first connecting portion and the first clamping part, the first connecting portion and the first clamping part phase
Connection, the first connecting portion and the junction of first clamping part are provided with reinforcement, the first connecting portion with it is described
Second rotary shaft is hinged；
Second crawl arm includes second connecting portion and the second clamping part, the second connecting portion and the second clamping part phase
Connection, the second connecting portion and the junction of second clamping part are provided with reinforcement, the second connecting portion with it is described
Second rotary shaft is hinged；
The limiting plate includes the first limiting plate and the second limiting plate, and first limiting plate is against in the first connecting portion,
Second limiting plate is against in the second connecting portion；
Wherein, when the relatively described cylinder block of the piston rod stretches out described in the first limiting plate and second limiting plate make institute
State the first crawl arm and second crawl arm is relatively rotated and tightens up grabbing workpiece, when the relatively described cylinder block of the piston rod
First limiting plate described in during retraction and second limiting plate make first crawl arm and second crawl arm rotate opposite to each other
Workpiece is unloaded in release.
6. enamel pan puma manipulator according to claim 5, it is characterised in that
First clamping part and second clamping part match with the shape of processing workpiece.
7. enamel pan puma manipulator according to claim 6, it is characterised in that
First motor, second motor and the 3rd motor are respectively asynchronous motor.
8. enamel pan puma manipulator according to claim 5, it is characterised in that
The first connecting portion is mutually welded or is integrally formed with first clamping part；The second connecting portion and the described second folder
Portion is held mutually to weld or be integrally formed.
9. enamel pan puma manipulator according to claim 2, it is characterised in that
The transmission mechanism is chain drive.
10. a kind of enamel pan production line, it is characterised in that including the enamel pan intelligent machine described in claim any one of 1-9
Hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710130541.XA CN106903715A (en) | 2017-03-07 | 2017-03-07 | Enamel pan puma manipulator and enamel pan production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710130541.XA CN106903715A (en) | 2017-03-07 | 2017-03-07 | Enamel pan puma manipulator and enamel pan production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106903715A true CN106903715A (en) | 2017-06-30 |
Family
ID=59186140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710130541.XA Pending CN106903715A (en) | 2017-03-07 | 2017-03-07 | Enamel pan puma manipulator and enamel pan production line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106903715A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108823568A (en) * | 2018-05-24 | 2018-11-16 | 常熟市南湖化工设备制造有限责任公司 | A kind of energy-saving processing technique of enamel glass stirrer |
-
2017
- 2017-03-07 CN CN201710130541.XA patent/CN106903715A/en active Pending
Non-Patent Citations (2)
| Title |
|---|
| 熊世和: "《机电系统计算机控制技术》", 30 September 1993, 电子科技大学出版社 * |
| 钱苗根: "《材料表面技术及其应用手册》", 31 January 1998, 机械工业出版社 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108823568A (en) * | 2018-05-24 | 2018-11-16 | 常熟市南湖化工设备制造有限责任公司 | A kind of energy-saving processing technique of enamel glass stirrer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204508615U (en) | A kind of heat treatment automatic loading/unloading equipment | |
| CN205834533U (en) | Minus plate automatic welding line | |
| CN106825413A (en) | Model casting casing equipment processed automatically | |
| CN108247665A (en) | A kind of hooked hand's pawl for heavy type truss manipulator | |
| CN108147110A (en) | A kind of fixture, automatic clamping device and production line | |
| CN205914913U (en) | Intelligence welding machines people | |
| CN110328676B (en) | Full-automatic inspection robot for high-voltage line | |
| CN106903715A (en) | Enamel pan puma manipulator and enamel pan production line | |
| CN215701682U (en) | Pole-climbing robot | |
| CN209853279U (en) | Plate taking manipulator | |
| CN108149309A (en) | A kind of electroplanting device with drying functions | |
| KR101934001B1 (en) | High frequency welding method for noble metals | |
| CN108972589A (en) | A kind of pick-and-place robot device and its working method | |
| CN208467497U (en) | A kind of device for ultrasonic welding with manipulator | |
| CN108788355B (en) | Electric field driven soldering method and application of solder | |
| CN208163677U (en) | A kind of transhipment of chemical products is taken component | |
| CN211256046U (en) | Hot galvanizing pretreatment equipment | |
| CN111251287B (en) | High-voltage transmission line maintenance robot lifting rope catching device and method | |
| CN107622965A (en) | A kind of wafer transfer method and device | |
| CN211072793U (en) | Grabbing device for machine-building | |
| CN211570754U (en) | Hot galvanizing pretreatment equipment | |
| CN208532937U (en) | Metal product surface automatically processes pond | |
| CN219807996U (en) | Copper axis tinning device | |
| CN207858861U (en) | The end effector of robot carried for irregular solid colloidal block shape material | |
| CN217650383U (en) | Tube body clamping device for enamel tube firing production line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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 |
Application publication date: 20170630 |
|
| RJ01 | Rejection of invention patent application after publication |