CN107962547A - A kind of full-automatic multiaxis feeding manipulator device - Google Patents
A kind of full-automatic multiaxis feeding manipulator device Download PDFInfo
- Publication number
- CN107962547A CN107962547A CN201711444770.5A CN201711444770A CN107962547A CN 107962547 A CN107962547 A CN 107962547A CN 201711444770 A CN201711444770 A CN 201711444770A CN 107962547 A CN107962547 A CN 107962547A
- Authority
- CN
- China
- Prior art keywords
- linear module
- tumbler
- feeding manipulator
- base
- feeding
- 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
- 230000005611 electricity Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- 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
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The present invention relates to feeding device technical field, especially a kind of full-automatic multiaxis feeding manipulator device, including base, horizontal linear module is connected with the base, mounting base is connected with the sliding seat of the horizontal linear module, vertical linear module is connected with mounting base, the vertical linear module is equipped with feeding manipulator component, the feeding manipulator component includes horizontally disposed slide, first tumbler bottom is equipped with manipulator clamp system, the manipulator clamp system is equipped with sensing electric eye, sensing electric eye is connected with PLC controller, the PLC controller and horizontal linear module, vertical linear module, first tumbler, second tumbler connects.The present invention can to traverse, place one kind in two kinds of posture bottles vertically and clamp, and the direction of bottle can be adjusted, be conducive to the progress of bottle subsequent technique, and the distance of feeding manipulator component and station can be adjusted, improve present apparatus operational flexibility.
Description
Technical field
The present invention relates to feeding device technical field, more particularly to a kind of full-automatic multiaxis feeding manipulator device.
Background technology
All it is that feeding is carried out by manipulator, present feeding manipulator device is deposited when current bottle carries out feeding operation
In following shortcoming, generally can only to traverse, place one kind in two kinds of posture bottles vertically and clamp；The bottle of traverse kind posture
When direction is opposite, it is impossible to being adjusted to posture；The structure of feeding stroke is not shortened, the feeding time is longer.
The content of the invention
The purpose of the present invention is to solve the shortcomings that manipulator is inconvenient to use in the prior art, and the one kind proposed is complete
Automatic multi-axis feeding manipulator device.
To achieve these goals, present invention employs following technical solution：
A kind of full-automatic multiaxis feeding manipulator device, including base are designed, horizontal linear mould is connected with the base
Group, is connected with mounting base on the sliding seat of the horizontal linear module, vertical linear module is connected with the mounting base, described
Vertical linear module is equipped with feeding manipulator component；
The feeding manipulator component includes horizontally disposed slide, and the slide is fixed in the slip of vertical linear module
On seat, the second connect base is connected with the slide, horizontal positioned second is connected with second connect base and is rotated
Device, is connected with the first connect base on the output shaft of second tumbler, the first connect base bottom is connected with
The first tumbler placed vertically, the first tumbler bottom are equipped with manipulator clamp system, and the manipulator clamps
Mechanism is equipped with sensing electric eye, and the sensing electric eye is connected with PLC controller, and the PLC controller and horizontal linear module, indulge
To linear module, the first tumbler, the connection of the second tumbler.
When use, manually pendulum material is to feeding conveyer belt, when bottle is conveyed with the posture of traverse on feeding conveyer belt
To when reaching full-automatic multiaxis feeding manipulator position, if the direction of bottleneck is anti-, feeding sensing electric eye senses product
Afterwards, the manipulator clamp system of feeding manipulator component clamps bottle, the first tumbler swing of feeding manipulator component,
Bottle is adjusted to correctly to assemble posture, then vertical linear module rises, horizontal linear module horizontal movement, reaches turntable
Upper bottle station, the manipulator clamp system for clamping bottle material mechanical arm assembly unclamp return；
Manually pendulum material is to feeding conveyer belt, when bottle is transported to arrival automatically with the posture placed vertically on feeding conveyer belt
During multiaxis feeding manipulator position, after feeding sensing electric eye senses product, the manipulator clamp system of feeding manipulator component
Bottle is clamped, then the second tumbler swing, vertical linear module rises, horizontal linear module horizontal movement, reaches and turns
Bottle station on disk, the manipulator clamp system for clamping bottle material mechanical arm assembly unclamp return.
Preferably, second connect base is slidably connected at slide, and second connect base passes through hold-down bolt
It is fastened on slide, the distance of feeding manipulator component and station can be adjusted；Adjustment apart from when, it is only necessary to unclamp compress spiral shell
Bolt, the second connect base of adjustment is to designated position, then tightens hold-down bolt.
Preferably, first tumbler, the second tumbler are rotary cylinder.
A kind of full-automatic multiaxis feeding manipulator device proposed by the present invention, beneficial effect are：The present apparatus can to traverse,
The one kind placed vertically in two kinds of posture bottles is clamped, and can adjust the direction of bottle, is conducive to bottle subsequent technique
Carry out, and the distance of feeding manipulator component and station can be adjusted, improve present apparatus operational flexibility.
Brief description of the drawings
Fig. 1 is the structure broken away view of the present invention；
Fig. 2 is the first working state structure schematic diagram of the present invention；
Fig. 3 is second of working state structure schematic diagram of the present invention；
Fig. 4 is the feeding manipulator component structure diagram of the present invention.
In figure：Base 1, horizontal linear module 2, mounting base 3, vertical linear module 4,5, first turns of feeding manipulator component
Dynamic device 6, the first connect base 7, the second tumbler 8, slide 9, the second connect base 10, manipulator clamp system 11.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.
With reference to Fig. 1-4, a kind of full-automatic multiaxis feeding manipulator device, including base 1, is connected with x wire on base 1
Property module 2, be connected with mounting base 3 on the sliding seat of horizontal linear module 2, vertical linear module 4 be connected with mounting base 3, indulge
Feeding manipulator component 5 is equipped with to linear module 4；
Feeding manipulator component 5 includes horizontally disposed slide 9, and slide 9 is fixed in the sliding seat of vertical linear module 4
On, the second connect base 10 is connected with slide 9, the second connect base 10 is slidably connected at slide 9, and the second connect base 10
It is fastened on by hold-down bolt on slide 9, the distance of feeding manipulator component 5 and station can be adjusted；Adjustment apart from when, only need
Hold-down bolt is unclamped, the second connect base 10 of adjustment arrives designated position, then tightens hold-down bolt, the second connect base 10
On be connected with the second horizontal positioned tumbler 8, the first connect base 7 is connected with the output shaft of the second tumbler 8,
One connect base, 7 bottom is connected with the first tumbler 6 placed vertically, and 6 bottom of the first tumbler is clamped equipped with manipulator
Mechanism 11, the first tumbler 6, the second tumbler 8 are rotary cylinder, and manipulator clamp system 11 is equipped with induced electricity
Eye, sensing electric eye are connected with PLC controller, and PLC controller is rotated with horizontal linear module 2, vertical linear module 4, first and filled
The 6, second tumbler 8 is put to connect.
When use, manually pendulum material is to feeding conveyer belt, when bottle is conveyed with the posture of traverse on feeding conveyer belt
To when reaching full-automatic multiaxis feeding manipulator position, if the direction of bottleneck is anti-, feeding sensing electric eye senses product
Afterwards, the manipulator clamp system 11 of feeding manipulator component 5 clamps bottle, and the first tumbler 6 of feeding manipulator component 5 revolves
Turnback, is adjusted to bottle correctly to assemble posture, and then vertical linear module 4 rises, the horizontal linear horizontal fortune of module 2
It is dynamic, bottle station on turntable is reached, the manipulator clamp system 11 for clamping bottle material mechanical arm assembly unclamps return；
Manually pendulum material is to feeding conveyer belt, when bottle is transported to arrival automatically with the posture placed vertically on feeding conveyer belt
During multiaxis feeding manipulator position, after feeding sensing electric eye senses product, the manipulator clamp system of feeding manipulator component
11 clamp bottle, and then the second tumbler 8 is rotated by 90 °, and vertical linear module 4 rises, horizontal linear 2 horizontal movement of module,
Bottle station on turntable is reached, the manipulator clamp system 11 for clamping bottle material mechanical arm assembly unclamps return.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (3)
1. a kind of full-automatic multiaxis feeding manipulator device, including base (1), it is characterised in that be connected with the base (1)
Horizontal linear module (2), is connected with mounting base (3) on the sliding seat of the horizontal linear module (2), on the mounting base (3)
Vertical linear module (4) is connected with, the vertical linear module (4) is equipped with feeding manipulator component (5)；
The feeding manipulator component (5) includes horizontally disposed slide (9), and the slide (9) is fixed in vertical linear module
(4) on sliding seat, it is connected with the second connect base (10) on the slide (9), it is affixed on second connect base (10)
There is horizontal positioned the second tumbler (8), the first connect base is connected with the output shaft of second tumbler (8)
(7), the first connect base (7) bottom is connected with the first tumbler (6) placed vertically, first tumbler
(6) bottom is equipped with manipulator clamp system (11), and the manipulator clamp system (11) is equipped with sensing electric eye, the induced electricity
Eye is connected with PLC controller, the PLC controller and horizontal linear module (2), vertical linear module (4), the first tumbler
(6), the second tumbler (8) connects.
A kind of 2. full-automatic multiaxis feeding manipulator device according to claim 1, it is characterised in that second connection
Base (10) is slidably connected at slide (9), and second connect base (10) is fastened on slide (9) by hold-down bolt.
3. a kind of full-automatic multiaxis feeding manipulator device according to claim 1, it is characterised in that described first rotates
Device (6), the second tumbler (8) are rotary cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711444770.5A CN107962547A (en) | 2017-12-27 | 2017-12-27 | A kind of full-automatic multiaxis feeding manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711444770.5A CN107962547A (en) | 2017-12-27 | 2017-12-27 | A kind of full-automatic multiaxis feeding manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107962547A true CN107962547A (en) | 2018-04-27 |
Family
ID=61996010
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711444770.5A Pending CN107962547A (en) | 2017-12-27 | 2017-12-27 | A kind of full-automatic multiaxis feeding manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107962547A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109465810A (en) * | 2019-01-08 | 2019-03-15 | 珠海市精实测控技术有限公司 | With the traversing charging manipulator in position |
| CN109866241A (en) * | 2019-03-05 | 2019-06-11 | 哈尔滨工业大学 | A kind of compact mechanical pawl for the crawl of metallurgy industry temperature probe |
| CN109866244A (en) * | 2019-04-04 | 2019-06-11 | 广州煌牌自动设备有限公司 | A kind of electronic feeding fixture |
| CN110815195A (en) * | 2019-11-05 | 2020-02-21 | 浙江省建工集团有限责任公司 | Lifting mechanism of manipulator |
| CN111958578A (en) * | 2020-08-17 | 2020-11-20 | 广东万合新材料科技有限公司 | Suspension type manipulator |
| CN112276916A (en) * | 2020-10-20 | 2021-01-29 | 攀枝花恒威化工有限责任公司 | Robot stacking device and operation method thereof |
| CN113231831A (en) * | 2021-03-10 | 2021-08-10 | 广东亿恒工业装备有限公司 | Tensile production line of water heater inner bag |
| CN117506874A (en) * | 2023-12-25 | 2024-02-06 | 济南奥普瑞思智能装备有限公司 | Transmission robot truss |
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| CN101284379A (en) * | 2007-04-10 | 2008-10-15 | 厄罗瓦公司 | Handling manipulator assembly |
| KR20130125964A (en) * | 2012-05-10 | 2013-11-20 | 이민지 | Saddle for gantry roader and the gantry roader using the same |
| CN203495503U (en) * | 2013-08-24 | 2014-03-26 | 桐乡市易锋机械厂 | Automatic production line for PXE piston |
| CN104538338A (en) * | 2014-06-16 | 2015-04-22 | 罗普伺达机器人有限公司 | Transfer robot having variable hand of four robot arms |
| JP2015205330A (en) * | 2014-04-22 | 2015-11-19 | 株式会社ラインワークス | Welding apparatus |
| CN205660461U (en) * | 2016-06-08 | 2016-10-26 | 东莞市小智人机器人有限公司 | Digit control machine tool robotic device |
| CN206663227U (en) * | 2016-12-13 | 2017-11-24 | 东莞市创丰科技发展有限公司 | A kind of pallet material picks and places robot |
| CN207771810U (en) * | 2017-12-27 | 2018-08-28 | 广州九红智能装备有限公司 | A kind of full-automatic multiaxis feeding manipulator device |
-
2017
- 2017-12-27 CN CN201711444770.5A patent/CN107962547A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101284379A (en) * | 2007-04-10 | 2008-10-15 | 厄罗瓦公司 | Handling manipulator assembly |
| KR20130125964A (en) * | 2012-05-10 | 2013-11-20 | 이민지 | Saddle for gantry roader and the gantry roader using the same |
| CN203495503U (en) * | 2013-08-24 | 2014-03-26 | 桐乡市易锋机械厂 | Automatic production line for PXE piston |
| JP2015205330A (en) * | 2014-04-22 | 2015-11-19 | 株式会社ラインワークス | Welding apparatus |
| CN104538338A (en) * | 2014-06-16 | 2015-04-22 | 罗普伺达机器人有限公司 | Transfer robot having variable hand of four robot arms |
| CN205660461U (en) * | 2016-06-08 | 2016-10-26 | 东莞市小智人机器人有限公司 | Digit control machine tool robotic device |
| CN206663227U (en) * | 2016-12-13 | 2017-11-24 | 东莞市创丰科技发展有限公司 | A kind of pallet material picks and places robot |
| CN207771810U (en) * | 2017-12-27 | 2018-08-28 | 广州九红智能装备有限公司 | A kind of full-automatic multiaxis feeding manipulator device |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109465810A (en) * | 2019-01-08 | 2019-03-15 | 珠海市精实测控技术有限公司 | With the traversing charging manipulator in position |
| CN109465810B (en) * | 2019-01-08 | 2024-05-28 | 珠海精实测控技术股份有限公司 | Co-position transverse movement feeding manipulator |
| CN109866241A (en) * | 2019-03-05 | 2019-06-11 | 哈尔滨工业大学 | A kind of compact mechanical pawl for the crawl of metallurgy industry temperature probe |
| CN109866244A (en) * | 2019-04-04 | 2019-06-11 | 广州煌牌自动设备有限公司 | A kind of electronic feeding fixture |
| CN110815195A (en) * | 2019-11-05 | 2020-02-21 | 浙江省建工集团有限责任公司 | Lifting mechanism of manipulator |
| CN111958578A (en) * | 2020-08-17 | 2020-11-20 | 广东万合新材料科技有限公司 | Suspension type manipulator |
| CN112276916A (en) * | 2020-10-20 | 2021-01-29 | 攀枝花恒威化工有限责任公司 | Robot stacking device and operation method thereof |
| CN113231831A (en) * | 2021-03-10 | 2021-08-10 | 广东亿恒工业装备有限公司 | Tensile production line of water heater inner bag |
| CN117506874A (en) * | 2023-12-25 | 2024-02-06 | 济南奥普瑞思智能装备有限公司 | Transmission robot truss |
| CN117506874B (en) * | 2023-12-25 | 2024-04-16 | 济南奥普瑞思智能装备有限公司 | Transmission robot truss |
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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: 20180427 |
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| RJ01 | Rejection of invention patent application after publication |