CN108127650A - A kind of vacuum flexible crawl manipulator - Google Patents
A kind of vacuum flexible crawl manipulator Download PDFInfo
- Publication number
- CN108127650A CN108127650A CN201711433304.7A CN201711433304A CN108127650A CN 108127650 A CN108127650 A CN 108127650A CN 201711433304 A CN201711433304 A CN 201711433304A CN 108127650 A CN108127650 A CN 108127650A
- Authority
- CN
- China
- Prior art keywords
- suction nozzle
- swing arm
- support plate
- round pin
- driving
- 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
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 33
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 33
- 239000004411 aluminium Substances 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 abstract description 6
- 230000008439 repair process Effects 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 206010000372 Accident at work Diseases 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
-
- 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
- B25J9/048—Pendulum type
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of vacuum flexible crawl manipulator, is installed on aluminium pot production line, including：The driving support plate being socketed on the equipment guide rail of aluminium pot production line；Driving swing arm in driving support plate is installed on by cylinder pull rod, the other end of swing arm is driven to be inserted on a swing rod；The support plate of driving support plate lower part is fixed in, support plate medium position is provided with square hole；The swing arm being connect by a connecting rod with driving swing arm follows driving swing arm to make mechanical movement；The suction nozzle stent being fixed in by the first round pin in support plate, the centre position of suction nozzle stent connect the other end of swing arm by the second round pin；The suction nozzle being installed on suction nozzle stent；The tail portion of suction nozzle connects vacuum machine by tracheae.The robot manipulator structure is simple, and the position conversion work of aluminium pot is completed by machine driving and vacuum suction mode, instead of manual operation, can save human cost and improve yield；Maintenance cost is low, repairs and takes less, replaceable, has ensured that production line will not break for a long time.
Description
Technical field
The present invention relates to aluminium pot production lines to take tank field more particularly to a kind of vacuum flexible crawl manipulator automatically.
Background technology
At present, on aluminium pot production line at home many stations involve a need to by aluminium pot two transmission between convert,
These usual stations are all configured operator and are manually converted or carry out conversion work using extremely complex equipment.Manually
During operation, often because the carelessness of personnel leads to leak deviation when converting, converting, thus cause defective products and increase, production effect
The various problems such as rate reduction.When being converted using complex device, often there is equipment fault, fraction defective is caused to be promoted；Repair
If spending the time longer, lead to that production line stops line number and the time increases, seriously affect production efficiency.For presently, there are this
A little problems need to improve the mode of operation of conversion station, and eager needs one kind had both been simple and efficient and failure rate is relatively low
Mechanism replace existing mode of operation.
Invention content
The technical problems to be solved by the invention are, provide a kind of vacuum flexible crawl manipulator, can solve aluminum current
Tank production lines send between conversion station on the problem.
In order to solve the above technical problem, the present invention provides a kind of vacuum flexible crawl manipulator, structure includes：
Support plate is driven, is socketed on the equipment guide rail of the aluminium pot production line；
Swing arm is driven, one end is installed on by cylinder pull rod in the driving support plate, and the other end is inserted on a swing rod；
Support plate, is fixed in the lower part of the driving support plate, and the support plate medium position is provided with square hole；
Swing arm, one end are connect by a connecting rod with the driving swing arm, and the driving swing arm is followed to make mechanical movement；
Suction nozzle stent, one end are fixed in by the first round pin in the support plate, and centre position passes through described in the connection of the second round pin
The other end of swing arm；The swing arm is followed to make mechanical movement；
Suction nozzle is installed on the other end of the suction nozzle stent, suction nozzle stent is followed to make mechanical movement, and the tail portion of the suction nozzle leads to
Cross tracheae connection vacuum machine.
In other alternative-embodiments, equipment guide rail of the vacuum flexible crawl manipulator along the aluminium pot production line
Axial direction slided, capture and place the aluminium pot of different height size.
In other alternative-embodiments, the driving swing arm is using the cylinder pull rod axle center as the center of circle, in the swing rod
Driving under, make sector reciprocating motion, realize and swing.
In other alternative-embodiments, the swing arm be two, the connecting rod by third round pin with described first and
Second swing arm is connected, and the third round pin is nested in the square hole in the support plate centre position, along the square hole length
Direction carries out mechanical displacement.
In other alternative-embodiments, the suction nozzle stent is two, and one end of the first suction nozzle stent passes through the first circle
Pin is fixed in the support plate, and centre position connects the other end of first swing arm by the second round pin；Second suction nozzle branch
One end of frame is fixed in by the 4th round pin in the support plate, and centre position connects second swing arm by the 5th round pin
The other end.
In other alternative-embodiments, described first suction nozzle stent one end clamps the first suction nozzle, first suction nozzle with
Reciprocal fan-shaped swing is made as the center of circle using the axle center of the first round pin with the first suction nozzle stent.
In other alternative-embodiments, described second suction nozzle stent one end clamps the second suction nozzle, second suction nozzle with
Reciprocal fan-shaped swing is made as the center of circle using the axle center of the 4th round pin with the second suction nozzle stent.
In other alternative-embodiments, the vacuum flexible crawl manipulator is mountable on the guide rod of distinct device,
It carries out the crawl of aluminium pot and places work.
In other alternative-embodiments, it before carrying out the crawl of the aluminium pot and placing work, is pre-adjusted and sets
Crawl point and set-point.
In other alternative-embodiments, when carrying out the crawl of the aluminium pot and placing work, in crawl point accordingly
With infrared inductor is installed on set-point.
In other alternative-embodiments, stop pin is set in the support plate bottom.
The advantageous effect of the embodiment of the present invention is：The vacuum flexible crawl robot manipulator structure is simple, by machine driving
The position conversion work of aluminium pot is completed with vacuum suction mode, on the one hand, ensure that yield and production during production are imitated well
Rate；On the one hand, instead of manual operation, human cost can be saved and avoid the generation of industrial accident；On the other hand, maintenance cost
It is low, it repairs and takes less, the replacement of same manipulator can be carried out in a short time, ensured that production line will not break for a long time.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of installation diagram of one embodiment of vacuum flexible crawl manipulator of the present invention.
Fig. 2 is a kind of mechanical movement schematic diagram of one embodiment of vacuum flexible crawl manipulator of the present invention.
Specific embodiment
The explanation of following embodiment is refer to the attached drawing, can be to the specific embodiment implemented to the example present invention.
The present invention provides a kind of vacuum flexible crawl manipulator, is installed on aluminium pot production line, structure as shown in Figure 1,
Including：
Swing arm 1 is driven, is installed in driving support plate 9 by a pull rod B, driving swing arm 1 is sleeved on a swing rod by A holes（It does not mark
Note）, under the reciprocally swinging driving of swing rod, the driving swing arm 1 is centered on the axle center of pull rod B, with the A holes center of circle and railing B
The line in the center of circle is radius, does sector reciprocating motion；With reference to shown in the mechanical movement schematic diagram of Fig. 2, the center of circle in A holes then will appear
Shift reciprocately on vertical direction.
Further, it is fixedly connected in the lower part of driving support plate 9 there are one support plate 10, in the interposition of the support plate 10
The long side of rectangular through-hole Y there are one putting out, through-hole Y are vertical direction.
Further, a connecting rod 2 is connected to by round pin C in driving swing arm 1, which passes through round pin D
Left swing arm 3 and right swing arm 4 are connected with, round pin D is nested in the through-hole Y of support plate 10；Driving the reciprocating motion of swing arm 1
Under drive, which can drive round pin D to reciprocatingly move in through-hole Y along the length direction of through-hole Y（As Fig. 2 be on move down
It is dynamic）.In the present embodiment, because the vacuum flexible crawl manipulator be vertically installed at production line up and down two transmission between it
Between, the aluminium pot between need to lower section be transmitted on wheel disc is captured to the wheel disc between the transmission of top, therefore round pin D progress is upper and lower
Displacement；If in other alternative-embodiments, the position relationship between two transmission is other（Such as it horizontal direction or certain tilts
Angle it is oblique etc.）, then the installation site of the vacuum flexible crawl manipulator can be changed to be suitable for capturing different directions
Aluminium pot namely the direction of displacement for changing round pin D.
Further, 3 one end of left swing arm is connected with connecting rod 2, and the other end is then connected to by round pin E in left suction nozzle stent 5
Portion, one end of the left suction nozzle stent 5 are fixed in the upper of supporting rack 10 by round pin F, and the other end of the left suction nozzle stent 5 is installed with
Left suction nozzle 7, the tail portion of left suction nozzle 7 pass through tracheae（It does not mark）External vacuum machine（It does not mark）.With reference to shown in Fig. 2, in connecting rod 2
Under drive, left swing arm 3 can drive left suction nozzle stent 5 to do reciprocal fan-shaped swing as the center of circle using the axle center of round pin F so that left suction nozzle
7 center follows left suction nozzle stent 5 to move（Then including on mobile track between two transmission needs the static of the aluminium pot converted
Point）.It can thus realize and draw an aluminium pot using left suction nozzle 7, and be positioned over the function of other positions.In the present embodiment,
Left suction nozzle 7 can be on the crawl point pre-set, an aluminium pot between one transmission of absorption on wheel disc, when the center of left suction nozzle 7
When being displaced to the set-point set in advance, left suction nozzle 7 stops suction and is placed on the aluminium pot between another transmission on wheel disc, in this way
Just complete the crawl work of an aluminium pot.Certainly in other alternative-embodiments, the position of crawl point and set-point also may be used
It, can also position using infrared inductor not pre-set.
Further, 4 one end of right swing arm is connected with connecting rod 2, and the other end is then connected to by round pin G in right suction nozzle stent 6
Portion, one end of the right suction nozzle stent 6 are fixed in the upper of supporting rack 10 by round pin H, and the other end of the right suction nozzle stent 6 is installed with
Left suction nozzle 8, the tail portion of left suction nozzle 8 pass through tracheae（It does not mark）External vacuum machine（It does not mark）.With reference to shown in Fig. 2, in connecting rod 2
Under drive, right swing arm 4 can drive right suction nozzle stent 6 to do reciprocal fan-shaped swing as the center of circle using the axle center of round pin H so that right suction nozzle
8 center follows right suction nozzle stent 6 to move（Then including on mobile track between two transmission needs the static of the aluminium pot converted
Point）.Similarly, as the mode of left suction nozzle 7 crawl aluminium pot, right suction nozzle 8 can be captured and be placed on the motion track of its own
Another aluminium pot, suction nozzle 7 left in this way and right suction nozzle 8 can be achieved under the drive of mechanical movement while primary capture and place two
The work of aluminium pot.
Further, pilot hole Z1 and pilot hole Z2 are provided in driving support plate 9, it is by pilot hole Z1 and Z2 that this is true
Empty flexible crawl manipulator is sleeved on two cylinder guide rods, sliding by axial direction of the vacuum flexible crawl manipulator on cylinder guide rod
It is dynamic, the crawl space of the manipulator can be increased, so as to adapt to the aluminium pot of crawl different height size.Certainly, it is optional at other
In embodiment, pilot hole Z1 and Z2 can also be other shapes than circular, to adapt to the guide rod of distinct device.
In addition, the bottom position in the supporting rack 10 is installed there are one stop pin I, when left and right suction nozzle support motion stops to this
During the pin I positions of position, you can stopping continues to move, to avoid mechanical accident and shock occurs.
By above description it is found that the advantageous effect of the embodiment of the present invention is：The vacuum flexible crawl robot manipulator structure
Simply, the position conversion work of aluminium pot is completed by machine driving and vacuum suction mode, on the one hand, ensure that production well
When yield and production efficiency；On the one hand, instead of manual operation, human cost can be saved and avoid the generation of industrial accident；Separately
On the one hand, maintenance cost is low, repairs and takes less, can carry out the replacement of same manipulator in a short time, ensure production line
It will not break for a long time.
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent variations made according to the claims of the present invention, is still within the scope of the present invention.
Claims (10)
1. a kind of vacuum flexible crawl manipulator, is installed on aluminium pot production line, which is characterized in that including：
Support plate is driven, is socketed on the equipment guide rail of the aluminium pot production line；
Swing arm is driven, one end is installed on by cylinder pull rod in the driving support plate, and the other end is inserted on a swing rod；
Support plate, is fixed in the lower part of the driving support plate, and the support plate medium position is provided with square hole；
Swing arm, one end are connect by a connecting rod with the driving swing arm, and the driving swing arm is followed to make mechanical movement；
Suction nozzle stent, one end are fixed in by the first round pin in the support plate, and centre position passes through described in the connection of the second round pin
The other end of swing arm；The swing arm is followed to make mechanical movement；
Suction nozzle is installed on the other end of the suction nozzle stent, suction nozzle stent is followed to make mechanical movement, and the tail portion of the suction nozzle leads to
Cross tracheae connection vacuum machine.
2. vacuum flexible crawl manipulator according to claim 1, which is characterized in that the vacuum flexible crawl manipulator
It is slided along the axial direction of the equipment guide rail of the aluminium pot production line, captures and place the aluminium pot of different height size.
3. vacuum flexible crawl manipulator according to claim 1, which is characterized in that the driving swing arm is with the cylinder
Pull rod axle center is the center of circle, under the driving of the swing rod, makees sector reciprocating motion, realizes and swing.
4. vacuum flexible crawl manipulator according to claim 1, which is characterized in that the swing arm is two, the company
Bar is connected by third round pin with first and second swing arm, and the third round pin is nested in the support plate centre position
In the square hole, mechanical displacement is carried out along the square hole length direction.
5. vacuum flexible crawl manipulator according to claim 4, which is characterized in that the suction nozzle stent is two, the
One end of one suction nozzle stent is fixed in by the first round pin in the support plate, and centre position connects described the by the second round pin
The other end of one swing arm；One end of second suction nozzle stent is fixed in by the 4th round pin in the support plate, and centre position passes through
5th round pin connects the other end of second swing arm.
6. vacuum flexible crawl manipulator according to claim 5, which is characterized in that described first suction nozzle stent one end card
The first suction nozzle is filled, first suction nozzle follows the first suction nozzle stent to make reciprocal sector as the center of circle using the axle center of the first round pin
It swings.
7. vacuum flexible crawl manipulator according to claim 5, which is characterized in that described second suction nozzle stent one end card
The second suction nozzle is filled, second suction nozzle follows the second suction nozzle stent to make reciprocal sector as the center of circle using the axle center of the 4th round pin
It swings.
8. vacuum flexible crawl manipulator according to claim 1, which is characterized in that the vacuum flexible crawl manipulator
It is mountable on the guide rod of distinct device, carries out the crawl of aluminium pot and places work.
9. vacuum flexible crawl manipulator according to claim 8, which is characterized in that in predefined crawl point and place
Infrared inductor is provided on point.
10. vacuum flexible crawl manipulator according to claim 1, which is characterized in that set only in the support plate bottom
Position pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711433304.7A CN108127650A (en) | 2017-12-26 | 2017-12-26 | A kind of vacuum flexible crawl manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711433304.7A CN108127650A (en) | 2017-12-26 | 2017-12-26 | A kind of vacuum flexible crawl manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108127650A true CN108127650A (en) | 2018-06-08 |
Family
ID=62393207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711433304.7A Pending CN108127650A (en) | 2017-12-26 | 2017-12-26 | A kind of vacuum flexible crawl manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108127650A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0061504A1 (en) * | 1981-03-26 | 1982-10-06 | L. SCHULER GmbH | Motion gear for a transport device |
| US4485685A (en) * | 1981-04-22 | 1984-12-04 | Bond Irvin D | Straight line link mechanism |
| US4585389A (en) * | 1983-08-01 | 1986-04-29 | Toyota Jidosha Kabushiki Kaisha | Apparatus for loading or unloading a workpiece |
| US4801235A (en) * | 1987-01-24 | 1989-01-31 | Firma August Lapple GmbH & Co. | Device for handling workpieces |
| EP0394724A2 (en) * | 1989-04-26 | 1990-10-31 | SCHULER PRESSEN GmbH & Co. | Cam drive for moving a transport organ in horizontal and vertical moving directions |
| JPH09186216A (en) * | 1995-12-27 | 1997-07-15 | Sony Corp | Transfer device |
| CN101007572A (en) * | 2007-01-17 | 2007-08-01 | 房国荣 | Bag-picking and transposition device of horizontal bag-feeding type package machine |
| DE102008007441B3 (en) * | 2008-02-01 | 2009-07-30 | Federspiel Maschinenbau Gmbh | Device i.e. turning station, for turning bottle case, has rotary device arranged on lever, which is supported on crank and on slide, where crank is driven by motor and slide is movable along linear track |
| CN102168704A (en) * | 2010-01-27 | 2011-08-31 | 通用汽车环球科技运作有限责任公司 | Integrated linear and rotary locking device |
| CN103741344A (en) * | 2013-12-20 | 2014-04-23 | 杭州创兴织造设备科技有限公司 | Fuzzing control device for towel machine and working method thereof |
| CN208132964U (en) * | 2017-12-26 | 2018-11-23 | 汕头市东方科技有限公司 | A kind of vacuum flexible crawl manipulator |
-
2017
- 2017-12-26 CN CN201711433304.7A patent/CN108127650A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0061504A1 (en) * | 1981-03-26 | 1982-10-06 | L. SCHULER GmbH | Motion gear for a transport device |
| US4485685A (en) * | 1981-04-22 | 1984-12-04 | Bond Irvin D | Straight line link mechanism |
| US4585389A (en) * | 1983-08-01 | 1986-04-29 | Toyota Jidosha Kabushiki Kaisha | Apparatus for loading or unloading a workpiece |
| US4801235A (en) * | 1987-01-24 | 1989-01-31 | Firma August Lapple GmbH & Co. | Device for handling workpieces |
| EP0394724A2 (en) * | 1989-04-26 | 1990-10-31 | SCHULER PRESSEN GmbH & Co. | Cam drive for moving a transport organ in horizontal and vertical moving directions |
| JPH09186216A (en) * | 1995-12-27 | 1997-07-15 | Sony Corp | Transfer device |
| CN101007572A (en) * | 2007-01-17 | 2007-08-01 | 房国荣 | Bag-picking and transposition device of horizontal bag-feeding type package machine |
| DE102008007441B3 (en) * | 2008-02-01 | 2009-07-30 | Federspiel Maschinenbau Gmbh | Device i.e. turning station, for turning bottle case, has rotary device arranged on lever, which is supported on crank and on slide, where crank is driven by motor and slide is movable along linear track |
| CN102168704A (en) * | 2010-01-27 | 2011-08-31 | 通用汽车环球科技运作有限责任公司 | Integrated linear and rotary locking device |
| CN103741344A (en) * | 2013-12-20 | 2014-04-23 | 杭州创兴织造设备科技有限公司 | Fuzzing control device for towel machine and working method thereof |
| CN208132964U (en) * | 2017-12-26 | 2018-11-23 | 汕头市东方科技有限公司 | A kind of vacuum flexible crawl manipulator |
Non-Patent Citations (1)
| Title |
|---|
| 洪允楣编著: "机构设计的组合与变异方法", vol. 1, 31 December 1982, 机械工业出版社, pages: 54 * |
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