CN108237548A - A kind of automatic crawl displacement manipulator - Google Patents
A kind of automatic crawl displacement manipulator Download PDFInfo
- Publication number
- CN108237548A CN108237548A CN201810198652.9A CN201810198652A CN108237548A CN 108237548 A CN108237548 A CN 108237548A CN 201810198652 A CN201810198652 A CN 201810198652A CN 108237548 A CN108237548 A CN 108237548A
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- CN
- China
- Prior art keywords
- clamping jaw
- slide assemblies
- sliding rail
- crawl displacement
- mobile device
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automatic crawl displacement manipulators, including longitudinal moving device, horizontal mobile device, crawl displacement clamping jaw and finished product packing clamping jaw, longitudinal moving device is installed in fixed seat, horizontal mobile device is installed on longitudinal moving device, several crawl displacement clamping jaws are uniformly installed on horizontal mobile device, and finished product packing clamping jaw is installed in the end of horizontal mobile device.The configuration of the present invention is simple, crawl displacement clamping jaw is driven to be moved along the direction of X Y-axis by longitudinal moving device and horizontal mobile device, it realizes product automatic clamping and placing and is placed on next station and be processed, operation is flexible, accurate positioning, it is carried out continuously while realizing product and picks and places and shift, effectively increase the working efficiency of equipment, simultaneously, the adjusting of the different distance on lateral position is realized by finished product packing clamping jaw, enable a device to adapt to the packing box of different size and distance, the automatic packaging of product is realized, effectively increases the practicability of equipment.
Description
Technical field
The present invention relates to manipulator technical fields, are to be related to a kind of automatic crawl displacement manipulator more specifically.
Background technology
Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field, extensively should
For fields such as industrial manufacture, therapeutic treatment, entertainment service, military affairs, semiconductor manufacturings.The effect of mechanical arm is to connect
It is instructed, the certain point navigated to spatially carries out operation.
However at present mechanical arm on the market usually all there are it is certain the problem of, such as：Malfunction, mechanical arm
Position inaccurate, and can only realize the positioning to fixed range, the displacement distance of mechanical arm can not be adjusted, greatly reduced
The practicability of equipment, meanwhile, it can not realize and continuously be carried out at the same time gripping product, reduce the working efficiency and yield of equipment.
Invention content
It is an object of the invention to overcome drawbacks described above of the prior art, a kind of effectively realize is provided and is connected while product
The continuous automatic crawl displacement manipulator for being picked and placeed and being shifted and can realized product and pack automatically.
To achieve the above object, the present invention provides a kind of automatic crawl displacement manipulator, including fixed seat, longitudinal movement
Device, horizontal mobile device, several crawl displacement clamping jaws and finished product packing clamping jaw, the longitudinal moving device are installed in fixation
On seat, the horizontal mobile device is installed on longitudinal moving device, several described crawl displacement clamping jaws are uniformly installed in horizontal stroke
In mobile device, the finished product packing clamping jaw is installed in the end of horizontal mobile device, and the finished product packing clamping jaw includes branch
Frame, stepper motor, third slide assemblies, transfer assembly and crawl displacement clamping jaw, the stent are installed in horizontal mobile device
End, the third slide assemblies are installed on stent, and the transfer assembly is installed on stent, and are passed with third slide assemblies
Dynamic connection, the crawl displacement clamping jaw are installed on third slide assemblies, and the stepper motor is installed on horizontal mobile device,
And be sequentially connected with transfer assembly, drive transfer assembly that the reciprocal movement in left and right occurs with this, so as to drive crawl displacement clamping jaw
The reciprocal movement in left and right occurs.
Preferably, the longitudinal moving device includes the first slide assemblies, the second slide assemblies, drives upside down cylinder
And movable plate, first slide assemblies and the second slide assemblies are installed in the left and right sides of fixed seat, the shifting vertically respectively
The left and right sides of movable plate is connected respectively with corresponding first slide assemblies and the second slide assemblies, the horizontal mobile device dress
It is located on movable plate, several described crawl displacement clamping jaws are uniformly installed on horizontal mobile device, described to drive upside down cylinder
It is installed in fixed seat, and is sequentially connected with movable plate, movable plate is driven in the first slide assemblies and the second slide assemblies with this
On up and down motion, so as to drive crawl displacement clamping jaw up and down motion.
Preferably, first slide assemblies and the second slide assemblies include the first sliding rail and the first sliding block, described
First sliding rail is installed in the left and right sides of fixed seat vertically, and first sliding block is slidably connected with the first sliding rail, the movable plate
The left and right sides be connected with the first sliding block, it is described several crawl displacement clamping jaws be uniformly installed on the first sliding rail, it is described on
Lower driving cylinder driving movable plate moves up and down, and so as to drive up and down motion of first sliding block on the first sliding rail, is driven with this
The up and down motion of crawl displacement clamping jaw.
Preferably, the horizontal mobile device includes the second sliding rail, the second sliding block, left and right driving cylinder, and described the
Two sliding blocks are installed on movable plate, and second sliding rail is slidably connected with the second sliding block, several described crawl displacement clamping jaws are equal
Even to be installed on the second sliding rail, the left and right driving cylinder is installed on movable plate, and is sequentially connected with the second sliding rail, is driven with this
Dynamic side-to-side movement of second sliding rail on the second sliding block, so as in the side-to-side movement of dynamic crawl displacement clamping jaw.
Preferably, the crawl displacement clamping jaw includes connecting plate, liftout component, material folding cylinder and material folding finger, institute
It states connecting plate to be installed on the second sliding rail, the liftout component is installed on connecting plate, is placed in the top of material folding finger, described
Material folding cylinder is installed on connecting plate, and is sequentially connected with material folding finger, and the clamping and release of material folding finger are driven with this.
Preferably, the liftout component includes material ejection cylinder and die pad, and the die pad is placed in material folding finger
Top, the material ejection cylinder are installed on connecting plate, and are sequentially connected with die pad, die pad are driven up and down reciprocatingly to transport with this
It is dynamic.
Preferably, the transfer assembly includes synchronous belt and synchronizing wheel, and the synchronizing wheel is installed on stent, and with
Toothed belt transmission connects, and the stepper motor is connect with toothed belt transmission, so as to which synchronous belt be driven to rotate, is driven and grabbed with this
Take bilateral reciprocation of the displacement clamping jaw on third slide assemblies.
Preferably, the third slide assemblies include third sliding rail and third sliding block, and the third sliding rail is installed in
On stent, the third sliding block is installed on crawl displacement clamping jaw, and is slidably connected with third sliding rail, the third sliding block with it is same
Step band is connected, and the stepper motor is connect with toothed belt transmission, and driving synchronous belt rotates, and third sliding block is driven to exist with this
Bilateral reciprocation on third sliding rail, so as to drive the bilateral reciprocation of crawl displacement clamping jaw.
Compared with prior art, the beneficial effects of the present invention are：
The configuration of the present invention is simple, including longitudinal moving device, horizontal mobile device, crawl displacement clamping jaw and finished product packing folder
Pawl, longitudinal moving device are installed in fixed seat, and horizontal mobile device is installed on longitudinal moving device, several crawl displacements
Clamping jaw is uniformly installed on horizontal mobile device, and finished product packing clamping jaw is installed in the end of horizontal mobile device, passes through longitudinal shifting
Dynamic device and horizontal mobile device drive crawl displacement clamping jaw to be moved along the direction of X-Y axis, realize product automatic clamping and placing and place
It is processed on to next station, until reaching the last one station, operation is flexible, accurate positioning, while realizing product
It is carried out continuously and picks and places and shift, effectively increase the working efficiency of equipment, meanwhile, pass through finished product packing clamping jaw automatic clamping material
Material, and product is placed on the corresponding position of packing box, by finished product packing clamping jaw realize on lateral position difference away from
From adjusting so that equipment can adapt to the packing box of different size and distance, realizes the automatic packaging of product, effectively improves
The practicability of equipment.
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 the present invention
Some embodiments, for those of ordinary skill in the art, without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of overall structure diagram of automatic crawl displacement manipulator provided by the invention；
Fig. 2 is a kind of overall structure diagram of another angle of automatic crawl displacement manipulator provided by the invention；
Fig. 3 is a kind of partial structurtes enlarged drawing of automatic crawl displacement manipulator provided by the invention.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without creative efforts shall fall within the protection scope of the present invention.
It please refers to Fig.1, the embodiment provides a kind of automatic crawl displacement manipulator, including longitudinal moving device
2nd, horizontal mobile device 3, crawl displacement clamping jaw 4 and finished product packing clamping jaw 5, longitudinal moving device 2 are installed in fixed seat 1, horizontal
It is installed on longitudinal moving device 2 to mobile device 3, several crawl displacement clamping jaws 4 are uniformly installed in horizontal mobile device 3
On, finished product packing clamping jaw 5 is installed in the end of horizontal mobile device 3, and the present embodiment is described in detail below in conjunction with the accompanying drawings.
As shown in Figure 1, longitudinal moving device 2 is installed in fixed seat 1, horizontal mobile device 3 is installed in longitudinal movement dress
It puts on 2, several crawl displacement clamping jaws 4 are uniformly installed on horizontal mobile device 3, and finished product packing clamping jaw 4 is installed in lateral shifting
The end of dynamic device 3 drives direction of the crawl displacement clamping jaw 4 along X-Y axis by longitudinal moving device 2 and horizontal mobile device 3
Movement realizes that product automatic clamping and placing and being placed on next station is processed, until reaching the last one station, operation spirit
Living, accurate positioning, is carried out continuously while realizing product and picks and places and shift, effectively increase the working efficiency of equipment, meanwhile,
It is placed on the corresponding position of packing box by 5 automatic clamping material of finished product packing clamping jaw, and by product, is pressed from both sides by finished product packing
Pawl 5 realizes the adjusting of the different distance on lateral position so that equipment can adapt to the packing box of different size and distance, real
Show the automatic packaging of product, effectively increase the practicability of equipment.
As depicted in figs. 1 and 2, finished product packing clamping jaw 5 includes stent 6, stepper motor 7, third slide assemblies 8, transmission group
Part 9 and crawl displacement clamping jaw 4, stent 6 are installed in the end of horizontal mobile device 3, and third slide assemblies 8 are installed on the frame 6,
Transfer assembly 9 is installed on the frame 6, and is sequentially connected with third slide assemblies 8, and crawl displacement clamping jaw 4 is installed in third slip
On component 8, stepper motor 7 is installed on horizontal mobile device 3, and is sequentially connected with transfer assembly 9, and transfer assembly is driven with this
9 occur the reciprocal movement in left and right, so as to drive crawl displacement clamping jaw 4 that the reciprocal movement in left and right occurs, wherein, transfer assembly 9 wraps
Synchronous belt 91 and synchronizing wheel 92 are included, synchronizing wheel 92 is installed on the frame 6, and is sequentially connected with synchronous belt 91, so as to drive synchronization
Band 91 rotates, and bilateral reciprocation of the crawl displacement clamping jaw 4 on third slide assemblies 8, third Slide Group are driven with this
Part 8 includes third sliding rail 81 and third sliding block 82, and third sliding rail 81 is installed on the frame 6, and third sliding block 82 is installed in crawl and moves
It on the clamping jaw 4 of position, and is slidably connected with third sliding rail 81, third sliding block 82 is connected with synchronous belt 91, stepper motor 7 and synchronous belt
91 are sequentially connected, and driving synchronous belt 91 rotates, and left and right of the third sliding block 82 on third sliding rail 81 is driven back and forth to transport with this
It is dynamic, so as to drive the bilateral reciprocation of crawl displacement clamping jaw 4, by 5 automatic clamping material of finished product packing clamping jaw, and by product
It is placed on the corresponding position of packing box, then crawl displacement clamping jaw 4 is driven to move by synchronous belt 91, realize crawl displacement clamping jaw
4 in transverse shifting different distance adjusting so that equipment can adapt to the packing box of different size and distance, realize product
Automatic packaging effectively improves the practicability of equipment.
Wherein, longitudinal moving device 2 includes the first slide assemblies 10, the second slide assemblies 11, drives upside down 12 and of cylinder
Movable plate 13, the first slide assemblies 10 and the second slide assemblies 11 are installed in the left and right sides of fixed seat 1, movable plate vertically respectively
13 left and right sides is connected respectively with the corresponding first cunning 10 and second slide assemblies 11 of component, and horizontal mobile device 3 is installed
On movable plate 13, several crawl displacement clamping jaws 4 are uniformly installed on horizontal mobile device 3, are driven upside down cylinder 12 and are installed
It is sequentially connected in fixed seat 1, and with movable plate 13, movable plate 13 is driven in the first slide assemblies 10 and the second Slide Group with this
So as to drive the up and down motion of crawl displacement clamping jaw 4, movable plate is driven by driving upside down cylinder 12 for up and down motion on part 11
13 up and down motion drives the up and down motion of crawl displacement clamping jaw 4 so that crawl displacement clamping jaw 4 can be accurately positioned in accordingly
The top of station effectively improves the accuracy that crawl displacement clamping jaw 4 positions, and so that operation is more flexible.
Wherein, the first slide assemblies 10 and the second slide assemblies 11 include the first sliding rail 14 and the first sliding block 15, and first slides
Rail 14 is installed in the left and right sides of fixed seat 1 vertically, and the first sliding block 14 is slidably connected with the first sliding rail 15, the left and right of movable plate 13
Both sides are connected with the first sliding block 14, several crawl displacement clamping jaws 4 are uniformly installed on the first sliding rail 15, drive upside down cylinder
12 driving movable plates 13 move up and down, and so as to drive up and down motion of first sliding block 14 on the first sliding rail 15, are driven and grabbed with this
The up and down motion of displacement clamping jaw 4 is taken, passes through the setting of the first sliding rail 15 and the second sliding block 14 so that crawl shifts the upper of clamping jaw 4
Lower movement more is stablized, and movement is more smooth.
Wherein, horizontal mobile device 3 includes the second sliding rail 16, the second sliding block 17 and left and right driving cylinder 18, the second sliding block
17 are installed on movable plate 13, and the second sliding rail 16 is slidably connected with the second sliding block 17, and the mobile clamping jaw 4 of several crawls is uniformly installed
On the second sliding rail 16, left and right driving cylinder 18 is installed on movable plate 13, and be sequentially connected with the second sliding rail 16, is driven with this
Bilateral reciprocation of second sliding rail 16 on the second sliding block 17 so as to drive the bilateral reciprocation of crawl displacement clamping jaw 4, leads to
The side-to-side movement that left and right driving cylinder 18 drives crawl displacement clamping jaw 4 is crossed, passes through distance as defined in setting so that crawl displacement folder
Pawl 4 can be accurately positioned and to the top of corresponding station, effectively improve the accuracy that crawl displacement clamping jaw 4 positions, and can be real
It is carried out continuously while existing product and picks and places and shift, effectively increase the working efficiency of equipment.
Wherein, as shown in figure 3, crawl displacement clamping jaw 4 includes connecting plate 41, liftout component 42, material folding cylinder 43 and material folding
Finger 44, connecting plate 41 are installed on the second sliding rail 16, and liftout component 42 is installed on connecting plate 41, is placed in material folding finger 44
Top, material folding cylinder 43 is installed on connecting plate 41, and is sequentially connected with material folding finger 44, and material folding finger 44 is driven with this
It clamps and unclamps, the release and clamping of material folding finger 44 are driven by material folding cylinder 43, the automatic clamping and placing of product is effectively realized, carries
The high working efficiency of equipment.
Wherein, liftout component 42 includes material ejection cylinder 421 and die pad 422, and die pad 422 is placed in the upper of material folding finger 44
Side, material ejection cylinder 421 is installed on connecting plate 41, and is sequentially connected with die pad 422, drives die pad past about 422 with this
Multiple movement drives die pad 422 to move up and down, product is headed into corresponding station, product is avoided to exist by material ejection cylinder 421
Phenomena such as crooked occurs in placement process.
When equipment is run, crawl displacement clamping jaw 4 is placed in the top of corresponding station, is placed on each station and needs to be pressed from both sides production
Product, material folding cylinder 43 drive material folding finger 44 to unclamp, and are placed on the outside of product to be pressed from both sides, and material folding cylinder 43 drives material folding finger 44 to press from both sides
Tightly, it after clamping product, drives upside down cylinder 12 and movable plate 13 is driven to move upwards, crawl displacement clamping jaw 4 is driven to move upwards, so
Afterwards, driving cylinder 18 in left and right drives the second sliding rail 16 to move right, and reaches the top of next station, drives upside down cylinder 13 and drive
Crawl displacement clamping jaw 4 moves downward the top for being placed in next station, and material folding cylinder 43 drives material folding finger 44 to unclamp, then, top
Material cylinder 421 drives die pad 422 to move downward, and product is headed into next station, and material ejection cylinder 421 drives die pad 422
Reset is moved upwards, then, the driving crawl displacement clamping jaw 4 of cylinder 13 is driven upside down and moves upwards reset, left and right driving cylinder 18
Driving crawl displacement clamping jaw 4 is resetted to left movement, at this point, crawl displacement clamping jaw 4 is again placed in the top of corresponding station, until
Product reaches the last one station, and the crawl displacement clamping jaw 4 on finished product packing clamping jaw 5 is placed in the top of the last one station, into
Crawl displacement clamping jaw 4 on product packaging clamping jaw 5 grips the product to complete, and stepper motor 7 drives synchronous belt 91 to rotate,
Third 82 slip on third sliding rail 81 of sliding block is driven, packing box phase is reached so as to which crawl displacement clamping jaw 4 be driven to move right
Above the position answered, product is placed in packing box, then the driving of stepper motor 7 crawl displacement clamping jaw 4 is resetted to left movement, until
This completes complete action.
The configuration of the present invention is simple, including longitudinal moving device 2, horizontal mobile device 3, crawl displacement clamping jaw 4 and finished product packet
Clamping pawl 5, longitudinal moving device 2 are installed in fixed seat 1, and horizontal mobile device 3 is installed on longitudinal moving device 2, several
A crawl displacement clamping jaw 4 is uniformly installed on horizontal mobile device 3, and finished product packing clamping jaw 4 is installed in the end of horizontal mobile device 3
End drives crawl displacement clamping jaw to be moved along the direction of X-Y axis, realizes product by longitudinal moving device 2 and horizontal mobile device 3
Automatic clamping and placing and being placed on next station is processed, automatic by finished product packing clamping jaw 5 until reaching the last one station
Material is gripped, and product is placed on the corresponding position of packing box, effectively realizes automatic clamping and placing and the displacement of product, meanwhile,
It is carried out continuously while realizing product and picks and places and shift, effectively increase the working efficiency of equipment, and finished product packing clamping jaw 5 is real
The adjusting of the different distance on lateral position is showed so that equipment can adapt to the packing box of different size and distance, realize
The automatic packaging of product effectively increases the practicability of equipment.
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any Spirit Essences without departing from the present invention with made under principle change, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (8)
1. a kind of automatic crawl displacement manipulator, including fixed seat (1), it is characterised in that：Including longitudinal moving device (2), horizontal stroke
To mobile device (3), several crawl displacement clamping jaws (4) and finished product packing clamping jaw (5), longitudinal moving device (2) installing
In fixed seat (1), the horizontal mobile device (3) is installed on longitudinal moving device (2), several described crawl displacement folders
Pawl (4) is uniformly installed on horizontal mobile device (3), and the finished product packing clamping jaw (5) is installed in the end of horizontal mobile device (3)
End, the finished product packing clamping jaw (5) is including stent (6), stepper motor (7), third slide assemblies (8), transfer assembly (9) and grabs
Displacement clamping jaw (4) is taken, the stent (6) is installed in the end of horizontal mobile device (3), third slide assemblies (8) installing
On stent (6), the transfer assembly (9) is installed on stent (6), and is sequentially connected with third slide assemblies (8), described to grab
Displacement clamping jaw (4) is taken to be installed on third slide assemblies (8), the stepper motor (7) is installed on horizontal mobile device (3),
And be sequentially connected with transfer assembly (9), drive transfer assembly (9) that the reciprocal movement in left and right occurs with this, so as to which crawl be driven to move
The reciprocal movement in left and right occurs for position clamping jaw (4).
2. a kind of automatic crawl displacement manipulator according to claim 1, it is characterised in that：The longitudinal moving device
(2) including the first slide assemblies (10), the second slide assemblies (11), drive upside down cylinder (12) and movable plate (13), described
One slide assemblies (10) and the second slide assemblies (11) are installed in the left and right sides of fixed seat (1), the movable plate vertically respectively
(13) the left and right sides is connected respectively with corresponding first slide assemblies (10) and the second slide assemblies (11), described laterally to move
Dynamic device (3) is installed on movable plate (13), several described crawl displacement clamping jaws (4) are uniformly installed in horizontal mobile device
(3) on, the cylinder (12) that drives upside down is installed in fixed seat (1), and is sequentially connected with movable plate (13), and shifting is driven with this
Up and down motion of the movable plate (13) on the first slide assemblies (10) and the second slide assemblies (11), so as to drive crawl displacement clamping jaw
(4) up and down motion.
3. a kind of automatic crawl displacement manipulator according to claim 2, it is characterised in that：First slide assemblies
(10) and the second slide assemblies (11) include the first sliding rail (14) and the first sliding block (15), and first sliding rail (14) is installed vertically
In the left and right sides of fixed seat (1), first sliding block (15) is slidably connected with the first sliding rail (14), the movable plate (13)
The left and right sides is connected with the first sliding block (15), several described crawl displacement clamping jaws (4) are uniformly installed in the first sliding rail (15)
On, cylinder (12) the driving movable plate (13) that drives upside down moves up and down, so as to drive the first sliding block (15) in the first sliding rail
(14) up and down motion on drives the up and down motion of crawl displacement clamping jaw (4) with this.
4. a kind of automatic crawl displacement manipulator according to claim 2, it is characterised in that：The horizontal mobile device
(3) including the second sliding rail (16), the second sliding block (17), left and right driving cylinder (18), second sliding block (17) is installed in movement
On plate (13), second sliding rail (16) is slidably connected with the second sliding block (17), several described crawl displacement clamping jaws (4) are uniform
Be installed on the second sliding rail (16), it is described left and right driving cylinder (18) be installed on movable plate (13), and with the second sliding rail (16)
It is sequentially connected, side-to-side movement of the second sliding rail (16) on the second sliding block (17) is driven with this, so as in dynamic crawl displacement clamping jaw
(4) side-to-side movement.
5. a kind of automatic crawl displacement manipulator according to claim 1, it is characterised in that：The crawl displacement clamping jaw
(4) including connecting plate (41), liftout component (42), material folding cylinder (43) and material folding finger (44), connecting plate (41) installing
On the second sliding rail (16), the liftout component (42) is installed on connecting plate (41), is placed in the top of material folding finger (44),
The material folding cylinder (43) is installed on connecting plate (41), and is sequentially connected with material folding finger (44), and material folding finger is driven with this
(44) clamping and release.
6. a kind of automatic crawl displacement manipulator according to claim 5, it is characterised in that：Liftout component (42) packet
Material ejection cylinder (421) and die pad (422) are included, the die pad (422) is placed in the top of material folding finger (44), the liftout gas
Cylinder (421) is installed on connecting plate (41), and is sequentially connected with die pad (422), and die pad (422) is driven up and down reciprocatingly with this
Movement.
7. a kind of automatic crawl displacement manipulator according to claim 1, it is characterised in that：Transfer assembly (9) packet
Synchronous belt (91) and synchronizing wheel (92) are included, the synchronizing wheel (92) is installed on stent (6), and is driven and is connected with synchronous belt (92)
It connects, the stepper motor (7) is sequentially connected with synchronous belt (91), so as to which synchronous belt (91) be driven to rotate, is driven and grabbed with this
Take bilateral reciprocation of the displacement clamping jaw (4) on third slide assemblies (8).
8. a kind of automatic crawl displacement manipulator according to claim 6, it is characterised in that：The third slide assemblies
(8) including third sliding rail (81) and third sliding block (82), the third sliding rail (81) is installed on stent (6), and the third is slided
Block (82) is installed in crawl displacement clamping jaw (4), and is slidably connected with third sliding rail (81), the third sliding block (82) with it is synchronous
Band (91) is connected, and the stepper motor (7) is sequentially connected with synchronous belt (91), and driving synchronous belt (91) rotates, with this
Bilateral reciprocation of the third sliding block (82) on third sliding rail (81) is driven, so as to drive the left and right of crawl displacement clamping jaw (4)
It moves back and forth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810198652.9A CN108237548A (en) | 2018-03-12 | 2018-03-12 | A kind of automatic crawl displacement manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810198652.9A CN108237548A (en) | 2018-03-12 | 2018-03-12 | A kind of automatic crawl displacement manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN108237548A true CN108237548A (en) | 2018-07-03 |
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ID=62699066
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810198652.9A Withdrawn CN108237548A (en) | 2018-03-12 | 2018-03-12 | A kind of automatic crawl displacement manipulator |
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| CN110304446A (en) * | 2019-06-03 | 2019-10-08 | 无锡市月恒机器人智能化科技有限公司 | A kind of intelligence plane positioning piling bed crawl shift unit |
| CN110668165A (en) * | 2019-10-28 | 2020-01-10 | 青岛萨沃特机器人有限公司 | Material grabbing hand device |
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| CN112318541A (en) * | 2020-09-22 | 2021-02-05 | 博众精工科技股份有限公司 | Clamping jaw mechanism, variable pitch mechanism and non-stop material changing mechanism |
| CN113044554A (en) * | 2021-03-10 | 2021-06-29 | 成都铭毅智能科技有限公司 | Multi-clamping-jaw mechanism |
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- 2018-03-12 CN CN201810198652.9A patent/CN108237548A/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109533846B (en) * | 2018-12-27 | 2024-01-09 | 宁波图锐自动化设备有限公司 | Trolley conveying mechanism for liquid crystal display extension socket machine |
| CN109533846A (en) * | 2018-12-27 | 2019-03-29 | 宁波图锐自动化设备有限公司 | A kind of trolley transport mechanism for liquid crystal display socket machine |
| CN109625938A (en) * | 2018-12-29 | 2019-04-16 | 昆山奥德鲁自动化技术有限公司 | A kind of handling device |
| CN111375991A (en) * | 2018-12-31 | 2020-07-07 | 金星螺栓工业株式会社 | Device and method for manufacturing tubular rod for stabilizer link |
| CN110304446A (en) * | 2019-06-03 | 2019-10-08 | 无锡市月恒机器人智能化科技有限公司 | A kind of intelligence plane positioning piling bed crawl shift unit |
| CN110170836A (en) * | 2019-06-25 | 2019-08-27 | 宁夏机械研究院股份有限公司 | A kind of double-station workpiece gripper device |
| CN110170836B (en) * | 2019-06-25 | 2024-02-27 | 宁夏机械研究院股份有限公司 | Double-station workpiece grabbing device |
| CN110668165A (en) * | 2019-10-28 | 2020-01-10 | 青岛萨沃特机器人有限公司 | Material grabbing hand device |
| CN110884886A (en) * | 2019-11-14 | 2020-03-17 | 陆小波 | Stepping moving device of lithium battery module detection equipment |
| CN110884886B (en) * | 2019-11-14 | 2021-08-06 | 广州市虎头电池集团股份有限公司 | Stepping moving device of lithium battery module detection equipment |
| CN110884907A (en) * | 2019-12-18 | 2020-03-17 | 杭州诺荣测控技术有限公司 | Automatic feeding device and method for nipple-type water dispenser |
| CN112318541A (en) * | 2020-09-22 | 2021-02-05 | 博众精工科技股份有限公司 | Clamping jaw mechanism, variable pitch mechanism and non-stop material changing mechanism |
| CN113044554A (en) * | 2021-03-10 | 2021-06-29 | 成都铭毅智能科技有限公司 | Multi-clamping-jaw mechanism |
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Application publication date: 20180703 |