CN108340362A - A kind of loading and unloading transplanting machine arm device - Google Patents
A kind of loading and unloading transplanting machine arm device Download PDFInfo
- Publication number
- CN108340362A CN108340362A CN201810381901.8A CN201810381901A CN108340362A CN 108340362 A CN108340362 A CN 108340362A CN 201810381901 A CN201810381901 A CN 201810381901A CN 108340362 A CN108340362 A CN 108340362A
- Authority
- CN
- China
- Prior art keywords
- loading
- transplanting machine
- machine arm
- arm device
- module
- 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
- 238000009434 installation Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 26
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000007 visual effect 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
- B25J9/023—Cartesian coordinate 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Abstract
The present invention relates to a kind of loading and unloading transplanting machine arm devices, it is placed between workpiece pipeline and rotating platform, it to grabbing workpiece and installs, which includes mounting seat, the mounting bracket being arranged in mounting seat, the linear module being fixed at the top of mounting bracket and the crawl module being connect with linear module.Compared with prior art, the present invention has many advantages, such as to realize automated production, reduces the cost of labor of manufacturer, and efficiently quickly finishes production task, evade the repair time, improve production efficiency.
Description
Technical field
The present invention relates to industrial automation production fields, more particularly, to a kind of loading and unloading transplanting machine arm device.
Background technology
Currently, manufacturing industry, in order to improve the efficiency of the manufacturing, labor cost, automatic production line are saved
Concept come into the visual field of people gradually, and be accepted by people quickly.
Before production line automation appearance, on complete assembling line, each assembly process is required for one
Operating personnel carry out hand assembled, if arranging an operating personnel to operate multiple processes simultaneously, at this time due to the limit of manual assembly
System can seriously affect production efficiency, and operating personnel it is personal due to manual operation will be caused to come out product go out
The inconsistent situation of existing product quality, operating personnel are during operation it should be noted that power high concentration, unless you give your whole attention to it will
Personal injury, this manually-operated working method is caused to suffer from the influence of space and human factor, cannot be satisfied day
The productivity requirements that benefit increases can not be that manufacturer brings maximized benefit.
In addition, existing loading and unloading transplanting machine hand need it is fixed in the production line, need to carry out it maintenance and
When part replacement, whole production line can all be affected.The serious efficiency for affecting production of such case simultaneously can be to production
The benefit of manufacturer causes serious influence.
Invention content
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of loading and unloading transplanters
Tool arm device.
The purpose of the present invention can be achieved through the following technical solutions：、
A kind of loading and unloading transplanting machine arm device, is placed between workpiece pipeline and rotating platform, to grabbing workpiece
And install, which includes mounting seat, the mounting bracket that is arranged in mounting seat, be fixed on it is linear at the top of mounting bracket
Module and the crawl module being connect with linear module.
The linear module includes motor, linear module casing, linear module cover board and is arranged by linear module
The worm screw in the inner rectangular space that shell, linear module cover board are formed and slide unit, the slide unit are arranged on worm screw, and with
Capture module connection, described worm screw one end and motor drive.
The slide unit is U-shaped, and two ends are stretched out outside inner rectangular space to be connect with crawl module, to realize crawl
Linear motion of the module under motor driving.
The crawl module includes the smc guide rod cylinders being connect with slide unit and is arranged at smc guide rod cylinders top
Smc pneumatic clamper fixtures.
The smc pneumatic clamper fixtures include sequentially connected smc three-jaws cylinder and mechanical paw.
The mounting seat bottom is equipped with multiple strap brake universal wheel wheels.
The motor is stepper motor or servo motor.
Compared with prior art, the present invention has the following advantages：
The present invention is moved to by the strap brake universal wheel wheel mounted on mounting seat between pipeline and rotating platform, is passed through
Self-view is adjusted, and suitable position is fixed on by locked strap brake universal wheel wheel, when unpredictable failure occurs in manipulator
When, it is only necessary to stop production line, unlock the brake switch of strap brake universal wheel wheel, malfunctioning robot is changed to the good machine of operating mode
Tool hand, and production line is restarted, it is overhauled later to malfunctioning robot, it is raw caused by maintenance manipulator to evade
Waste of time is produced, production efficiency is substantially increased, has saved production cost.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the device of the invention figure.
Fig. 3 is the linear modular structure schematic diagram of the present invention.
Fig. 4 is the pneumatic clamper clamp structure schematic diagram of the present invention.
Description of symbols in figure：
1. 2. mounting seat of strap brake universal wheel wheel
3. 4. stepper motors of mounting bracket/servo motor
5. linear module
The linear module casing 5b. worm screws of 5a.
The linear module cover boards of 5c. Mobile Slides 5d.
6.smc guide rod cylinders
7.smc pneumatic clamper fixtures
7a.smc three-jaw cylinder 7b. mechanical paws
001. pipeline, 002. workpiece A
003. loading and unloading transplanting machine hand, 004. workpiece B
005. rotating platform
Specific implementation mode
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
The present invention provides a kind of loading and unloading transplanting machine hand that production line uses, and passes through the band brake mounted on mounting seat 2
Vehicle universal wheel 1 is moved between pipeline 001 and rotating platform 005, by adjusting self-view, and passes through locked strap brake ten thousand
It is fixed on suitable position to wheel 1, when unpredictable failure occurs in manipulator, it is only necessary to stop production line, unlock strap brake
Malfunctioning robot is changed to the good manipulator of operating mode, and restarts production line by the brake switch of universal wheel 1, Zhi Hou
Malfunctioning robot is overhauled.To evade the waste of production time caused by maintenance manipulator, production is substantially increased
Efficiency has saved production cost.
Without mobile loading and unloading transplanting machine hand during use.Can also by strap brake universal wheel wheel 1 to manipulator into
Row movement, to be moved to the position needed in production line.
As shown in FIG. 1, FIG. 1 is the structural schematic diagram of the present invention, 3 strap brake universal wheel wheels 1 are installed in 2 bottom of mounting seat,
Mounting bracket 3 leads to four pieces of bolts and is fixed on mounting seat top.Stepper motor/servo motor 4 is mounted on the power of linear module 5
Input terminal is rotated by the rotation of motor with the worm screw in linear module 5, drives removable slide unit to make line by worm screw rotation
Property movement.Smc guide rod cylinders 6 are bolted on the Mobile Slide of linear module 5, are moved slide unit and are driven smc guide rods
Cylinder moves horizontally.Smc pneumatic clampers component 7 is mounted on 6 lower end of smc guide rod cylinders, therefore smc pneumatic clampers component can be led with smc
Bar cylinder 6 moves horizontally, to achieve the purpose that horizontal transport workpiece.It is driven by the Telescopic-cylinder of smc guide rod cylinders 6
Smc pneumatic clamper fixtures do the up and down motion of vertical direction.Pass through stretching for the cylinder in the smc pneumatic clamper cylinders 7a in smc pneumatic clampers fixture 7
Contracting drives mechanical paw 7b to carry out crawl release to workpiece.
As shown in Fig. 2, Fig. 2 is the device of the invention figure.Workpiece 002 transports suitable station, up and down by pipeline 001
After expecting 003 grabbing workpiece 002 of transplanting machine hand, workpiece 002 and the workpiece 004 on rotating platform 005 are installed by acting
Together, to complete a workpiece installation procedure.
As shown in figure 3, Fig. 3 is the linear modular structure schematic diagram of the present invention, stepper motor/servo motor 4 is linear mould
Group provides power.Linear module casing 5a and linear module cover board 5d constitutes the shell of linear module, and Mobile Slide 5c is mounted on
On worm screw 5b.Drive worm screw 5b rotations that Mobile Slide 5c is made to be moved along worm screw 5b axis directions by stepper motor/servo motor 4
It is dynamic.
As shown in figure 4, Fig. 4 is the pneumatic clamper clamp structure schematic diagram of the present invention, smc three-jaw cylinder 7a and mechanical paw 7b is logical
Cross screw connection.
The present invention operation principle be：
In use, the suitable position for the production line for being moved entire mechanism by strap brake universal wheel wheel 1, and by strap brake ten thousand
It is locked to wheel.When producing the 001 conveying workpieces A002 suitable stations of arrival of pipeline, plc core controllers control stepper motor/
Servo motor 4 and the action of guide rod cylinder 6 drive pneumatic clamper fixture 7 to reach above workpiece A002, and plc core controllers control pneumatic clamper
7 grabbing workpiece A002 of fixture, then acted with guide rod cylinder 6 by plc core controllers control stepper motor/servo motor 4, it drives
Pneumatic clamper fixture 7 captures workpiece A002 to rotating platform 005, by unclamping pneumatic clamper fixture 7 by workpiece A002 and workpiece B004
It is installed together.So far entire installation action is completed, and plc core controllers mechanism repeats the above action, by workpiece A002 and work
Part B004 is installed together.When the mechanism breaks down, production line is withdrawn by strap brake universal wheel wheel 1, and replace function just
Normal mechanism continues to produce.
Above-described, the only preferred embodiment of this patent is not limited to the range of this patent, this patent it is upper
Stating embodiment can also make a variety of changes, i.e., what every claims and description according to present patent application were done
Simply, equivalent changes and modifications, fall within the not detailed description of claims this patent of the innovation patent is
Routine techniques content.
Claims (7)
1. a kind of loading and unloading transplanting machine arm device, is placed between workpiece pipeline and rotating platform, simultaneously to grabbing workpiece
Installation, which is characterized in that the device includes mounting seat (2), the mounting bracket (3) being arranged in mounting seat (2), is fixed on
Linear module (5) at the top of mounting bracket (3) and the crawl module being connect with linear module (5).
2. a kind of loading and unloading transplanting machine arm device according to claim 1, which is characterized in that the linear module
(5) include motor, linear module casing (5a), linear module cover board (5d) and be arranged by linear module casing (5a), line
Property module cover board (5d) formed inner rectangular space worm screw (5b) and slide unit (5c), the slide unit (5c) setting in worm screw
On (5b), and it is connect with crawl module, worm screw one end (5b) and motor drive.
3. a kind of loading and unloading transplanting machine arm device according to claim 2, which is characterized in that the slide unit (5c) is in
U-shaped, two ends are stretched out outside inner rectangular space to be connect with crawl module, to realize that crawl module is straight under motor driving
Line moves.
4. a kind of loading and unloading transplanting machine arm device according to claim 2, which is characterized in that the crawl module packet
The smc pneumatic clamper fixtures for including the smc guide rod cylinders (6) being connect with slide unit (5c) and being arranged at smc guide rod cylinders (6) top
(7)。
5. a kind of loading and unloading transplanting machine arm device according to claim 4, which is characterized in that the smc pneumatic clampers folder
It includes sequentially connected smc three-jaws cylinder (7a) and mechanical paw (7b) to have (7).
6. a kind of loading and unloading transplanting machine arm device according to claim 1, which is characterized in that the mounting seat
(2) bottom is equipped with multiple strap brake universal wheel wheels (1).
7. a kind of loading and unloading transplanting machine arm device according to claim 2, which is characterized in that the motor is stepping
Motor or servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810381901.8A CN108340362A (en) | 2018-04-26 | 2018-04-26 | A kind of loading and unloading transplanting machine arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810381901.8A CN108340362A (en) | 2018-04-26 | 2018-04-26 | A kind of loading and unloading transplanting machine arm device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108340362A true CN108340362A (en) | 2018-07-31 |
Family
ID=62955863
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810381901.8A Pending CN108340362A (en) | 2018-04-26 | 2018-04-26 | A kind of loading and unloading transplanting machine arm device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108340362A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004306213A (en) * | 2003-04-09 | 2004-11-04 | Shinsei Koki Kk | Device for casting and removing workpiece |
| CN201522805U (en) * | 2009-06-25 | 2010-07-07 | 浙江亚龙教育装备股份有限公司 | double-shaft linear carrying robot |
| CN105437205A (en) * | 2015-12-31 | 2016-03-30 | 上海珍岛信息技术有限公司 | Mechanical hand for loading and unloading column-shaped objects |
| CN106002155A (en) * | 2016-07-08 | 2016-10-12 | 上海科工机电设备成套有限公司 | Automatic assembling mechanism for automobile safety belt locking ratchet wheel |
| CN207014350U (en) * | 2017-07-11 | 2018-02-16 | 扬州锐得自动化设备有限公司 | Servo manipulator material-receiving system |
| CN208231792U (en) * | 2018-04-26 | 2018-12-14 | 上海千尔自动化设备有限公司 | A kind of loading and unloading transplanting machine arm device |
-
2018
- 2018-04-26 CN CN201810381901.8A patent/CN108340362A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004306213A (en) * | 2003-04-09 | 2004-11-04 | Shinsei Koki Kk | Device for casting and removing workpiece |
| CN201522805U (en) * | 2009-06-25 | 2010-07-07 | 浙江亚龙教育装备股份有限公司 | double-shaft linear carrying robot |
| CN105437205A (en) * | 2015-12-31 | 2016-03-30 | 上海珍岛信息技术有限公司 | Mechanical hand for loading and unloading column-shaped objects |
| CN106002155A (en) * | 2016-07-08 | 2016-10-12 | 上海科工机电设备成套有限公司 | Automatic assembling mechanism for automobile safety belt locking ratchet wheel |
| CN207014350U (en) * | 2017-07-11 | 2018-02-16 | 扬州锐得自动化设备有限公司 | Servo manipulator material-receiving system |
| CN208231792U (en) * | 2018-04-26 | 2018-12-14 | 上海千尔自动化设备有限公司 | A kind of loading and unloading transplanting machine arm device |
Non-Patent Citations (2)
| Title |
|---|
| 卢泽生，等.: "《制造系统自动化技术》", vol. 1, 31 May 2010, 哈尔滨：哈尔滨工业大学出版社, pages: 129 - 131 * |
| 王先逵: "《机械制造工艺学 下》", vol. 1, 31 March 1989, 北京：清华大学出版社, pages: 257 - 262 * |
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