CN110883253B - Manipulator transfer equipment - Google Patents
Manipulator transfer equipment Download PDFInfo
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- CN110883253B CN110883253B CN201911175652.8A CN201911175652A CN110883253B CN 110883253 B CN110883253 B CN 110883253B CN 201911175652 A CN201911175652 A CN 201911175652A CN 110883253 B CN110883253 B CN 110883253B
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- 230000007246 mechanism Effects 0.000 claims abstract description 154
- 238000000034 method Methods 0.000 claims abstract description 38
- 238000001514 detection method Methods 0.000 claims description 11
- 230000003014 reinforcing effect Effects 0.000 claims description 10
- 230000003287 optical effect Effects 0.000 claims description 8
- 238000007747 plating Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims 2
- 230000000149 penetrating effect Effects 0.000 claims 2
- 238000009434 installation Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000003028 elevating effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/027—Combined feeding and ejecting devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/02—Ejecting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D51/00—Making hollow objects
- B21D51/16—Making hollow objects characterised by the use of the objects
- B21D51/18—Making hollow objects characterised by the use of the objects vessels, e.g. tubs, vats, tanks, sinks, or the like
- B21D51/22—Making hollow objects characterised by the use of the objects vessels, e.g. tubs, vats, tanks, sinks, or the like pots, e.g. for cooking
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses manipulator transferring equipment which comprises a frame, wherein a first vertical lifting mechanism is arranged at the lower part of the frame, and an output end of the first vertical lifting mechanism is connected with a mounting plate; the mounting plate is provided with a first horizontal conveying mechanism along the length direction, and the output end of the first horizontal conveying mechanism is connected with a fixing mechanism; the upper part of the frame is provided with a second vertical lifting mechanism, the output end of the second vertical lifting mechanism is connected with a mounting frame, and the mounting frame is positioned above the mounting plate; the mounting frame is provided with a second horizontal conveying mechanism and is connected with the movable frame in a sliding manner; the moving frame is positioned above the mounting plate, and the moving path of the moving frame is parallel to the moving path of the fixing mechanism; clamping mechanisms for clamping the processed pot body are respectively arranged at two ends of the movable frame; the invention aims to provide the manipulator transferring equipment which can simultaneously transfer pot bodies in two adjacent working procedures, improve the transferring efficiency, has stable conveying process and can effectively prevent the pot bodies from falling off.
Description
Technical Field
The invention relates to the technical field of transfer equipment, in particular to manipulator transfer equipment.
Background
In the processing process of the inner pot of the pressure cooker, the inner pot is processed into the shape of a pot body by a round plate, multiple stamping is needed, and a transferring manipulator is arranged between two adjacent stamping procedures. The existing transfer manipulator is generally a single manipulator for clamping, and then the rotary manipulator transfers the pot body to a processing station of the subsequent procedure.
Disclosure of Invention
The invention aims to provide a mechanical arm transfer device which can simultaneously transfer pot bodies in two adjacent working procedures, improves transfer efficiency, has stable conveying process and can effectively prevent the pot bodies from falling off.
To achieve the purpose, the invention adopts the following technical scheme: the manipulator transferring equipment comprises a frame, wherein a first vertical lifting mechanism is arranged at the lower part of the frame, the output end of the first vertical lifting mechanism is connected with a mounting plate, and the first vertical lifting mechanism drives the mounting plate to reciprocate along the vertical direction;
The mounting plate is provided with a first horizontal conveying mechanism along the length direction, the output end of the first horizontal conveying mechanism is connected with a fixing mechanism, the fixing mechanism is used for fixing a processed pot body, and the first horizontal conveying mechanism drives the fixing mechanism to reciprocate along the horizontal direction;
The upper part of the frame is provided with a second vertical lifting mechanism, the output end of the second vertical lifting mechanism is connected with a mounting frame, the mounting frame is positioned above the mounting plate, and the second vertical lifting mechanism drives the mounting frame to reciprocate along the vertical direction;
The mounting frame is provided with a second horizontal conveying mechanism, the mounting frame is connected with a movable frame in a sliding manner, and the second horizontal conveying mechanism drives the movable frame to reciprocate along the horizontal direction; the moving frame is positioned above the mounting plate, and the moving path of the moving frame is parallel to the moving path of the fixing mechanism;
The two ends of the movable frame are respectively provided with a clamping mechanism for clamping the processed pot body, wherein one clamping mechanism reciprocates between the processing station of the previous procedure and one end of the mounting plate, and the other clamping mechanism reciprocates between the processing station of the subsequent procedure and the other end of the mounting plate.
Preferably, the mounting frame comprises a lifting plate, a reinforcing plate, horizontal guide rails and guide seats, wherein two vertical guide rails are arranged at intervals on the frame, the guide seats are arranged on the lifting plate and are connected with the corresponding vertical guide rails in a matched manner, and the second vertical lifting mechanism drives the lifting plate to vertically reciprocate along the vertical guide rails; the two ends of the reinforcing plate are respectively connected with the side wall of the lifting plate and the upper end face of the horizontal guide rail;
The second horizontal conveying mechanism is arranged on the lifting plate, and the movable frame is in sliding connection with the horizontal guide rail.
Preferably, the vertical elevating system of second includes installation piece, articulated seat, the vertical cylinder of second and connecting block, the installation piece is provided with two, two the installation piece interval sets up the frame, articulated seat is provided with two, two articulated seat install in the lower terminal surface of installation piece, the vertical cylinder of second is provided with two, two the vertical cylinder of second articulates with the articulated seat that corresponds respectively, the connecting block is provided with two, two the connecting block sets up respectively the lifter plate, two the output of the vertical cylinder of second is connected with the connecting block that corresponds respectively.
Preferably, the second horizontal conveying mechanism comprises a fixing frame, a driving motor, a rotating shaft, a synchronizing wheel, a supporting plate, a driving wheel, a driving belt and locking seats, wherein the fixing frame is arranged on the lifting plate, the driving motor is arranged on the fixing frame along the horizontal direction, the lifting plate is provided with mounting holes, the supporting plate is arranged on the horizontal guide rail and opposite to the mounting holes, one end of the rotating shaft penetrates through the mounting holes and then is connected with the output end of the driving motor, the other end of the rotating shaft is connected with the supporting plate, the synchronizing wheel is sleeved on the rotating shaft, two mounting grooves are formed in the horizontal guide rail along the length direction at intervals, the two mounting grooves are respectively arranged on two sides of the rotating shaft, the two driving wheels are respectively arranged on the corresponding mounting grooves through mounting shafts, the locking seats are respectively arranged on the upper end faces of two ends of the moving frame, one end of the driving belt is connected with the locking seat, and the other end of the driving belt sequentially bypasses one driving wheel, the other driving wheel and the other locking seat.
Preferably, the lower end surface of the horizontal guide rail is formed with a guide groove, two side walls of the movable frame along the length direction are respectively provided with a plating optical axis, a plurality of longitudinal connecting shafts are distributed in the guide groove, each longitudinal connecting shaft is sleeved with a groove roller, each groove roller is distributed on two sides of the movable frame, and a groove of each groove roller is connected with a corresponding plating optical axis.
Preferably, a detection baffle is arranged on the side wall of the movable frame, a first proximity switch, a second proximity switch and a third proximity switch are sequentially arranged on the side wall of the horizontal guide rail along the length direction, when the detection baffle moves to the position below the first proximity switch, one clamping mechanism is opposite to a processing station of the previous procedure, and when the detection baffle moves to the position below the third proximity switch, the other clamping mechanism is opposite to a pot body of the next procedure; the second proximity switch is used for detecting the height position of the mounting frame.
Preferably, the clamping mechanism comprises a connecting seat, a wide clamping jaw and clamping arms, wherein the connecting seat is respectively arranged on the lower end surfaces of two ends of the movable frame, the wide clamping jaw is arranged on the movable frame, the clamping arms are provided with two clamping arms, the two clamping arms are respectively arranged on two output ends of the wide clamping jaw, arc-shaped grooves are formed in the opposite end surfaces of the two clamping arms, and the two clamping arms are matched with a pot body for clamping.
Preferably, the fixing mechanism comprises a middle rotating plate, positioning blocks, connecting holes, adjusting screws and positioning columns, wherein the middle rotating plate is connected with the output end of the first horizontal conveying mechanism, two positioning blocks are arranged at intervals and are arranged on the middle rotating plate, the connecting holes are formed in the positioning blocks, and the positioning columns are fixed on the positioning blocks through the adjusting screws.
Preferably, the first vertical lifting mechanism comprises a fixed plate, a guide sleeve, a longitudinal guide rod and a first vertical cylinder, wherein the fixed plate is arranged at the lower part of the frame along the horizontal direction, the guide sleeve is provided with at least three, the guide sleeve is arranged on the fixed plate, the longitudinal guide rod is provided with at least three, the longitudinal guide rod penetrates through the corresponding guide sleeve, the upper end of the longitudinal guide rod is connected with the mounting plate, the first vertical cylinder is arranged on the fixed plate, and the output end of the first vertical cylinder penetrates through the fixed plate and then is connected with the mounting plate.
Preferably, the first horizontal conveying mechanism comprises two mounting seats, two horizontal guide rods, sliding blocks and a rodless cylinder, wherein the two mounting seats are arranged at intervals along the length direction of the mounting plate, the two horizontal guide rods are arranged, the two horizontal guide rods are erected between the two mounting seats, the two sliding blocks are arranged, the two sliding blocks are respectively sleeved on the two horizontal guide rods, the upper ends of the two sliding blocks are connected with the fixing mechanism, the rodless cylinder is arranged between the two mounting seats, and the output end of the rodless cylinder is connected with the fixing mechanism.
By adopting the structure, the height positions of the mounting plate and the fixing mechanism are adjusted through the first vertical lifting mechanism, so that the clamping mechanism can conveniently place or clamp the pot body; the first horizontal conveying mechanism and the fixing mechanism are matched to play a good conveying role, so that falling off of the pot body in the conveying process can be effectively prevented; the height positions of the movable frame and the clamping mechanism are adjusted through the second vertical lifting mechanism, so that the pot body is convenient to put or clamp; the second horizontal conveying mechanism, the movable frame and the clamping mechanism are matched, two pot bodies are transported simultaneously, and the transportation efficiency of the pot bodies is improved while the stable transportation is ensured. According to the invention, the purpose of transferring two pot bodies simultaneously is achieved by matching the mechanisms, the transferring efficiency is improved, the pot body fixing effect is good in the conveying process, and the pot body can be effectively prevented from falling off.
Drawings
The present invention is further illustrated by the accompanying drawings, which are not to be construed as limiting the invention in any way.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic diagram of the front view of the present invention;
FIG. 3 is one of the partial perspective views of the present invention;
FIG. 4 is an enlarged partial schematic view at A in FIG. 3;
FIG. 5 is a second perspective view of a portion of the present invention;
FIG. 6 is a schematic side elevational view of the present invention;
fig. 7 is a partially enlarged schematic view at B in fig. 6.
Wherein: the device comprises a frame 1, a vertical guide rail 1a, a first vertical lifting mechanism 2, a fixed plate 2a, a guide sleeve 2b, a longitudinal guide rod 2c and a first vertical cylinder 2d;
A mounting plate 3;
A first horizontal conveying mechanism 4, a mounting seat 4a, a horizontal guide rod 4b, a sliding block 4c and a rodless cylinder 4d;
a fixing mechanism 5, a middle rotating plate 5a, a positioning block 5b and a positioning column 5c;
The second vertical lifting mechanism 6, the mounting block 6a, the hinge seat 6b, the second vertical cylinder 6c and the connecting block 6d;
the installation frame 7, the lifting plate 7a, the reinforcing plate 7b, the horizontal guide rail 7c and the guide seat 7d;
the second horizontal conveying mechanism 8, a fixed frame 8a, a driving motor 8b, a rotating shaft 8c, a synchronous wheel 8d, a supporting plate 8e, a driving wheel 8f, a driving belt 8g and a locking seat 8h;
A movable frame 9, a clamping mechanism 10, a connecting seat 10a, a wide clamping jaw 10b and a clamping arm 10c;
The device comprises a plating optical axis 11, a groove roller 12, a detection baffle 13, a first proximity switch 14, a second proximity switch 15 and a third proximity switch 16.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Referring to fig. 1 to 7, a manipulator transferring apparatus of this embodiment includes a frame 1, a first vertical lifting mechanism 2 is disposed at a lower portion of the frame 1, an output end of the first vertical lifting mechanism 2 is connected with a mounting plate 3, and the first vertical lifting mechanism 2 drives the mounting plate 3 to reciprocate along a vertical direction.
The mounting plate 3 is equipped with first horizontal conveying mechanism 4 along length direction, the output of first horizontal conveying mechanism 4 is connected with fixed establishment 5, fixed establishment 5 is used for fixed pot body of processing, first horizontal conveying mechanism 4 drives fixed establishment 5 is reciprocating motion along the horizontal direction.
The upper portion of frame 1 is equipped with the vertical elevating system 6 of second, the output of the vertical elevating system 6 of second is connected with mounting bracket 7, mounting bracket 7 is located the top of mounting panel 3, the vertical elevating system 6 of second drives mounting bracket 7 is reciprocating motion along vertical direction.
The mounting frame 7 is provided with a second horizontal conveying mechanism 8, the mounting frame 7 is connected with a movable frame 9 in a sliding manner, and the second horizontal conveying mechanism 8 drives the movable frame 9 to reciprocate along the horizontal direction; the moving frame 9 is located above the mounting plate 3, and the moving path of the moving frame 9 is parallel to the moving path of the fixing mechanism 5.
Two ends of the movable frame 9 are respectively provided with a clamping mechanism 10 for clamping a processed pot body, wherein one clamping mechanism 10 reciprocates between a processing station of the previous procedure and one end of the mounting plate 3, and the other clamping mechanism 10 reciprocates between a processing station of the subsequent procedure and the other end of the mounting plate 3.
By adopting the structure, the first vertical lifting mechanism 2 drives the mounting plate 3 to move along the vertical direction, and the height positions of the mounting plate 3 and the fixing mechanism 5 are adjusted, so that the clamping mechanism 10 can conveniently place or clamp the pot body.
The fixing mechanism 5 is used for receiving the pot body clamped by the clamping mechanism 10 from the processing station in the previous procedure, and simultaneously, plays a role in fixing and prevents the pot body from falling off in the conveying process.
The first horizontal conveying mechanism 4 drives the fixing mechanism 5 to move, the fixing mechanism 5 and the pot body are transported to the other end of the mounting plate 3 to be clamped by the other clamping mechanism 10, the pot body is clamped by the other clamping mechanism 10 and then conveyed to a processing station of the subsequent procedure, and the first horizontal conveying mechanism 4 and the fixing mechanism 5 are matched to achieve good conveying effect.
The second vertical lifting mechanism 6 drives the mounting frame 7 to move along the vertical direction, and the height positions of the moving frame 9 and the clamping mechanism 10 are adjusted, so that the pot body is conveniently placed or clamped.
The second horizontal conveying mechanism 8 drives the movable frame 9 to reciprocate between two adjacent working procedures, so that one clamping mechanism 10 can clamp a pot body of a processing station of the previous working procedure to the fixed mechanism 5, and the other clamping mechanism 10 can clamp the pot body to the processing station of the next working procedure. Through two pot bodies of simultaneous transportation, when guaranteeing to carry stably, improve the transportation efficiency of the pot body.
For convenience of description, two adjacent processed pot bodies are respectively named as a pot body a and a pot body b, one end of the mounting plate 3 close to the previous process is named as a c end, and one end of the mounting plate 3 close to the next process is named as a d end.
And (5) a state to be transported: the mounting plate 3 is positioned at the lower limit, the fixing mechanism 5 is positioned at the d end of the mounting plate 3, at the moment, the pan body a is positioned on the fixing mechanism 5, and the pan body b is positioned at the processing station of the previous procedure.
The transfer process comprises the following steps: the first vertical lifting mechanism 2 drives the mounting plate 3 to ascend, the second vertical lifting mechanism 6 drives the mounting frame 7 to descend, and the two clamping mechanisms 10 clamp the pot body a and the pot body b respectively; then, the second vertical lifting mechanism 6 drives the mounting frame 7 to lift, the pan body a leaves the fixing mechanism 5, and the pan body b leaves the processing station of the previous procedure.
The first horizontal conveying mechanism 4 drives the fixing mechanism 5 to move to the c end of the mounting plate 3, the second horizontal conveying mechanism 8 drives the moving frame 9 to horizontally move, the pan body a is conveyed to a processing station of a subsequent process, the pan body b is conveyed to the upper side of the fixing mechanism 5, the second vertical lifting mechanism 6 drives the mounting frame 7 to descend, the two clamping mechanisms 10 are loosened, the pan body a is placed at the processing station of the subsequent process, and the pan body b is placed at the fixing mechanism 5.
The first vertical lifting mechanism 2 drives the mounting plate 3 to descend, and the first horizontal conveying mechanism 4 drives the fixing mechanism 5 to move to the d end of the mounting plate 3 to wait for next transferring work.
Preferably, the mounting frame 7 includes a lifting plate 7a, a reinforcing plate 7b, a horizontal guide rail 7c and a guide seat 7d, two vertical guide rails 1a are arranged on the frame 1 at intervals, the guide seat 7d is arranged on the lifting plate 7a and is connected with the corresponding vertical guide rail 1a in a matching manner, and the second vertical lifting mechanism 6 drives the lifting plate 7a to vertically reciprocate along the vertical guide rail 1 a; the horizontal guide rail 7c is mounted at the lower part of the lifting plate 7a, two reinforcing plates 7b are arranged, and two ends of each reinforcing plate 7b are respectively connected with the side wall of the lifting plate 7a and the upper end face of the horizontal guide rail 7 c;
The second horizontal conveying mechanism 8 is arranged on the lifting plate 7a, and the movable frame 9 is slidably connected with the horizontal guide rail 7 c.
With this structure, a decorative baffle plate is provided on the frame 1, the lifting plate 7a is provided in the decorative baffle plate, a coaming is provided on the lifting plate 7a, and the reinforcing plate 7b is provided in the coaming. The lifting plate 7a can stably ascend or descend through the cooperation of the vertical guide rail 1a and the guide seat 7d, the translation of the horizontal guide rail 7c is kept, and the two clamping mechanisms 10 can be simultaneously in place. The reinforcing plate 7b can improve the connection fixing effect between the lifting plate 7a and the horizontal rail 7c, and can improve the bearing capacity of the horizontal rail 7 c.
Preferably, the second vertical lifting mechanism 6 includes a mounting block 6a, a hinge seat 6b, a second vertical cylinder 6c and a connecting block 6d, the mounting block 6a is provided with two, the two mounting blocks 6a are arranged at intervals on the frame 1, the hinge seat 6b is provided with two, the two hinge seats 6b are mounted on the lower end face of the mounting block 6a, the second vertical cylinder 6c is provided with two, the two second vertical cylinders 6c are respectively hinged with the corresponding hinge seat 6b, the connecting block 6d is provided with two, the two connecting blocks 6d are respectively arranged on the lifting plate 7a, and the output ends of the two second vertical cylinders 6c are respectively connected with the corresponding connecting blocks 6 d.
With this structure, the lifting plate 7a is driven to rise or fall by the second vertical cylinder 6c, and the lifting plate 7a can be lifted and lowered smoothly in cooperation with the vertical rail 1a and the guide holder 7 d. The second vertical cylinder 6c and the hinge seat 6b are connected in a hinged manner, and the second vertical cylinder 6c can rotate properly in the telescoping process so as to adapt to the swing generated in the moving process.
Preferably, the second horizontal conveying mechanism 8 includes a fixing frame 8a, a driving motor 8b, a rotating shaft 8c, a synchronizing wheel 8d, a supporting plate 8e, a driving wheel 8f, a driving belt 8g and a locking seat 8h, the fixing frame 8a is arranged on the lifting plate 7a, the driving motor 8b is arranged on the fixing frame 8a along the horizontal direction, the lifting plate 7a is provided with a mounting hole, the supporting plate 8e is arranged on the horizontal guide rail 7c and opposite to the mounting hole, one end of the rotating shaft 8c passes through the mounting hole and then is connected with the output end of the driving motor 8b, the other end of the rotating shaft 8c is connected with the supporting plate 8e, the synchronizing wheel 8d is sleeved on the rotating shaft 8c, two mounting grooves are respectively arranged on two sides of the rotating shaft 8c along the length direction at intervals, two driving wheels 8f are respectively arranged on the two mounting grooves through mounting shafts, one end face of the driving wheel 8h is connected with one end face of the other driving wheel 8g, the other end face of the driving belt 8g is connected with the other end of the driving wheel 8f, and the other end face of the driving belt 8g is connected with the other end of the driving wheel 8 g.
With this structure, the driving motor 8b drives the synchronizing wheel 8d to rotate through the rotating shaft 8c, and the synchronizing wheel 8d drives the moving frame 9 to move along the horizontal guide rail 7c through the driving belt 8 g. The both ends of drive belt 8g respectively with locking seat 8h fixed connection, at the removal in-process of frame 9 removal, synchronizing wheel 8d rotates and drives the drive of drive belt 8g, and the one end of drive belt 8g drives and removes frame 9 along one side of synchronizing wheel 8 d's direction of rotation, and the other end of drive belt 8g is driven by locking seat 8h and advances, makes drive belt 8g keep tensioning state. When the moving frame 9 moves reversely, the driving motor 8b reverses, and the other end of the driving belt 8g drives the moving frame 9 to move. Through driving motor 8b, synchronizing wheel 8d, drive wheel 8f and drive belt 8g cooperation, make and remove the frame 9 and can carry out quick removal, improve conveying efficiency, simultaneously, can guarantee that the transportation is stable.
Preferably, a guiding groove is formed on the lower end surface of the horizontal guide rail 7c, a plating optical axis 11 is respectively disposed on two side walls of the moving frame 9 along the length direction, a plurality of longitudinal connecting shafts are distributed in the guiding groove, each longitudinal connecting shaft is sleeved with a groove roller 12, each groove roller 12 is distributed on two sides of the moving frame 9, and a groove of each groove roller 12 is connected with the corresponding plating optical axis 11.
With this structure, the groove roller 12 and the plating optical axis 11 cooperate to perform a good guiding function, thereby improving the movement stability of the movable frame 9, and reducing the friction between the movable frame 9 and the horizontal guide rail 7 c.
Preferably, a detection baffle 13 is disposed on a side wall of the moving frame 9, a first proximity switch 14, a second proximity switch 15 and a third proximity switch 16 are sequentially disposed on a side wall of the horizontal guide rail 7c along a length direction, when the detection baffle 13 moves below the first proximity switch 14, one of the clamping mechanisms 10 is opposite to a processing station in a previous process, and when the detection baffle 13 moves below the third proximity switch 16, the other clamping mechanism 10 is opposite to a pot in a subsequent process; the second proximity switch 15 is used to detect the height position of the mounting frame 7.
With this configuration, the movement distance of the movable frame 9 is detected by the first proximity switch 14 and the third proximity switch 16, and the movement distance of the movable frame 9 enables the holding mechanism 10 to convey the pan body from the processing station of the previous step to the fixing mechanism 5, and at the same time, to move the pan body from the d end of the mounting plate 3 to the processing station of the subsequent step.
Preferably, the clamping mechanism 10 includes a connecting seat 10a, a wide clamping jaw 10b and clamping arms 10c, the connecting seat 10a is respectively arranged on the lower end surfaces of two ends of the movable frame 9, the wide clamping jaw 10b is arranged on the movable frame 9, two clamping arms 10c are arranged on two output ends of the wide clamping jaw 10b, two opposite end surfaces of the clamping arms 10c are provided with arc grooves, and the two clamping arms 10c are matched with a pot body for clamping.
By adopting the structure, the pot body is clamped by the matching of the wide clamping jaw 10b and the clamping arm 10c, the clamping effect is firm, and in order to further improve the clamping effect, a rubber pad can be arranged at the arc-shaped groove of the clamping arm 10c, so that the friction force is improved, and the pot body can be prevented from being worn.
Preferably, the fixing mechanism 5 includes a middle rotating plate 5a, a positioning block 5b, a connecting hole, an adjusting screw and a positioning column 5c, the middle rotating plate 5a is connected with the output end of the first horizontal conveying mechanism 4, two positioning blocks 5b are arranged at intervals, the two positioning blocks 5b are arranged at intervals on the middle rotating plate 5a, the connecting hole is formed in the positioning block 5b, and the positioning column 5c is fixed on the positioning block 5b through the adjusting screw.
By adopting the structure, the pot body is clamped by matching the middle rotating plate 5a, the positioning blocks 5b and the positioning columns 5c, and the positioning columns 5c on the two positioning blocks 5b are matched to play a good fixing role, so that the pot body is prevented from falling off in the moving process.
Preferably, the first vertical lifting mechanism 2 includes a fixed plate 2a, a guide sleeve 2b, a longitudinal guide rod 2c and a first vertical cylinder 2d, the fixed plate 2a is installed at the lower part of the frame 1 along the horizontal direction, the guide sleeve 2b is provided with at least three, the guide sleeve 2b is provided with the fixed plate 2a, the longitudinal guide rod 2c is provided with at least three, the longitudinal guide rod 2c is worn to be established in the corresponding guide sleeve 2b, the upper end of the longitudinal guide rod 2c is connected with the mounting plate 3, the first vertical cylinder 2d is provided with the fixed plate 2a, and the output end of the first vertical cylinder 2d passes through the fixed plate 2a and then is connected with the mounting plate 3.
By adopting the structure, the first vertical cylinder 2d, the guide sleeve 2b and the longitudinal guide rod 2c are matched to drive the mounting plate 3 to reciprocate along the vertical direction, the guide sleeve 2b and the longitudinal guide rod 2c are matched to play a good guide role, the mounting plate 3 is ensured to stably ascend or descend, and the conveying stability is improved.
Preferably, the first horizontal conveying mechanism 4 includes a mounting seat 4a, a horizontal guide rod 4b, a sliding block 4c and a rodless cylinder 4d, the two mounting seats 4a are arranged at intervals along the length direction of the mounting plate 3, the two horizontal guide rods 4b are arranged at intervals, the two horizontal guide rods 4b are arranged between the two mounting seats 4a, the two sliding blocks 4c are arranged at intervals, the two sliding blocks 4c are respectively sleeved with the two horizontal guide rods 4b, the upper ends of the two sliding blocks 4c are connected with the fixing mechanism 5, the rodless cylinder 4d is arranged between the two mounting seats 4a, and the output end of the rodless cylinder 4d is connected with the fixing mechanism 5.
By adopting the structure, the fixing mechanism 5 is driven to reciprocate along the horizontal direction by matching the rodless cylinder 4d, the horizontal guide rod 4b and the sliding block 4c, the matching of the horizontal guide rod 4b and the sliding block 4c plays a good guiding role, the fixing mechanism 5 is ensured to stably move, and the conveying stability is improved. The rodless cylinder 4d can ensure that the fixing mechanism 5 has a larger stroke, and meanwhile, the installation space is saved, and the conveying speed is high and stable. The two ends of the mounting plate 3 are provided with in-place detection switches for detecting in-place conditions of the fixing mechanism 5.
The technical principle of the present invention is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the invention and should not be taken in any way as limiting the scope of the invention. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.
Claims (7)
1. The manipulator transferring equipment comprises a frame and is characterized in that a first vertical lifting mechanism is arranged at the lower part of the frame, the output end of the first vertical lifting mechanism is connected with a mounting plate, and the first vertical lifting mechanism drives the mounting plate to reciprocate along the vertical direction;
The mounting plate is provided with a first horizontal conveying mechanism along the length direction, the output end of the first horizontal conveying mechanism is connected with a fixing mechanism, the fixing mechanism is used for fixing a processed pot body, and the first horizontal conveying mechanism drives the fixing mechanism to reciprocate along the horizontal direction;
The upper part of the frame is provided with a second vertical lifting mechanism, the output end of the second vertical lifting mechanism is connected with a mounting frame, the mounting frame is positioned above the mounting plate, and the second vertical lifting mechanism drives the mounting frame to reciprocate along the vertical direction;
The mounting frame is provided with a second horizontal conveying mechanism, the mounting frame is connected with a movable frame in a sliding manner, and the second horizontal conveying mechanism drives the movable frame to reciprocate along the horizontal direction; the moving frame is positioned above the mounting plate, and the moving path of the moving frame is parallel to the moving path of the fixing mechanism;
Clamping mechanisms for clamping the processed pot body are respectively arranged at two ends of the movable frame, wherein one clamping mechanism reciprocates between a processing station of the previous procedure and one end of the mounting plate, and the other clamping mechanism reciprocates between a processing station of the subsequent procedure and the other end of the mounting plate;
The mounting frame comprises a lifting plate, a reinforcing plate, horizontal guide rails and guide seats, two vertical guide rails are arranged on the frame at intervals, the guide seats are arranged on the lifting plate and are connected with the corresponding vertical guide rails in a matched mode, and the second vertical lifting mechanism drives the lifting plate to vertically reciprocate along the vertical guide rails; the two ends of the reinforcing plate are respectively connected with the side wall of the lifting plate and the upper end face of the horizontal guide rail;
The second horizontal conveying mechanism is arranged on the lifting plate, and the movable frame is in sliding connection with the horizontal guide rail;
The second vertical lifting mechanism comprises two mounting blocks, two hinging seats, two second vertical cylinders and connecting blocks, wherein the two mounting blocks are arranged on the frame at intervals, the two hinging seats are arranged on the lower end face of the mounting blocks, the two second vertical cylinders are respectively hinged with the corresponding hinging seats, the two connecting blocks are respectively arranged on the lifting plates, and the output ends of the two second vertical cylinders are respectively connected with the corresponding connecting blocks;
The clamping mechanism comprises a connecting seat, wide clamping jaws and clamping arms, wherein the connecting seat is respectively arranged on the lower end faces of the two ends of the movable frame, the wide clamping jaws are arranged on the movable frame, the clamping arms are respectively arranged at two output ends of the wide clamping jaws, arc-shaped grooves are formed in the opposite end faces of the clamping arms, and the clamping arms are matched with a pot body for clamping.
2. The manipulator transferring device according to claim 1, wherein the second horizontal conveying mechanism comprises a fixing frame, a driving motor, a rotating shaft, a synchronizing wheel, a supporting plate, driving wheels, a transmission belt and locking seats, the fixing frame is arranged on the lifting plate, the driving motor is arranged on the fixing frame in the horizontal direction, the lifting plate is provided with mounting holes, the supporting plate is arranged on the horizontal guide rail and opposite to the mounting holes, one end of the rotating shaft passes through the mounting holes and then is connected with the output end of the driving motor, the other end of the rotating shaft is connected with the supporting plate, the synchronizing wheel is sleeved on the rotating shaft, two mounting grooves are formed in the horizontal guide rail at intervals in the length direction, the two mounting grooves are respectively arranged on two sides of the rotating shaft, the two driving wheels are respectively arranged on the corresponding mounting grooves through mounting shafts, the locking seats are respectively arranged on the upper end faces of two ends of the moving frame, one end of the transmission belt is connected with one of the driving wheels, and the other end of the driving belt is sequentially wound around the driving wheels and the other driving wheels are connected with the other locking seat.
3. The manipulator transferring device according to claim 1, wherein a guiding groove is formed in the lower end face of the horizontal guide rail, a plating optical axis is respectively arranged on two side walls of the moving frame along the length direction, a plurality of longitudinal connecting shafts are distributed in the guiding groove, groove rollers are sleeved on the longitudinal connecting shafts, the groove rollers are distributed on two sides of the moving frame, and grooves of the groove rollers are connected with the corresponding plating optical axes.
4. The manipulator transferring device according to claim 1, wherein a detection baffle is arranged on a side wall of the moving frame, a first proximity switch, a second proximity switch and a third proximity switch are sequentially arranged on a side wall of the horizontal guide rail along a length direction, when the detection baffle moves to a position below the first proximity switch, one clamping mechanism is opposite to a processing station of a previous procedure, and when the detection baffle moves to a position below the third proximity switch, the other clamping mechanism is opposite to a pot body of a subsequent procedure; the second proximity switch is used for detecting the height position of the mounting frame.
5. The manipulator transferring device according to claim 1, wherein the fixing mechanism comprises a transfer plate, positioning blocks, connecting holes, adjusting screws and positioning columns, the transfer plate is connected with the output end of the first horizontal conveying mechanism, two positioning blocks are arranged on the transfer plate at intervals, the connecting holes are formed in the positioning blocks, and the positioning columns are fixed on the positioning blocks through the adjusting screws.
6. The manipulator transfer equipment of claim 1, wherein the first vertical lifting mechanism comprises a fixed plate, a guide sleeve, a longitudinal guide rod and a first vertical cylinder, the fixed plate is mounted on the lower portion of the frame in the horizontal direction, the guide sleeve is provided with at least three, the guide sleeve is arranged on the fixed plate, the longitudinal guide rod is provided with at least three, the longitudinal guide rod is arranged in the corresponding guide sleeve in a penetrating manner, the upper end of the longitudinal guide rod is connected with the mounting plate, the first vertical cylinder is arranged on the fixed plate, and the output end of the first vertical cylinder is connected with the mounting plate after penetrating through the fixed plate.
7. The manipulator transfer equipment of claim 1, wherein the first horizontal conveying mechanism comprises two mounting seats, two horizontal guide rods, sliding blocks and a rodless cylinder, the two mounting seats are arranged at intervals along the length direction of the mounting plate, the two horizontal guide rods are arranged between the two mounting seats, the two sliding blocks are arranged at the two horizontal guide rods, the two sliding blocks are respectively sleeved on the two horizontal guide rods, the upper ends of the two sliding blocks are connected with the fixing mechanism, the rodless cylinder is arranged between the two mounting seats, and the output end of the rodless cylinder is connected with the fixing mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911175652.8A CN110883253B (en) | 2019-11-26 | 2019-11-26 | Manipulator transfer equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911175652.8A CN110883253B (en) | 2019-11-26 | 2019-11-26 | Manipulator transfer equipment |
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| CN110883253A CN110883253A (en) | 2020-03-17 |
| CN110883253B true CN110883253B (en) | 2024-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911175652.8A Active CN110883253B (en) | 2019-11-26 | 2019-11-26 | Manipulator transfer equipment |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103612918A (en) * | 2013-11-30 | 2014-03-05 | 广东轻工机械二厂有限公司 | Bottle-unloading stacking machine |
| CN203624400U (en) * | 2013-12-04 | 2014-06-04 | 汕头市新青罐机有限公司 | Iron sheet pile handling device of tank body resistance welding machine |
| CN106672617A (en) * | 2016-12-13 | 2017-05-17 | 镇江成泰自动化技术有限公司 | Lifting and rotating feeding mechanism |
| CN208276075U (en) * | 2018-05-07 | 2018-12-25 | 东莞市红云自动化科技有限公司 | A kind of feeding conveying device |
| CN211248041U (en) * | 2019-11-26 | 2020-08-14 | 佛山市中机一超机器人科技有限公司 | Manipulator transfer equipment |
-
2019
- 2019-11-26 CN CN201911175652.8A patent/CN110883253B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103612918A (en) * | 2013-11-30 | 2014-03-05 | 广东轻工机械二厂有限公司 | Bottle-unloading stacking machine |
| CN203624400U (en) * | 2013-12-04 | 2014-06-04 | 汕头市新青罐机有限公司 | Iron sheet pile handling device of tank body resistance welding machine |
| CN106672617A (en) * | 2016-12-13 | 2017-05-17 | 镇江成泰自动化技术有限公司 | Lifting and rotating feeding mechanism |
| CN208276075U (en) * | 2018-05-07 | 2018-12-25 | 东莞市红云自动化科技有限公司 | A kind of feeding conveying device |
| CN211248041U (en) * | 2019-11-26 | 2020-08-14 | 佛山市中机一超机器人科技有限公司 | Manipulator transfer equipment |
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| CN110883253A (en) | 2020-03-17 |
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