CN111168341A - Multi-station variable-pitch manipulator device - Google Patents
Multi-station variable-pitch manipulator device Download PDFInfo
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- CN111168341A CN111168341A CN202010029933.9A CN202010029933A CN111168341A CN 111168341 A CN111168341 A CN 111168341A CN 202010029933 A CN202010029933 A CN 202010029933A CN 111168341 A CN111168341 A CN 111168341A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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Abstract
The invention provides a multi-station variable-pitch manipulator device which comprises a plurality of groups of manipulator modules, wherein at least one group of manipulator modules is fixed with a variable-pitch module, the variable-pitch module comprises a sliding mechanism, and the sliding mechanism is driven by a power mechanism to slide on an installation bottom plate in a directional mode to adjust the distance between the adjacent manipulator modules. According to the multi-station variable-pitch manipulator device, the position of the manipulator module is effectively and electrically adjusted according to the space between each part/product to be grabbed through the variable-pitch module, the lifting precision is high, time and labor are saved, the application range of the multi-station manipulator device is expanded, the automation of picking and placing the parts/products is realized, the production assembly/test efficiency is improved, and the qualification rate of the products is guaranteed.
Description
Technical Field
The invention belongs to the technical field of automatic assembly line bodies, and particularly relates to a multi-station variable-pitch manipulator device.
Background
The assembly, assembly and function test projects of the electric energy meter are various, the original operation method is to manually complete the assembly and function test of the whole product, manual assembly is needed on a manual production line step by step according to a set sequence, a semi-finished product completed at a previous station is taken from the production line, a workpiece needing to be assembled at the station is taken again for assembly, or parts of the station are assembled on the semi-finished product on a production wire, the assembly is completed, the production line is put back to move to a next station, the production rhythm is slow, and many human factors exist, so that the production efficiency of the product is limited by the production mode, and the qualification rate of the product cannot be guaranteed. Along with the development of industry 4.0, the production automation degree is gradually improved, more and more automatic production machines replace manual operation, so that the production efficiency and the product qualification rate are greatly improved, in order to further improve the production efficiency, a manipulator at the same station can simultaneously grab a plurality of parts/products for assembly and test, the distance between the manipulators of the multi-station manipulator device is constant, the distance between the parts/products is required to be consistent, in the actual production, different parts/products which are possibly grabbed at different stations are simultaneously required to be different due to the production requirement, the distances between the parts/products are different due to the volume difference of the parts/products or the problem of placement positions among the parts/products, or the grabbed parts/products need to be placed at another distance, the existing multi-station manipulator with fixed spacing cannot be applied.
Disclosure of Invention
The invention mainly aims to solve the problems and the defects and provides a multi-station variable-pitch manipulator device with adjustable space between adjacent manipulators.
In order to achieve the purpose of the invention, the invention provides a multi-station variable-pitch manipulator device, which adopts the following technical scheme:
the multi-station variable-pitch manipulator device comprises a plurality of groups of manipulator modules, at least one group of manipulator modules is fixed with the variable-pitch modules, each variable-pitch module comprises a sliding mechanism, and the sliding mechanisms are driven by a power mechanism to slide directionally on an installation bottom plate to adjust the distance between the adjacent manipulator modules.
Furthermore, the sliding mechanism is connected with the power mechanism through a connecting plate.
Furthermore, the sliding block mechanism comprises a sliding base and a sliding rail arranged on the mounting base plate, the sliding base spans the sliding rail, and the sliding base is driven by the power mechanism to slide directionally along the sliding rail to adjust the position of the corresponding manipulator module.
Further, the pitch module comprises a stop defining and/or fine-tuning an initial/end position of the pitch module.
Furthermore, the stopper is including installing can be right on the mounting plate the buffer that pitch module initial position finely tuned and correspond the setting and be in the buffering limiting plate on the pitch module.
Further, the buffer is a hydraulic buffer.
Furthermore, one group of manipulator modules is fixed with the mounting bottom plate through a fixing frame, and at least one group of manipulator modules in the adjacent manipulator modules is fixed with the variable-pitch module.
Furthermore, the power mechanism is arranged at the bottom of the fixing frame, one end of the connecting piece is fixed with the power mechanism, and the other end of the connecting piece is fixed with the variable pitch module.
Further, the power mechanism is an air cylinder.
Further, the pitch changing module further comprises a detection switch.
In summary, compared with the prior art, the multi-station variable-pitch manipulator device provided by the invention has the advantages that the position of the manipulator module is effectively and electrically adjusted through the variable-pitch module according to the distance between each part/product to be grabbed, the lifting precision is high, time and labor are saved, the application range of the multi-station manipulator device is widened, the automation of picking and placing parts/products is realized, the production assembly/test efficiency is improved, and the product qualification rate is guaranteed.
Description of the drawings:
FIG. 1: the invention discloses a schematic overall structure diagram of a multi-station variable-pitch manipulator device;
FIG. 2: the invention discloses a structural schematic diagram of a multi-station variable-pitch manipulator device after a manipulator module mounting frame is removed;
FIG. 3: the invention discloses a schematic structural diagram of a pitch module in a multi-station pitch-variable manipulator device;
the device comprises a sliding manipulator module 1, suckers 1-1, sucker mounting plates 1-2, vertical plates 1-3, buffer limiting plates 1-4, a slider connecting plate 1-5, a supporting plate 1-6, a detection switch 1-7, a fixed manipulator module 2, a fixed frame 2-1, side plates 2-2, a variable pitch module 3, a hydraulic buffer 3-1, a sliding mechanism 3-2, a sliding rail 3-2-1, sliders 3-2-2, a connecting plate 3-3, a mounting bottom plate 3-4 and a gripper cylinder 3-5.
Detailed Description
The invention is described in further detail below with reference to the following figures and detailed description.
A multi-station variable-pitch manipulator device comprises a plurality of groups of manipulator modules, wherein at least one group of manipulator modules is fixed with a variable-pitch module 3, the variable-pitch module 3 comprises a sliding mechanism 3-2, and the sliding mechanism 3-2 is driven by a power mechanism to slide on an installation bottom plate 3-4 directionally to adjust the distance between adjacent manipulator modules 1.
In the embodiment, taking a three-station manipulator device for automatically assembling a test line body of an electric energy meter as an example, a specific structure of the multi-station variable-pitch manipulator device provided by the invention is described, in the embodiment, a sucker 1-1 controlled by a grabbing cylinder (not shown in the figure, the same applies later) is used for grabbing parts/products, in practical application, other functional parts such as a claw and the like can be used for grabbing the parts/products, as shown in fig. 1 to 3, three groups of manipulator modules are arranged on a mounting bottom plate 3-4 for realizing three-station simultaneous grabbing operation, wherein a fixed manipulator module 2 is arranged in the middle, a sucker 1-1 is arranged at the top of a fixed frame 2-1, the tail part of the sucker 1-1 passes through a mounting hole at the supporting top of the fixed frame 2-1 and is communicated with a gas pipe of the grabbing cylinder, the bottom of the fixed frame 2-1 is fixed with the mounting bottom plate 3-4. The fixed manipulator module 2 is not movable on the mounting base plate 3-4, and the position of the suction cup 1-1 thereon is never changed.
The two sides of the fixed manipulator module 2 are respectively provided with a sliding manipulator module 1 with the same structure, for example, one side is taken as an example, as shown in fig. 2, the mounting rack of the sliding manipulator module 1 comprises a vertical plate 1-3, a sucker mounting plate 1-2 and a support plate 1-6 which are mutually fixed to form a frame structure with a n-shaped cross section, the sucker 1-1 is fixed at the top of the sucker mounting plate 1-2, the tail part of the sucker 1-1 penetrates through a mounting hole of the sucker mounting plate 1-2 to be communicated with a gas pipe of a grabbing cylinder, and the sucker mounting plate 1-2 is simultaneously provided with a detection switch 1-7 for detecting whether a part/product enters the grabbing range of the manipulator device and/or detecting whether the sucker 1-1 effectively grabs the part/product. The top of the supporting plate 1-6 is fixed with one side of the bottom surface of the sucker mounting plate 1-2, the bottom of the supporting plate is provided with a clamping groove, the supporting plate is clamped with the slider connecting plate 1-5 and then fixed by a screw at the side part, and the supporting plate 1-6 is approximately in an I shape, so that the upper end and the lower end are effectively fixed, and a certain weight reduction effect is achieved. The vertical plate 1-3 is fixed with the bottom surface of the sucker mounting plate 1-2 and the sliding block connecting plate 1-5 respectively in the same way as the supporting plate 1-6, and the difference is that the vertical plate 1-3 is a whole rectangular plate, and one or more lightening holes are arranged in the middle.
As shown in fig. 1 and 3, the pitch-variable module 3 is arranged on an installation base plate 3-4, a plurality of pitch-variable modules are arranged on the installation base plate 3-4, the pitch-variable modules mainly comprise a sliding mechanism 3-2 fixed with a slider connecting plate 1-5 at the bottom of the sliding manipulator module 1, the sliding mechanism 3-2 comprises a sliding rail 3-2-1 and a slider 3-2-2 which are fixed on the installation base plate 3-4, and the bottom of the slider 3-2-2 has a structure matched with the sliding rail 3-2-1, so that the slider 3-2-2 straddles the sliding rail 3-2-1 and can slide along the sliding rail 3-2-1. The bottom of the sliding block connecting plate 1-5 is seated on the top surface of the sliding block 3-2-2 and is fixed with the sliding block 3-2-2 through screws, so that the position of the sliding manipulator module 1 on the installation bottom plate 3-4 can be adjusted under the driving of the variable-pitch module 3.
The sliding block 3-2-2 of the sliding mechanism 3-2 can be directly connected with a power mechanism, under the driving of the power mechanism, the sliding block 3-2-2 drives the sliding manipulator module 1 to move on the installation bottom plate 3-4, the relative distance between the sliding manipulator module 1 and the fixed manipulator module 2 is adjusted, and the sliding block 3-2-2 can also be connected with the power mechanism through the connecting plate 3-3 to realize the movement of the sliding block 3-2-2. Each sliding block 3-2-2 can be directly or indirectly connected with a power mechanism through a connecting plate 3-3, the structure of the connecting plate 3-3 is not limited, connection and power transfer between the two parts can be achieved, and therefore the sliding blocks 3-2-2 can be driven by the power mechanism to move directionally along the sliding rails 3-2-1, the position of each torque conversion module 3 can be adjusted respectively, the distance between the fixed manipulator module 2 and the sliding manipulator modules 1 on the left side and the right side can be adjusted in a differentiated mode, and the application range of the whole three-station manipulator device is widened. In this embodiment, in order to save energy, reduce the overall volume of the device, and make the overall structure layout of the device neat and reasonable, as shown in fig. 1 and fig. 3, the overall structure of the fixing frame 2-1 is also a reversed pi-shaped structure which is convenient for installation and has a weight reduction effect, the two side plates 2-2 are provided with weight reduction holes, and the bottoms thereof are provided with clamping grooves, the power mechanism is arranged at the bottom of the fixing frame 2-1 and is fixed with the installation bottom plate 3-4, the power mechanism is clamped in the space defined by the clamping grooves at the bottoms of the side plates 2-2 at the two sides, the clamping grooves at the bottoms of the side plates 2-2 are clamped with the power mechanism and then are fixed with the side wall screws of the power mechanism from the side parts, the height of the clamping grooves at the bottoms of the side plates 2-2 is greater than the, the other end of the connecting rod passes through the clamping groove at the bottom of the vertical plate 1-3 and then is fixed with the top of the connecting plate 1-5 of the sliding block, as shown in figure 2, the fixing part of the slide block connecting plate 1-5 and the connecting plate 3-3 is provided with a mounting groove, a screw hole is arranged in the groove, so that the slide block connecting plate 1-5 and the connecting plate 3-3 are fixed by screws, the depth of the mounting groove is matched with the height of the power mechanism, after the two ends of the connecting plate 3-3 are respectively fixed, the whole connecting plate 3-3 is in a horizontal position, so that moment deformation caused by the inclined state of the connecting plate 3-3 is prevented, in practical application, under the condition that the power mechanism is higher, the corresponding position of the slide block connecting plate 1-5 can be additionally provided with an installation boss, the height of the clamping groove at the bottom of the vertical plate 1-3 is increased adaptively, and the influence of the clamping groove of the vertical plate 1-3 on the movement of the connecting plate 3-3 is avoided.
As shown in fig. 1, two sides of a fixed manipulator module 2 are respectively provided with a variable-pitch manipulator module 1 with the same structure to form a three-station variable-pitch manipulator device, in this embodiment, the sliding manipulator modules 1 on two sides are driven by the same power mechanism, the power mechanism adopts a double-output gripper cylinder 3-5, output shafts at two ends of the gripper cylinder 3-5 are respectively fixed with a connecting plate 3-3 on one side, and a slider connecting plate 1-5 fixed thereto is driven by the connecting plate 3-3 to move, so as to drive a slider 3-2-2 fixed to the slider connecting plate 1-5 to slide on a sliding rail 3-2-1, and adjust the distance between the sliding manipulator modules 1 on two sides and the fixed manipulator module 2. In practical application, effective space is fully utilized, two single-output clamping hand cylinders 3-5 can be arranged at the bottom of the fixed frame 2-1 and are respectively connected with the connecting plates 3-3 on the corresponding sides to respectively control the opposite side sliding blocks 3-2-2 to move, and accurate adjustment of different distances between the fixed manipulator module 2 and the sliding manipulator modules on the two sides is achieved.
In order to prevent the inertia of the sliding manipulator modules 1 on both sides from being greater than the braking force of the lower gripper cylinder 3-5 after the gripper cylinders 3-5 stop working, which causes the variable-pitch manipulator module 1 to continue moving, damages the fixing effect of the gripper cylinders 3-5 and the connecting plate 3-3, and changes the pitch, and affects the subsequent production operation, in this embodiment, the torque conversion module 3 is further provided with a stopper for limiting the initial/final position of the variable-pitch module 3 (or the sliding manipulator module 1). As shown in fig. 1 to 3, two sides of a slider connecting plate 1-5 are respectively provided with a buffer limiting plate 1-4, a mounting base plate 3-4 is correspondingly provided with a limiting stopper, and the buffer limiting plate 1-4 is matched with the limiting stopper to realize a limiting function.
Although the production line is mainly used for the dynamic assembly detection of the electric energy meter, the electric energy meter models are different, and the specific structures and the sizes of the components/products are slightly different, so that the initial positions of the sliding manipulator modules 1 on the two sides also need to be adjusted adaptively, and the multi-station variable-pitch manipulator device needs to finely adjust the initial positions of the sliding manipulator modules 1 on the two sides by taking the middle fixed manipulator module 2 as a center and a reference between the production line and the production line, as shown in fig. 1 and 3, in the orientation shown in fig. 1, the hydraulic buffer 3-1 on the outer side (towards the user side) is arranged near the outer side edge of the mounting bottom plate 3-4 and matched with the buffer limit plate 1-4 fixed on the outer side of the slider connecting plate 1-5 to limit the limit position of the outward movement (towards the two end directions) on the sliding mechanism 3-2, correspondingly, two sides of the top surface of the inner side (the side departing from the user in fig. 3) of the mounting bottom plate 3-4, which are close to the middle fixed manipulator module 2, are respectively provided with a hydraulic buffer 3-1, which is matched with a buffer limit plate 1-4 on the other side of the corresponding slider connecting plate 1-5 to limit the limit position of the inward movement (towards the fixed manipulator module 2) of the sliding manipulator module 1. The two sides of each sliding manipulator module 1 are respectively provided with a group of limiting stoppers in a staggered manner, so that the limitation of the movement limit positions of the sliding manipulator module 1 in two directions (or called as the initial point and the final point) is realized, and meanwhile, the limit positions of outward and inward movement on the sliding mechanism 3-2 are finely adjusted by adjusting the position of the output shaft of each hydraulic buffer 3-1, namely, the initial/final point positions of the sliding manipulator 1/the variable pitch module 3 are finely adjusted. In practical application, the stopper can be realized by other structures which can play similar roles, such as a limit stop, a combined structure of a baffle and a slide rod which are matched with each other, any structure which can play a limiting role can be adopted, and the hydraulic buffer 3-1 can be replaced by other power structures.
In the embodiment provided by the invention, a three-station variable-pitch manipulator device for electric energy meter production assembly/detection is taken as an example, and the specific structure of the multi-station variable-pitch manipulator provided by the invention is described. In this embodiment, two sets of sliding manipulator modules 1 and one set of fixed manipulator modules 2 are disposed on the same straight line of the mounting plate 3-4, and the two sets of sliding manipulator modules 1 are disposed on two sides of the fixed manipulator modules 2, respectively, to form a three-station variable-pitch manipulator device, and the mounting plate 3-4 can be fixed with other related components, such as a mechanical arm, to suck components/products, and complete the transfer, assembly or detection. Further, more sets of manipulator stations can be arranged on the mounting base plate 3-4, according to the assembly production and detection requirements, the number of the sliding manipulator modules 1 formed by fixing the variable pitch modules 3 and the mounting base plate 3-4 or the number of the fixed manipulator modules 2 formed by fixing the fixed frames 2-1 and the mounting base plate 3-4 and the relative positions of the sliding manipulator modules 1 and the fixed manipulator modules 2 on each station are determined, at the moment, the relative positions of the sliding manipulator modules 1 and the fixed manipulator modules 2 can be arbitrarily set according to the actual production application conditions, the relative positions of the sliding manipulator modules 1 and the fixed manipulator modules 2 are not required to be on the same straight line, and the arrangement directions of the sliding manipulator modules 1 and the fixed manipulator modules 2 in the figures 1 and 3 are not required to be set, such as the fixed manipulator module 2 can be arranged at one end, the two sliding manipulator modules 1 are arranged adjacently, and the positions and the, The structural forms of the sliding block connecting plate 1-5 and the connecting plate 3-3, the fixing positions of the two and the arrangement position of the hydraulic buffer 3-1 are adjusted adaptively. Or simply only one fixed manipulator module 2 and one sliding manipulator module 1 can be arranged, and a single-output clamping hand cylinder 3-5 arranged below the fixed frame 2-1 drives a sliding block connecting plate 1-5 to further adjust the relative distance between the two manipulator modules. The embodiment only provides a mode of the three-station pitch-changing manipulator device, which is not to be considered as a limitation on the specific structure of the multi-station pitch-changing manipulator device claimed in the present invention, and those skilled in the art can make various similar improvements according to the embodiment, and all of them are within the scope of the present invention.
In the production application, the front end position (if necessary) of the output shaft of each hydraulic buffer 3-1 is adjusted according to the requirements of the components/products to be assembled/detected, so as to finely adjust the initial position and the movement terminal position of the sucker 1-1, after the operation is started, the detection switch 1-7 confirms that the components/products are in place, a signal is sent to a controller of a manipulator device, the controller controls a grabbing cylinder communicated with the sucker 1-1 to suck the components/products, after the detection switch detects that the sucker 1-1 successfully sucks, the controller sends a signal again, then the controller controls a gripper cylinder 3-5 to act, the relative distance position of the adjacent suckers 1-1 is adjusted, the components/products reach the assembled/detected position under the drive of a mechanical arm, and the components/products are placed on the corresponding positions, and then the mechanical arm drives the whole mechanical arm device to return to the original position, the clamping cylinder 3-5 drives the sucker of the sliding mechanical arm module 1 to return to the original position, the next operation is waited to be carried out, and the reciprocating operation is carried out, so that the automatic assembly/detection operation is realized. When the mechanical arm is not driven, the front end position of the output shaft of each hydraulic buffer 3-5 is finely adjusted (under necessary conditions) before assembly/detection, the controller receives signals of a detection switch 1-7, controls the sucker 1-1 to suck a part/product, controls the gripper cylinder 3-5 to drive the sliding mechanical arm module 1 to move to a proper position, puts down the part/product, and returns the sliding mechanical arm module 1 to the initial position for reciprocating operation. In the two operation processes, the clamping cylinder 3-5 drives the sucking disc 1-1 connected with the clamping cylinder to reciprocate from the initial position to the terminal position (the initial position and the terminal position are defined by themselves), so that after the adjacent sucking discs 1-1 suck the parts/products at the initial interval, the parts/products are placed at the other position at the terminal interval under the adjustment of the clamping cylinder 3-5, in practical application, after the initial fine adjustment, the clamping cylinder 3-5 adjusts the distance between the adjacent manipulator modules according to the control signal of the controller only when the parts/products to be assembled/detected at the station are changed and the placing position/interval of the parts/products is changed, the sliding manipulator modules 1 are driven by arranging different power mechanisms, and a plurality of sliding manipulator modules 1 can be adjusted simultaneously, the invention provides a multi-station variable-pitch manipulator device, the control method of the whole device is various, the control method of the sliding manipulator module 1 in the production operation can also be various, the invention is not the focus of the invention, and the requirements and the limitations are not required, the foregoing provides only a few control examples, and the invention is not considered to be limited.
Furthermore, the mechanical arm for grabbing the parts/products adopts the sucker 1-1, only grabbing and placing operations are performed, in practical application, the mechanical arm can be replaced according to needs, such as any parts with similar functions, such as a clamping hand, a clamping jaw and the like, only taking and placing operations can be performed, and operations such as installation and the like can be performed under the driving of a power mechanism connected with the mechanical arm according to different configured mechanical arm structures.
In summary, compared with the prior art, the multi-station variable-pitch manipulator device provided by the invention has the advantages that the position of the manipulator module is effectively and electrically adjusted through the variable-pitch module according to the distance between each part/product to be grabbed, the lifting precision is high, time and labor are saved, the application range of the multi-station manipulator device is widened, the automation of picking and placing parts/products is realized, the production assembly/test efficiency is improved, and the product qualification rate is guaranteed.
Similar solutions can be derived as described above in connection with the given solution content. Any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the scope of the technical solution of the present invention without departing from the content of the technical solution of the present invention.
Claims (10)
1. The utility model provides a multistation displacement manipulator device, includes multiunit manipulator module, its characterized in that: at least one group of manipulator modules is fixed with the variable pitch module, the variable pitch module comprises a sliding mechanism, and the sliding mechanism is driven by a power mechanism to slide on the mounting bottom plate in a directional mode to adjust the distance between the adjacent manipulator modules.
2. A multi-station pitch robot apparatus according to claim 1, wherein: the sliding mechanism is connected with the power mechanism through a connecting plate.
3. A multi-station pitch robot apparatus according to claim 1, wherein: the sliding block mechanism comprises a sliding base and a sliding rail arranged on the mounting base plate, the sliding base spans the sliding rail, and the sliding base is driven by the power mechanism to slide directionally along the sliding rail to adjust the position of the corresponding manipulator module.
4. A multi-station pitch robot apparatus according to claim 1, wherein: the pitch module comprises a stop defining and/or fine-tuning an initial/end position of the pitch module.
5. A multi-station pitch robot apparatus according to claim 4, wherein: the stopper is including installing can be right on the mounting plate the buffer that pitch module initial position finely tuned and correspond the setting and be in buffer limiting plate on the pitch module.
6. A multi-station pitch robot apparatus according to claim 5, wherein: the buffer is a hydraulic buffer.
7. A multi-station pitch robot apparatus as claimed in any one of claims 1 to 6, wherein: and at least one group of manipulator modules in the adjacent manipulator modules is fixed with the variable pitch module.
8. A multi-station pitch robot apparatus according to claim 7, wherein: the power mechanism is arranged at the bottom of the fixing frame, one end of the connecting piece is fixed with the power mechanism, and the other end of the connecting piece is fixed with the variable pitch module.
9. A multi-station pitch robot apparatus according to claim 1, wherein: the power mechanism is a cylinder.
10. A multi-station pitch robot apparatus according to claim 1, wherein: the pitch module further comprises a detection switch.
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| CN202010029933.9A CN111168341A (en) | 2020-01-02 | 2020-01-02 | Multi-station variable-pitch manipulator device |
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| CN202010029933.9A CN111168341A (en) | 2020-01-02 | 2020-01-02 | Multi-station variable-pitch manipulator device |
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| CN111977053A (en) * | 2020-08-19 | 2020-11-24 | 天津华帅科技股份有限公司 | Soft bottle packing machine |
| CN113245806A (en) * | 2021-06-03 | 2021-08-13 | 成都秦川物联网科技股份有限公司 | Material taking manipulator |
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| CN111977053A (en) * | 2020-08-19 | 2020-11-24 | 天津华帅科技股份有限公司 | Soft bottle packing machine |
| CN111977053B (en) * | 2020-08-19 | 2022-05-03 | 天津华帅科技股份有限公司 | Soft bottle packing machine |
| CN113245806A (en) * | 2021-06-03 | 2021-08-13 | 成都秦川物联网科技股份有限公司 | Material taking manipulator |
| CN113245806B (en) * | 2021-06-03 | 2022-05-17 | 成都秦川物联网科技股份有限公司 | Material taking manipulator |
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