CN112173740A - High-speed double-position double-shaft grabbing and stacking device - Google Patents
High-speed double-position double-shaft grabbing and stacking device Download PDFInfo
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- CN112173740A CN112173740A CN202011243738.2A CN202011243738A CN112173740A CN 112173740 A CN112173740 A CN 112173740A CN 202011243738 A CN202011243738 A CN 202011243738A CN 112173740 A CN112173740 A CN 112173740A
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- cylinder
- moving
- flat plate
- grabbing
- seat
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
The invention provides a high-speed double-position double-shaft grabbing and stacking device which comprises a supporting frame, a transverse moving mechanism, a longitudinal moving mechanism and a grabbing mechanism, wherein the transverse moving mechanism comprises a first moving flat plate, a cylinder transition sliding seat, a first pushing cylinder and a second pushing cylinder, the first pushing cylinder drives the cylinder transition sliding seat to move, the second pushing cylinder is arranged on the cylinder transition sliding seat, and the second pushing cylinder can push the first moving flat plate to move; the longitudinal moving mechanism comprises a driving motor, a rack and a vertical supporting rod, the vertical supporting rod is arranged on the first moving flat plate in a penetrating mode, the rack is vertically and fixedly arranged on the vertical supporting rod, and the driving motor can drive the rack and the vertical supporting rod to synchronously move up and down; the grabbing mechanism comprises a second moving flat plate, a third pushing cylinder, a moving seat, a grabbing cylinder and an L-shaped workpiece grabbing hand. The stacking device is high in moving speed and long in service life.
Description
Technical Field
The invention relates to a high-speed double-position double-shaft grabbing and stacking device.
Background
The upgrading and transformation of factory automation equipment is a content which is important in the process of industrial upgrading and structural transformation of enterprises in recent years, and the upgrading and transformation of the automation equipment relates to a plurality of fields, wherein a mechanical arm is a key point of development, can simulate an arm of a person to make certain actions, grab and carry objects and operating tools according to a fixed program, can replace manual work in the fields to realize mechanization and automation of production and life, and protects personal safety in certain harmful environments, so that the automatic robot is widely applied to industrial production. However, some existing mechanical gripper devices are too complex in structure, and some mechanical gripper devices need many supporting facilities, training, installation and operation, so that the mechanical gripper devices are inconvenient to operate and high in cost. And the existing manipulator has the problems of low working efficiency and short service life.
Disclosure of Invention
The invention aims to provide a high-speed double-position double-shaft grabbing and stacking device which is high in moving speed and long in service life.
The technical scheme adopted by the invention for solving the technical problems is as follows: a high-speed double-position double-shaft grabbing and stacking device comprises a support frame, a transverse moving mechanism, a longitudinal moving mechanism and a grabbing mechanism, wherein the transverse moving mechanism comprises a first moving flat plate, a cylinder transition sliding seat, a first pushing cylinder and a second pushing cylinder, the first moving flat plate and the cylinder transition sliding seat are sequentially arranged on a sliding rail arranged on the support frame from left to right, the first pushing cylinder is fixedly arranged on the support frame and can drive the cylinder transition sliding seat to slide in a reciprocating mode, the left end of the second pushing cylinder is fixedly arranged on the cylinder transition sliding seat, the right end of the second pushing cylinder is arranged on the sliding rail arranged on the support frame, the second pushing cylinder is parallel to the first pushing cylinder, and the telescopic end of the second pushing cylinder is fixedly connected with the first moving flat plate; the longitudinal moving mechanism comprises a driving motor, a rack and a vertical supporting rod, the vertical supporting rod is arranged on the first moving flat plate in a penetrating mode, the rack is vertically and fixedly arranged on the vertical supporting rod, the driving motor is arranged on the first moving flat plate, a driving wheel meshed with the rack is arranged on an output shaft of the driving motor, and the rack and the vertical supporting rod can be driven to synchronously move up and down by the rotation of the driving wheel; the grabbing mechanism comprises a second moving flat plate, a third pushing cylinder, a moving seat, a grabbing cylinder and L-shaped workpiece grabs, the second moving flat plate is horizontally and fixedly arranged on the lower portion of the vertical supporting rod, the third pushing cylinder is fixedly arranged on the lower portion of the second moving flat plate, the moving seat is clamped on a fourth sliding rail arranged on the lower portion of the second moving flat plate, the movable end of the third pushing cylinder is fixedly connected with the moving seat, the moving seat is driven by the third pushing cylinder to move left and right on the second moving flat plate, the grabbing cylinder is fixedly arranged in the moving seat, the two L-shaped workpiece grabs are oppositely arranged on the grabbing cylinder, and the two L-shaped workpiece grabs can move oppositely through the driving of the grabbing cylinder.
Preferably, a rodless cylinder located at the rear side of the vertical support rod is arranged on the first movable flat plate, the rodless cylinder penetrates through the first movable flat plate, and the upper end of the vertical support rod is connected with a movable sliding block of the rodless cylinder.
Furthermore, two limiting blocks which are respectively positioned at the left side and the right side of the moving seat are arranged at the lower part of the second moving flat plate.
Preferably, each L-shaped workpiece gripper comprises a ] -shaped plate, the middle of the ] -shaped plate is fixedly connected with the gripper cylinder, the end parts of two side bars of the ] -shaped plate are respectively provided with an L-shaped connecting rod, the L-shaped connecting rods are fixedly connected with the side bars of the ] -shaped plate through a connecting block, the upper part of the connecting block is clamped on the corresponding fourth slide rail, the vertical bars of the two L-shaped connecting rods are respectively provided with a first fixing seat and a second fixing seat, and the first fixing seat and the second fixing seat are respectively provided with a gripper.
Furthermore, two groups of mounting hole groups for mounting and fixing the clamping jaws are arranged on the first fixing seat, each group of mounting hole groups comprises a positioning hole and a long circular hole, and the positioning holes are located above the long circular holes.
The invention has the beneficial effects that: the invention has simple structure, convenient processing and manufacturing and long service life; in the transverse moving process, the transverse moving speed of the manipulator is 2 times of the normal moving speed through the synchronous action of the first pushing cylinder and the second pushing cylinder, so that the stacking, grabbing and moving efficiency is greatly improved; in the longitudinal movement, a rodless cylinder is used as an auxiliary guide rod, so that the movement is flexible, and the up-and-down movement is more stable; the grabbing position of the L-shaped workpiece gripper can be changed according to requirements by utilizing the pushing action of the third pushing cylinder, and then the working requirements of different grabbing and placing position requirements are met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are part of the preferred embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a bottom side view of the present invention;
FIG. 3 is a side view of the overall construction of the grasping mechanism;
FIG. 4 is an enlarged view taken at A in FIG. 1;
FIG. 5 is an enlarged view of FIG. 1 at B;
FIG. 6 is an enlarged view at C of FIG. 2;
in the figure: 1 support frame, 11 first slide rail, 21 first movable flat plate, 211 connecting seat, 22 air cylinder transition sliding seat, 221 pressing plate, 23 first push air cylinder, 24 second push air cylinder, 241 second slide rail, 31 driving motor, 311 driving wheel, 32 rack, 33 vertical supporting rod, 331 third slide rail, 34 rodless air cylinder, 341 upper fixing frame, 342 lower fixing frame, 343 movable sliding block, 41 second movable flat plate, 411 fourth slide rail, 42 third push air cylinder, 43 movable seat, 44 gripper air cylinder, 45L-shaped workpiece gripper, 451] shaped plate, 452L-shaped connecting rod, 453 connecting block, 454 first fixing seat, 4541 positioning hole, 4542 slotted hole, 455 second fixing seat, 456 gripper and 46 limiting block.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the specific embodiments and accompanying drawings 1-6, and it is obvious that the described embodiments are only a part of the preferred embodiments of the present invention, and not all embodiments. Those skilled in the art can make similar modifications without departing from the spirit of the invention, and therefore the invention is not limited to the specific embodiments disclosed below.
The invention provides a high-speed double-position double-shaft grabbing and stacking device (as shown in figure 1), which comprises a support frame 1, a transverse moving mechanism, a longitudinal moving mechanism and a grabbing mechanism, wherein the transverse moving mechanism comprises a first moving flat plate 21, an air cylinder transition sliding seat 22, a first pushing air cylinder 23 and a second pushing air cylinder 24, the first moving flat plate 21 and the air cylinder transition sliding seat 22 are sequentially arranged on a sliding rail arranged on the support frame 1 from left to right, specifically, first sliding rails 11 are arranged on the front side and the rear side of the support frame 1, the front side and the rear side of the lower part of the first moving flat plate 21 and the air cylinder transition sliding seat 22 are clamped on the first sliding rail 11, the first moving flat plate 21 and the air cylinder transition sliding seat 22 can freely and flexibly slide on the first sliding rail 11, the first pushing air cylinder 23 is fixedly arranged on the support frame 1, and the first pushing air cylinder 23 can drive the air cylinder transition sliding seat 22 to slide back and, the left end of the second pushing cylinder 24 is fixedly arranged on the cylinder transition sliding seat 22, specifically, the left end of the second pushing cylinder 24 is sleeved in a through groove on the cylinder transition sliding block 22, a pressing plate 221 for pressing the second pushing cylinder 24 is arranged on the cylinder transition sliding seat 22, the right end of the second pushing cylinder 24 is arranged on a second sliding rail 241 arranged on the supporting frame 1, the second pushing cylinder 24 can be driven by the movement of the cylinder transition sliding seat 22 to smoothly slide along the second sliding rail 241, the second pushing cylinder 24 is parallel to the first pushing cylinder 23, the telescopic end of the second pushing cylinder 24 is fixedly connected with the first moving flat plate 21, specifically, the telescopic end of the second pushing cylinder 24 is fixedly connected with a connecting seat 211 arranged on the first moving flat plate 21, in practical application, the first pushing cylinder 23 and the second pushing cylinder 24 synchronously move, the action of the first pushing cylinder 23 drives the second pushing cylinder 24 to move, and the action of the second pushing cylinder 24 drives the first moving plate 21 to move, so that the moving speed of the first moving plate 21 relative to the support frame 1 is twice of the pushing speed of the first pushing cylinder 23 or the second pushing cylinder 24 (the pushing speeds of the first pushing cylinder 23 and the second pushing cylinder 24 are the same).
The longitudinal moving mechanism comprises a driving motor 31, a rack 32 and a vertical supporting rod 33, the vertical supporting rod 33 is penetratingly arranged on the first moving plate 21, specifically, a third slide rail 331 is respectively arranged at the left side and the right side of the vertical supporting rod 33, the third slide rail 331 is clamped in a guide clamping seat arranged on the first moving plate 21, the rack 32 is vertically and fixedly arranged on the vertical supporting rod 33, the driving motor 31 is arranged on the first moving plate 21, a driving wheel 311 meshed with the rack 32 is arranged on an output shaft of the driving motor 31, the driving wheel 311 rotates to drive the rack 32 and the vertical supporting rod 33 to synchronously move up and down, in practical application, in order to improve the up-and-down movement stability of the vertical supporting rod 33, a rodless cylinder 34 positioned at the rear side of the vertical supporting rod 33 is arranged on the first moving plate 21, the left side, the right side and the rear side of the vertical support rod 33 are supported, so that the stable up-and-down motion of the vertical support rod 33 is ensured, the rodless cylinder 34 penetrates through the first movable flat plate 21, the upper part of the rodless cylinder 34 is fixedly supported through an upper fixing frame 341 arranged on the upper part of the first movable flat plate 21, the lower part of the rodless cylinder 34 is fixedly supported through a lower fixing frame 342 arranged on the lower part of the first movable flat plate 21, and the upper end of the vertical support rod 33 is connected with a movable sliding block 343 of the rodless cylinder 34.
The gripping mechanism comprises a second moving plate 41, a third pushing cylinder 42, a moving seat 43, a gripper cylinder 44 and L-shaped workpiece grippers 45, the second moving plate 41 is horizontally and fixedly arranged at the lower part of the vertical support rod 33, the third pushing cylinder 42 is fixedly arranged at the lower part of the second moving plate 41, the moving seat 43 is clamped on a fourth slide rail 411 arranged at the lower part of the second moving plate 41, the movable end of the third pushing cylinder 42 is fixedly connected with the moving seat 43, the moving seat 43 is driven by the third pushing cylinder 42 to move left and right on the second moving plate 41, the gripper cylinder 44 is fixedly arranged in the moving seat 43, the gripper cylinder 44 is a product known in the art, so that the relative structure of the gripper cylinder 44 is not described in detail herein, and the two L-shaped workpiece grippers 45 are oppositely arranged on the gripper cylinder 44, through the drive of tongs cylinder 44, can realize two L shape work piece tongs 45's relative motion, through the pushing action of third promotion cylinder 42, can realize the snatching of two L shape work piece tongs 45's different positions, do benefit to the snatching demand of piling up of satisfying different stations then, promote the cylinder 42 at the third and promote the slip in-process of removing seat 43, for the transition of restriction removal seat 43 shifts, here, is provided with two in the lower part of second removal flat board 21 and is located respectively remove the stopper 46 of the seat 43 left and right sides.
In this embodiment, the L-shaped workpiece gripper 45 is implemented as follows: each L-shaped workpiece gripper 45 comprises a ] -shaped plate 451, the middle part of the ] -shaped plate 451 is fixedly connected with the gripper cylinder 44, an L-shaped connecting rod 452 is arranged at the end part of each of the two side rods of the ] -shaped plate 451, the L-shaped connecting rod 452 is fixedly connected with the side rods of the ] -shaped plate 451 through a connecting block 453, the upper part of the connecting block 453 is clamped on the corresponding fourth slide rail 411 and clamped on the fourth slide rail 411 through the connecting block 453, so that the L-shaped workpiece gripper 45 can stably and reliably move in the action process, a first fixed seat 454 and a second fixed seat 455 are respectively arranged on the vertical rod of the two L-shaped connecting rods 452, a claw 456 is respectively arranged on the first fixed seat 454 and the second fixed seat 455, in practical application, in order to adapt to the structural form of some workpieces, so as to facilitate the four claws 456 to stably grip the workpieces, two sets of mounting holes for mounting and fixing the clamping jaw 456 are arranged on the first fixed seat 454, each set of mounting holes comprises a positioning hole 4541 and an elongated hole 4542, the positioning hole 4541 is located above the elongated hole 4542, and the position of the clamping jaw 456 on the first fixed seat 454 is changed by changing the mounting of the clamping jaw 456 on different sets of mounting holes, so that the clamping jaw 456 can grab a workpiece.
In the present invention, "upper", "lower", "front", "rear", "left" and "right" are relative positions used for convenience in describing positional relationships, and therefore, should not be interpreted as absolute positions as limiting the scope of protection.
In addition to the technical features described in the specification, the technology is known to those skilled in the art.
While the preferred embodiments and examples of the present invention have been described in detail, it will be apparent to those skilled in the art that the invention is not limited thereto, and that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (5)
1. A high-speed double-position double-shaft grabbing and stacking device is characterized by comprising a support frame, a transverse moving mechanism, a longitudinal moving mechanism and a grabbing mechanism, the transverse moving mechanism comprises a first moving flat plate, a cylinder transition sliding seat, a first pushing cylinder and a second pushing cylinder, the first movable flat plate and the air cylinder transition sliding seat are sequentially arranged on a sliding rail arranged on the supporting frame from left to right, the first pushing air cylinder is fixedly arranged on the supporting frame, the first pushing cylinder can drive the cylinder transition sliding seat to slide in a reciprocating manner, the left end of the second pushing cylinder is fixedly arranged on the cylinder transition sliding seat, the right end of the second pushing cylinder is arranged on a sliding rail arranged on the supporting frame, the second pushing cylinder is parallel to the first pushing cylinder, and the telescopic end of the second pushing cylinder is fixedly connected with the first movable flat plate; the longitudinal moving mechanism comprises a driving motor, a rack and a vertical supporting rod, the vertical supporting rod is arranged on the first moving flat plate in a penetrating mode, the rack is vertically and fixedly arranged on the vertical supporting rod, the driving motor is arranged on the first moving flat plate, a driving wheel meshed with the rack is arranged on an output shaft of the driving motor, and the rack and the vertical supporting rod can be driven to synchronously move up and down by the rotation of the driving wheel; the grabbing mechanism comprises a second moving flat plate, a third pushing cylinder, a moving seat, a grabbing cylinder and L-shaped workpiece grabs, the second moving flat plate is horizontally and fixedly arranged on the lower portion of the vertical supporting rod, the third pushing cylinder is fixedly arranged on the lower portion of the second moving flat plate, the moving seat is clamped on a fourth sliding rail arranged on the lower portion of the second moving flat plate, the movable end of the third pushing cylinder is fixedly connected with the moving seat, the moving seat is driven by the third pushing cylinder to move left and right on the second moving flat plate, the grabbing cylinder is fixedly arranged in the moving seat, the two L-shaped workpiece grabs are oppositely arranged on the grabbing cylinder, and the two L-shaped workpiece grabs can move oppositely through the driving of the grabbing cylinder.
2. The high-speed double-position double-shaft grabbing and stacking device as claimed in claim 1, wherein a rodless cylinder is arranged on the first movable flat plate and behind the vertical support rod, the rodless cylinder penetrates through the first movable flat plate, and the upper end of the vertical support rod is connected with a movable sliding block of the rodless cylinder.
3. The high-speed double-position double-shaft grabbing and stacking device as claimed in claim 2, wherein two limiting blocks are arranged at the lower part of the second movable flat plate and are respectively positioned at the left side and the right side of the movable seat.
4. The high-speed double-position double-shaft grabbing and stacking device as claimed in claim 1, wherein each L-shaped workpiece gripper comprises a ] -shaped plate, the middle of the ] -shaped plate is fixedly connected with a gripper cylinder, an L-shaped connecting rod is arranged at each end of each of two side rods of the ] -shaped plate, the L-shaped connecting rod is fixedly connected with the side rods of the ] -shaped plate through a connecting block, the upper portion of the connecting block is clamped on the corresponding fourth slide rail, a first fixing seat and a second fixing seat are respectively arranged on the vertical rods of the two L-shaped connecting rods, and a gripper is respectively arranged on the first fixing seat and the second fixing seat.
5. The high-speed double-position double-shaft grabbing and stacking device as claimed in claim 4, wherein two sets of mounting holes for mounting and fixing the clamping jaws are arranged on the first fixing seat, each set of mounting holes comprises a positioning hole and a long circular hole, and the positioning hole is located above the long circular hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011243738.2A CN112173740A (en) | 2020-11-10 | 2020-11-10 | High-speed double-position double-shaft grabbing and stacking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011243738.2A CN112173740A (en) | 2020-11-10 | 2020-11-10 | High-speed double-position double-shaft grabbing and stacking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112173740A true CN112173740A (en) | 2021-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011243738.2A Pending CN112173740A (en) | 2020-11-10 | 2020-11-10 | High-speed double-position double-shaft grabbing and stacking device |
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| CN (1) | CN112173740A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0605306A1 (en) * | 1992-12-28 | 1994-07-06 | Sony Corporation | Industrial robot for removing a molding from a molding machine |
| JP2000052180A (en) * | 1998-07-31 | 2000-02-22 | Honda Motor Co Ltd | Work transfer device |
| CN202952581U (en) * | 2012-11-23 | 2013-05-29 | 烟台孚瑞克森汽车部件有限公司 | Brake pad automatic blanking mechanical hand |
| CN104960932A (en) * | 2015-06-26 | 2015-10-07 | 洛阳中冶重工机械有限公司 | Stacking machine |
| CN205076492U (en) * | 2015-10-26 | 2016-03-09 | 西安同欣电热设备有限公司 | Ihgot metal automation ihgot metal air jig for pile up neatly |
| CN208182166U (en) * | 2018-04-25 | 2018-12-04 | 宁夏工商职业技术学院（宁夏化工技工学校、宁夏机电工程学校、宁夏农业机械化学校） | A kind of jaw means |
| CN109335663A (en) * | 2018-11-26 | 2019-02-15 | 无锡巨同创科技有限公司 | Three coordinate transfer devices of take-up reel |
-
2020
- 2020-11-10 CN CN202011243738.2A patent/CN112173740A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0605306A1 (en) * | 1992-12-28 | 1994-07-06 | Sony Corporation | Industrial robot for removing a molding from a molding machine |
| JP2000052180A (en) * | 1998-07-31 | 2000-02-22 | Honda Motor Co Ltd | Work transfer device |
| CN202952581U (en) * | 2012-11-23 | 2013-05-29 | 烟台孚瑞克森汽车部件有限公司 | Brake pad automatic blanking mechanical hand |
| CN104960932A (en) * | 2015-06-26 | 2015-10-07 | 洛阳中冶重工机械有限公司 | Stacking machine |
| CN205076492U (en) * | 2015-10-26 | 2016-03-09 | 西安同欣电热设备有限公司 | Ihgot metal automation ihgot metal air jig for pile up neatly |
| CN208182166U (en) * | 2018-04-25 | 2018-12-04 | 宁夏工商职业技术学院（宁夏化工技工学校、宁夏机电工程学校、宁夏农业机械化学校） | A kind of jaw means |
| CN109335663A (en) * | 2018-11-26 | 2019-02-15 | 无锡巨同创科技有限公司 | Three coordinate transfer devices of take-up reel |
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Application publication date: 20210105 |
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