CN114589679A

CN114589679A - Fetching and placing manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion

Info

Publication number: CN114589679A
Application number: CN202210495848.0A
Authority: CN
Inventors: 张志伟; 谭健; 郭健华; 李文意
Original assignee: Foshan Plastics Group Co ltd Raypoly Branch
Current assignee: Foshan Plastics Group Co ltd Raypoly Branch
Priority date: 2022-05-09
Filing date: 2022-05-09
Publication date: 2022-06-07
Anticipated expiration: 2042-05-09
Also published as: CN114589679B

Abstract

The invention provides a pick-and-place manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion, which relates to the field of manipulators and comprises: the device comprises an installation shell, an interval driving mechanism, a telescopic mechanism, a rotating mechanism and a clamping mechanism; the interval driving mechanism comprises a motor, one-way bearings and a driving gear, the motor is mounted on the mounting shell, two one-way bearings are mounted on a driving shaft of the motor, and the driving gear is mounted on each of the two one-way bearings; the telescopic mechanism comprises a connecting shaft, a first driven gear, a first reciprocating screw rod and a driving arm. The manipulator for taking and placing the silicone-acrylic emulsion gamma-ray radiation polymerization provided by the invention can be realized by one drive through arranging the interval driving mechanism, matching the first reciprocating screw rod and the second reciprocating screw rod through the one-way bearing and controlling the forward and reverse rotation of the motor, so that the telescopic adjustment of the clamping mechanism and the opening and closing of the clamping claws can be controlled independently, a plurality of groups of drives are not required, and the manipulator is more energy-saving and environment-friendly.

Description

Fetching and placing manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion

Technical Field

The invention relates to the field of manipulators, in particular to a pick-and-place manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion.

Background

The acrylic acid solution has excellent weather resistance and film forming property, the raw materials are rich in sources, the cost is relatively low, the defects of sensitivity to temperature and cold brittleness and hot adhesiveness are overcome, and the organic silicon has excellent heat resistance, low temperature resistance, hydrophobicity and air permeability, and the two are combined to prepare the material with the excellent performances of the two.

The acrylic acid solution and the organic silicon are used for preparing the silicone-acrylate emulsion, gamma-ray radiation polymerization is needed in the industry, and due to the fact that the radiation amount is large and manual operation is not allowed, a manipulator is needed to be used for turning over products to be radiated and the like in the polymerization process, and the radiation is more sufficient.

The manipulator that uses at present needs to promote the gripper jaw antedisplacement through telescopic machanism, treats that the centre gripping work piece is located the back between the gripper jaw, drives the gripper jaw through the driving piece and will treat that the centre gripping work piece is pressed from both sides tightly, then carries out follow-up operation, and the flexible of arm and the centre gripping of gripper jaw need multiunit drive device usually, consumes more electric energy.

Therefore, there is a need to provide a pick-and-place manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion to solve the above technical problems.

Disclosure of Invention

The invention provides a pick-and-place manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion, which solves the problems that the pick-and-place manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion needs a plurality of groups of driving devices for stretching of the manipulator and clamping of clamping claws, and consumes more electric energy.

In order to solve the technical problem, the invention provides a pick-and-place manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion, which comprises:

mounting a shell;

the interval driving mechanism comprises a motor, one-way bearings and a driving gear, the motor is mounted on the mounting shell, two one-way bearings are mounted on a driving shaft of the motor, and the driving gear is mounted on each of the two one-way bearings;

the telescopic mechanism comprises a connecting shaft, a first driven gear, a first reciprocating screw rod and a driving arm, wherein the first driven gear is arranged on the surface of the connecting shaft and is meshed with one driving gear, the first reciprocating screw rod is fixed at one end of the connecting shaft, and one end of the driving arm is in threaded connection with the first reciprocating screw rod;

the rotating mechanism comprises a driving shaft, a second driven gear and a telescopic arm, the second driven gear is fixed on the surface of the driving shaft and is meshed with the other driving gear, and one end of the telescopic arm is fixed at one end of the driving shaft;

the clamping mechanism comprises a mounting box, a second reciprocating screw rod, a threaded block and a clamping claw, wherein the second reciprocating screw rod is symmetrically and rotatably connected inside the mounting box, the threaded block is in threaded connection with the second reciprocating screw rod, and one end of the clamping claw penetrates through the mounting box through a strip-shaped groove and then is connected with the threaded block;

the other end of the driving arm penetrates through the mounting shell and then is connected with the mounting box, and the other end of the telescopic arm is in transmission connection with the second reciprocating screw rod through a transmission piece.

Preferably, one end of the driving shaft and one end of the connecting shaft are rotatably connected to the mounting shell and located on two sides of the driving shaft.

Preferably, the driving arm comprises a nut and a pushing sleeve, and the nut is fixed at one end of the pushing sleeve.

Preferably, the telescopic arm comprises a square shaft and a sleeve, the square shaft is fixed at one end of the driving shaft, the sleeve is sleeved on the surface of the square shaft, one end of the sleeve is rotatably connected with the mounting box, and one end of the sleeve penetrates through the mounting box and extends to the inside of the mounting box.

Preferably, the transmission part comprises a worm wheel and a worm, the worm is fixed at one end of the sleeve and located inside the mounting box, the two second reciprocating screw rods are connected through a connecting shaft, the worm wheel is mounted on the surface of the connecting shaft, and the worm wheel is meshed with the worm.

Preferably, still include the mounting bracket, fixed mounting has the telescoping cylinder on the mounting bracket, the inside of mounting bracket is provided with the connecting plate, installation shell sliding connection in on the connecting plate, tilting mechanism is installed to the one end of installation shell, tilting mechanism includes the axis of rotation, the surface mounting of axis of rotation has the bearing frame, the one end of the output shaft of telescoping cylinder with bearing frame fixed mounting.

Preferably, tilting mechanism still drives the gear, it is fixed in to drive the gear in the axis of rotation, the internally mounted of mounting bracket has rotatory driving piece, rotatory driving piece includes strip shaped plate and tooth portion, the strip shaped plate is close to one side that drives the gear and is located the top that drives the gear and be provided with tooth portion.

Preferably, the inside of installation shell is provided with height adjusting mechanism, height adjusting mechanism includes leading wheel, haulage rope, locating lever and elastic component, the locating lever is fixed in the bottom of mounting bracket inner wall, connecting plate sliding connection in on the locating lever, the elastic component cover is located the surface of locating lever and be located the below of connecting plate, the leading wheel install in the bottom of mounting bracket inner wall, the one end of haulage rope is fixed in on the connecting plate, the other end of haulage rope walk around the leading wheel and run through behind the connecting plate with bearing frame fixed connection.

Preferably, the axis of rotation includes spliced pole, connecting rod and rectangle axle, the spliced pole is fixed in on the installation shell, the bearing frame install in on the spliced pole, it is fixed in to drive the gear on the connecting rod, the rectangle axle is fixed in the one end of connecting rod, the rectangle chamber has been seted up to the one end of spliced pole, the rectangle axle extends to the inside in rectangle chamber.

Preferably, the one end of mounting box pass through the connecting piece with the connecting rod is connected, the connecting piece includes dead lever and linking arm, the linking arm is fixed in the other end of connecting rod, the one end of dead lever is fixed in on the linking arm, just the other end of dead lever is fixed in on the mounting box.

Compared with the prior art, the pick-and-place manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion provided by the invention has the following beneficial effects:

the invention provides a pick-and-place manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion, which can independently control the telescopic adjustment of a clamping mechanism and the opening and closing of clamping claws by arranging an interval driving mechanism, matching a first reciprocating screw rod and a second reciprocating screw rod through a one-way bearing and controlling the forward and reverse rotation of a motor.

Drawings

Fig. 1 is a schematic structural diagram of a first embodiment of a pick-and-place manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion according to the present invention;

FIG. 2 is a schematic view of the internal structure shown in FIG. 1;

FIG. 3 is a side view of the ensemble shown in FIG. 2;

FIG. 4 is a partial cross-sectional view of the telescoping mechanism shown in FIG. 2;

FIG. 5 is a partial cross-sectional view of the rotating mechanism shown in FIG. 2;

FIG. 6 is a schematic structural diagram of a pick-and-place manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion according to a second embodiment of the present invention;

fig. 7 is a schematic structural diagram of a third embodiment of a pick-and-place manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion according to the present invention;

fig. 8 is a schematic structural diagram of a fourth embodiment of a pick-and-place manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion according to the present invention;

fig. 9 is a schematic view showing a structure in which the rotating shaft shown in fig. 8 is separated.

Reference numbers in the figures:

1. the mounting of the housing is carried out,

2. an interval driving mechanism 21, a motor 22, a driving shaft 23, a one-way bearing 24 and a driving gear,

3. a telescoping mechanism 31, a connecting shaft 32, a first driven gear 33, a first reciprocating screw rod 34, a nut 35 and a pushing sleeve,

4. a rotating mechanism 41, a driving shaft 42, a second driven gear 43, a square shaft 44 and a sleeve,

5. a clamping mechanism 51, a mounting box 52, a second reciprocating screw rod 53, a thread block 54, a clamping claw 55, a strip-shaped groove,

6. a transmission piece, 61, a worm wheel, 62, a worm,

7. a mounting frame is arranged on the base plate,

8. the telescopic cylinder is provided with a telescopic cylinder,

9. a turnover mechanism 91, a rotating shaft 92, a driving gear,

10. a bearing seat is arranged on the bearing seat,

11. a rotary driving piece 111, a strip-shaped plate 112, a tooth part,

12. a connecting plate is arranged on the upper surface of the connecting plate,

13. a sliding sleeve, 14 and a sliding rail,

15. a height adjusting mechanism 151, a guide wheel 152, a traction rope 153, a positioning rod 154, an elastic piece,

16. a connecting piece 161, a connecting arm 162 and a fixing rod,

911. connecting post, 912, rectangular cavity, 913, connecting rod, 914, rectangular shaft.

Detailed Description

The invention is further described with reference to the following figures and embodiments.

First embodiment

Referring to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, wherein fig. 1 is a schematic structural diagram of a first embodiment of a pick-and-place manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion according to the present invention; FIG. 2 is a schematic view of the internal structure shown in FIG. 1; FIG. 3 is a side view of the ensemble shown in FIG. 2; FIG. 4 is a partial cross-sectional view of the telescoping mechanism shown in FIG. 2; fig. 5 is a partial cross-sectional view of the rotating mechanism shown in fig. 2. A pick-and-place manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion, comprising:

mounting the housing 1;

the interval driving mechanism 2 comprises a motor 21, one-way bearings 23 and a driving gear 24, the motor 21 is mounted on the mounting shell 1, two one-way bearings 23 are mounted on a driving shaft 22 of the motor 21, and the driving gear 24 is mounted on each of the two one-way bearings 23;

the telescopic mechanism 3 comprises a connecting shaft 31, a first driven gear 32, a first reciprocating screw rod 33 and a driving arm, wherein the first driven gear 32 is installed on the surface of the connecting shaft 31, the first driven gear 32 is meshed with one driving gear 24, the first reciprocating screw rod 33 is fixed at one end of the connecting shaft 31, and one end of the driving arm is in threaded connection with the first reciprocating screw rod 33;

a rotating mechanism 4, wherein the rotating mechanism 4 comprises a driving shaft 41, a second driven gear 42 and a telescopic arm, the second driven gear 42 is fixed on the surface of the driving shaft 41, the second driven gear 42 is meshed with the other driving gear 24, and one end of the telescopic arm is fixed on one end of the driving shaft 41;

the clamping mechanism 5 comprises a mounting box 51, a second reciprocating screw rod 52, a thread block 53 and a clamping claw 54, the second reciprocating screw rod 52 is symmetrically and rotatably connected inside the mounting box 51, the thread block 53 is in threaded connection with the second reciprocating screw rod 52, and one end of the clamping claw 54 penetrates through the mounting box 51 through a strip-shaped groove 55 and then is connected with the thread block 53;

the other end of the driving arm penetrates through the mounting shell 1 and then is connected with the mounting box 51, and the other end of the telescopic arm is in transmission connection with the second reciprocating screw rod 52 through the transmission piece 6.

As a preferable mode, when the motor 21 drives the driving shaft 22 to rotate clockwise, the driving shaft 22 can drive the driving gear 24 thereon to rotate through the one-way bearing 23 located at the inner side, and at this time, the one-way bearing 23 located at the outer side cannot drive the driving gear 24 located thereon to rotate, and when the one-way bearing 23 rotates counterclockwise, the directions of driving the outer ring to rotate are opposite;

wherein a first reciprocating screw rod 33 and a second reciprocating screw rod 52 are arranged, and a nut 34 and a thread block 53 can move transversely along the first reciprocating screw rod 33 and the second reciprocating screw rod 52 in a reciprocating way;

the nuts 34 are located at the two ends of the first reciprocating screw rod 33, namely the retracting point and the extending maximum position of the clamping mechanism 5, and similarly, the two endpoints of the reciprocating thread on the surface of the second reciprocating screw rod 52 are the closest point and the farthest point when the two clamping claws 54 move to the opposite positions, namely the closest point clamps the workpiece to be clamped, wherein the lengths of the first reciprocating screw rod 33 and the second reciprocating screw rod 52 are specifically and correspondingly set according to the position distance and the size of the workpiece to be clamped;

the inner surface of the clamping claw 54 is provided with a rubber pad, so that the stability during clamping is improved;

the stroke of the nut 34 and the stroke of the clamping jaw 54 can be controlled by a photoelectric switch to control the start and stop of the motor 21 or a servo motor is adopted by the motor 21, the stroke distance is controlled by a PLC, the output shaft of the motor 21 can rotate in the forward and reverse directions, and the driving shaft 22 is fixedly connected with the output shaft of the motor 21 through a coupler.

One ends of the driving shaft 41 and the connecting shaft 31 are rotatably connected to the mounting case 1 and located at both sides of the driving shaft 22.

The driving arm comprises a nut 34 and a pushing sleeve 35, and the nut 34 is fixed at one end of the pushing sleeve 35.

The telescopic arm comprises a square shaft 43 and a sleeve 44, the square shaft 43 is fixed at one end of the driving shaft 41, the sleeve 44 is sleeved on the surface of the square shaft 43, one end of the sleeve 44 is rotatably connected with the mounting box 51, and one end of the sleeve 44 penetrates through and extends into the mounting box 51.

The sleeve 44 has a rectangular cavity formed therein to fit the square shaft 43.

The transmission member 6 comprises a worm wheel 61 and a worm 62, the worm 62 is fixed at one end of the sleeve 44 and is located inside the mounting box 51, the two second reciprocating screw rods 52 are connected through a connecting shaft, the worm wheel 61 is mounted on the surface of the connecting shaft, and the worm wheel 61 is meshed with the worm 62.

Wherein the connecting shaft is fixedly connected with the two second reciprocating screw rods 52, and when the connecting shaft drives the two second reciprocating screw rods 52 to rotate, the two thread blocks 53 move towards the separated side or the opposite side, thereby driving the two clamping claws 54 to open or close.

Alternatively, the transmission member 6 may also be provided with a plurality of bevel gears cooperating with the transmission shaft to drivingly connect the sleeve 44 with the connecting shaft.

The number of the strip-shaped grooves 55 is two, the two strip-shaped grooves are symmetrically formed in the front side of the mounting box 51, one end of each clamping claw 54 is connected with a fixing arm, the fixing arms penetrate through the strip-shaped grooves 55 to be connected with the thread blocks 53, the height of the cross sections of the fixing arms is the same as the height of groove cavities of the strip-shaped grooves 55, and the strip-shaped grooves 55 can limit the axial direction of the thread blocks 53 in a matching mode with the fixing arms;

wherein, one side of the mounting shell 1 is correspondingly provided with a square hole and a circular hole which are matched with the pushing sleeve 35 and the sleeve 44, and the pushing sleeve 35 and the sleeve 44 respectively penetrate through one side of the mounting shell through the square hole and the circular hole;

the pushing sleeve 35 is of a square structure;

circular retaining rings are arranged on the surface of the sleeve 44 and on two sides of the wall of the mounting box 51, so that the sleeve is rotatably matched, and a bearing is preferably arranged on the surface of the sleeve 44 and at the penetrating position of the mounting box 51.

The working principle of the pick-and-place manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion provided by the invention is as follows:

when clamping a workpiece to be clamped, the clamping mechanism 5 is first adjusted to advance, so that the workpiece to be clamped is located between the two clamping jaws 54, and during specific adjustment:

s11: the motor 21 is controlled to rotate clockwise, and the driving shaft 22 drives the first driven gear 32 to rotate by matching with the driving gear 24 through the one-way bearing 23 positioned at the inner side;

s12: the second driven gear 32 drives the first reciprocating screw rod 33 to rotate to act with the nut 34, as shown in fig. 2, at this time, the nut 34 moves to the right side along the first reciprocating screw rod 33, at this time, the pushing sleeve 35 pushes the clamping mechanism 5 to advance, when the nut 34 moves to the end of the first reciprocating screw rod 33, at this time, the motor 21 stops, when the first reciprocating screw rod 33 rotates again, at this time, the nut 34 moves to the left side along the first reciprocating screw rod 33, and at this time, the workpiece to be clamped is located between the two clamping claws 54;

when treating the centre gripping work piece and carry out the centre gripping, concrete operation does:

s21: at the moment, the control motor 21 rotates anticlockwise, at the moment, the driving shaft drives the driving gear 24 to rotate through the one-way bearing 23 positioned on the outer side, so as to drive the second driven gear 42 to rotate, and at the moment, the driving shaft 41 drives the sleeve 44 to rotate through the square shaft 43;

s22: the sleeve 44 drives the worm 62 to rotate, so as to drive the worm wheel 61 to rotate, so as to drive the two second reciprocating screw rods 52 to rotate, as shown in fig. 3, at this time, the two clamping claws 54 move to opposite sides to clamp the workpiece to be clamped, at this time, the thread block 53 moves to the innermost end of the second reciprocating screw rod 52, namely, the innermost end close to the worm wheel 61, at this time, the motor 21 stops, and clamping is completed;

wherein, the clamping mechanism 5 can be driven to pull back by clockwise rotation of the motor 21 again, and similarly, the motor 21 rotates anticlockwise again, and the two clamping claws 54 are opened;

wherein the mounting box 51 drives the sleeve 44 to slide along the surface of the square shaft 43 when the pushing sleeve 35 moves along the first reciprocating screw 33.

through setting up interval actuating mechanism 2, through one-way bearing 23, the first reciprocal lead screw 33 of cooperation and the reciprocal lead screw 52 of second, through the forward and reverse rotation of control motor 21 to can the independent control fixture 5 flexible regulation, and gripper jaw 54 opens and shuts, can realize through a drive, need not set up multiunit drive, more energy-concerving and environment-protective.

Second embodiment

Referring to fig. 6, a second embodiment of the present application provides a pick-and-place robot for gamma-ray polymerization of silicone-acrylic emulsion, which is different in that:

still include mounting bracket 7, fixed mounting has telescopic cylinder 8 on mounting bracket 7, mounting bracket 7's inside is provided with connecting plate 12, 1 sliding connection of installation shell in on the connecting plate 12, tilting mechanism 9 is installed to the one end of installation shell 1, tilting mechanism 9 includes axis of rotation 91, the surface mounting of axis of rotation 91 has bearing frame 10, the one end of telescopic cylinder 8's output shaft with 10 fixed mounting of bearing frame.

The bearing frame 10 includes bearing and outside mount pad, and the outside of mount pad is square cover, and telescoping cylinder 8 can be cylinder, pneumatic cylinder or electronic jar, and wherein the flexible volume of opening and flexible of telescoping cylinder 8 is preferred to be passed through PLC control system automatic control, and can cooperate photoelectric switch etc..

Tilting mechanism 9 still includes driving gear 92, it is fixed in to drive gear 92 on the axis of rotation 91, the internally mounted of mounting bracket 7 has rotatory driving piece 11, rotatory driving piece 11 includes strip shaped plate 111 and tooth portion 112, strip shaped plate 111 is close to one side that drives gear 92 and is located the top that drives gear 92 and is provided with tooth portion 112.

The bottom of installation shell 1 is provided with sliding sleeve 13, and connecting plate 12 upside is provided with slide rail 14, and sliding sleeve 13 overlaps on slide rail 14, through setting up sliding sleeve 13 and slide rail 14, can be spacing to the axial of installation shell 1, and when the centre gripping work piece was treated in the upset, fixture 5 can be more stable flexible and centre gripping, can not squint.

The length of the tooth portion 112 is such that the gear 92 is driven to rotate one hundred and eighty degrees,

the whole mechanical arm device is symmetrically arranged or arranged in the middle, the center of gravity is in the middle, when the mechanical arm device is not influenced by external force, the mechanical arm device cannot shift after the sliding sleeve 13 leaves the sliding rail 14, and the mechanical arm is a whole consisting of the installation shell 1, the interval driving mechanism 2, the rotating mechanism 4, the clamping mechanism 5 and the telescopic mechanism 3.

Wherein, when the clamping claw 54 of the clamping mechanism 5 clamps the workpiece to be clamped, when the workpiece needs to be turned over:

s31: firstly, lifting the mounting shell 1 through the telescopic cylinder 8 to enable a workpiece to be clamped to meet the requirement of a turning distance, and enabling the mounting shell 1 to be separated from the connecting plate 12 to meet the requirement of the turning distance;

s32: when the overturning distance is met, the driving gear 92 is in contact with the tooth part 112 on the strip-shaped plate 111, and when the telescopic cylinder 8 moves upwards again, the driving gear 92 and the tooth part 112 act to drive the whole mechanical arm to rotate by one hundred eighty degrees;

s33: when the gripper jaw 54 is released to put down the gripper, the telescopic cylinder 8 drives the entire mechanical arm to move down, and at this time, the driving gear 92 is meshed with the tooth part 112 to rotate one hundred eighty degrees again and move to the original position.

Through setting up drive gear 92 cooperation tooth portion 112, bearing frame 10, can accomplish whole mechanical arm's lift and upset through setting up a telescoping cylinder 8, need not set up the multiunit drive, more save the electric energy, energy-concerving and environment-protective.

Third embodiment

Referring to fig. 7, a third embodiment of the present application provides a pick-and-place robot for gamma-ray polymerization of silicone-acrylic emulsion, which is different in that:

the inside of installation shell 1 is provided with height adjustment mechanism 15, height adjustment mechanism 15 includes leading wheel 151, haulage rope 152, locating lever 153 and elastic component 154, locating lever 153 is fixed in the bottom of mounting bracket 7 inner wall, connecting plate 12 sliding connection in on the locating lever 153, elastic component 154 cover is located the surface of locating lever 153 and be located the below of connecting plate 12, leading wheel 151 install in the bottom of mounting bracket 7 inner wall, the one end of haulage rope 152 is fixed in on the connecting plate 12, the other end of haulage rope 152 walk around behind leading wheel 151 and through connecting plate 12 with bearing frame 10 fixed connection.

The elastic members 154 are preferably springs, and as shown in fig. 6, the positioning rods 153 are preferably four, the number of the elastic members 154 is four, and the connecting plate 12 is in contact with but not connected to the contact surface of the mounting frame 7;

by arranging the height adjusting mechanism 15, when the telescopic cylinder 8 drives the bearing seat 10 to move upwards, the bearing seat 10 simultaneously pulls one end of the traction rope 152, the other end of the traction rope 152 pulls the connecting plate 12 downwards, and at the moment, the connecting plate 12 leaves the mounting shell 1;

thereby the distance between connecting plate 12 and the installation shell 1 can be adjusted to telescoping cylinder 8 can use littleer stroke volume, can satisfy installation shell 1 pivoted demand to when treating that centre gripping work piece placing face width is less than the bottom width of installation shell 1, can reduce the rise height of whole arm, reduce the height that the work piece was by the lifting, improve the work piece upset and loosen the stability of placing after, use convenience more.

Fourth embodiment

Referring to fig. 7 and 8 in combination, a pick-and-place robot for gamma-ray polymerization of silicone-acrylic emulsion according to a fourth embodiment of the present application is different in that:

the rotating shaft 91 comprises a connecting column 911, a connecting rod 913 and a rectangular shaft 914, the connecting column 911 is fixed on the mounting shell 1, the bearing seat 10 is mounted on the connecting column 911, the driving gear 92 is fixed on the connecting rod 913, the rectangular shaft 914 is fixed at one end of the connecting rod 913, a rectangular cavity 912 is formed in one end of the connecting column 911, and the rectangular shaft 914 extends to the inside of the rectangular cavity 912.

The rectangular shaft 914 has the same cross-sectional area as the rectangular cavity 912.

One end of the mounting box 51 is connected to the connecting rod 913 through a connecting member 16, the connecting member 16 includes a fixing rod 162 and a connecting arm 161, the connecting arm 161 is fixed to the other end of the connecting rod 913, one end of the fixing rod 162 is fixed to the connecting arm 161, and the other end of the fixing rod 162 is fixed to the mounting box 51.

The top and bottom of the mounting housing 1 in this embodiment are provided with sliding sleeves 13.

after the telescopic cylinder 8 drives the whole mechanical arm to move upwards and turn over through the bearing seat 10, the motor 21 continues to rotate clockwise at the moment, the clamping mechanism 5 is recovered, meanwhile, the connecting rod 913 is driven to move through the connecting piece 16, and the clamping mechanism 5 stops after being completely retracted, at the moment, the connecting piece 16 drives the connecting rod 913 to move to the position shown in fig. 9, the gear 92 is driven to be separated from the tooth part 112, and the rectangular shaft 914 moves out of the rectangular cavity 912;

at this time, the telescopic cylinder 8 can push the whole mechanical arm to move down to the height position where the mechanical arm is initially lifted, that is, the bottom of the workpiece is flush with the placing surface, and at this time, the driving gear 92 is located at the initial height, that is, the height is lower than the tooth part 112;

the motor 21 rotates clockwise again, drives the clamping mechanism 5 to deliver the turned workpiece to the placing position, the bottom of the workpiece contacts with the placing surface, the workpiece can be stably placed on the placing surface, at this time, the driving gear 92 is located below the tooth part 112 again, as shown in fig. 8, and the rectangular shaft 914 is inserted into the rectangular cavity 912 of the connecting column 911;

the above-mentioned operation is repeated, wherein the turning operation is performed by lifting and turning the holding claw 54 after each time the workpiece is held, that is, the driving gear 92 is located below the tooth portion 112, and the rectangular shaft 914 is located inside the rectangular cavity 912.

the rotating shaft 91 is arranged in a split mode, namely the driving gear 92 is arranged in a split mode, the part of the connecting rod 913 connected with the driving gear 92 is connected with the mounting shell 1 in the clamping mechanism 5 through the connecting piece 16, the whole mechanical arm is pushed down by the telescopic cylinder 8, so that the driving gear 92 is staggered with the tooth part 112 when the workpiece is turned over and moved down to be in contact with a placing surface;

thereby can be with stable the placing on the desktop of work piece of centre gripping upset, and whole arm centre gripping work piece once more drives gear 92 and removes to the below of tooth portion 112 once more, and rectangular shaft 914 reinserts the inside in rectangular cavity 912, satisfies the upset demand, convenient to use, and the flexible position of adjusting drive gear 92 of removal of cooperation fixture 5, need not set up extra actuating mechanism, the more energy can be saved.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A get and put manipulator for silicone-acrylic emulsion gamma-ray radiation polymerization, characterized by comprising:

mounting a shell;

the telescopic mechanism comprises a connecting shaft, a first driven gear, a first reciprocating screw rod and a driving arm, wherein the first driven gear is arranged on the surface of the connecting shaft and is meshed with one of the driving gears, the first reciprocating screw rod is fixed at one end of the connecting shaft, and one end of the driving arm is in threaded connection with the first reciprocating screw rod;

2. The mechanical arm for taking and placing the silicone-acrylic emulsion through gamma-ray radiation polymerization as claimed in claim 1, wherein one end of the driving shaft and one end of the connecting shaft are both rotatably connected to the mounting shell and located at two sides of the driving shaft.

3. The pick-and-place manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion according to claim 1, wherein the driving arm comprises a nut and a pushing sleeve, and the nut is fixed at one end of the pushing sleeve.

4. The mechanical arm for taking and placing the silicone-acrylic emulsion through gamma-ray radiation polymerization as claimed in claim 1, wherein the telescopic arm comprises a square shaft and a sleeve, the square shaft is fixed at one end of the driving shaft, the sleeve is sleeved on the surface of the square shaft, one end of the sleeve is rotatably connected with the mounting box, and one end of the sleeve penetrates through and extends into the mounting box.

5. The mechanical arm for taking and placing the silicone-acrylic emulsion through gamma-ray radiation polymerization as claimed in claim 4, wherein the transmission member comprises a worm wheel and a worm, the worm is fixed at one end of the sleeve and located inside the mounting box, the two second reciprocating screw rods are connected through a connecting shaft, the worm wheel is mounted on the surface of the connecting shaft, and the worm wheel is meshed with the worm.

6. The taking and placing manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion according to claim 1, further comprising a mounting frame, wherein a telescopic cylinder is fixedly mounted on the mounting frame, a connecting plate is arranged inside the mounting frame, the mounting shell is slidably connected to the connecting plate, a turnover mechanism is mounted at one end of the mounting shell, the turnover mechanism comprises a rotating shaft, a bearing seat is mounted on the surface of the rotating shaft, and one end of an output shaft of the telescopic cylinder is fixedly mounted on the bearing seat.

7. The mechanical hand of claim 6, wherein the turning mechanism further comprises a driving gear fixed on the rotating shaft, the mounting frame is internally provided with a rotary driving member, the rotary driving member comprises a strip-shaped plate and a tooth portion, and the strip-shaped plate is close to one side of the driving gear and is provided with the tooth portion above the driving gear.

8. The taking and placing manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion according to claim 7, wherein a height adjusting mechanism is arranged inside the mounting shell, the height adjusting mechanism comprises a guide wheel, a traction rope, a positioning rod and an elastic piece, the positioning rod is fixed at the bottom of the inner wall of the mounting frame, the connecting plate is slidably connected to the positioning rod, the elastic piece is sleeved on the surface of the positioning rod and located below the connecting plate, the guide wheel is mounted at the bottom of the inner wall of the mounting frame, one end of the traction rope is fixed on the connecting plate, and the other end of the traction rope bypasses the guide wheel and penetrates through the connecting plate to be fixedly connected with the bearing block.

9. The mechanical arm of claim 7, wherein the rotating shaft comprises a connecting column, a connecting rod and a rectangular shaft, the connecting column is fixed on the mounting housing, the bearing seat is mounted on the connecting column, the driving gear is fixed on the connecting rod, the rectangular shaft is fixed at one end of the connecting rod, a rectangular cavity is formed at one end of the connecting column, and the rectangular shaft extends into the rectangular cavity.

10. The manipulator as claimed in claim 9, wherein one end of the mounting box is connected to the connecting rod via a connecting member, the connecting member includes a fixing rod and a connecting arm, the connecting arm is fixed to the other end of the connecting rod, one end of the fixing rod is fixed to the connecting arm, and the other end of the fixing rod is fixed to the mounting box.