CN114952923A - Plate taking and placing manipulator for intelligent manufacturing assembly line - Google Patents
Plate taking and placing manipulator for intelligent manufacturing assembly line Download PDFInfo
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- CN114952923A CN114952923A CN202210688175.0A CN202210688175A CN114952923A CN 114952923 A CN114952923 A CN 114952923A CN 202210688175 A CN202210688175 A CN 202210688175A CN 114952923 A CN114952923 A CN 114952923A
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 238000004140 cleaning Methods 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 230000001050 lubricating effect Effects 0.000 claims abstract description 10
- 230000000694 effects Effects 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 13
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 12
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 12
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 12
- 241001330002 Bambuseae Species 0.000 claims description 10
- 239000011425 bamboo Substances 0.000 claims description 10
- 238000010030 laminating Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 4
- 241000209128 Bambusa Species 0.000 claims description 2
- 241000283984 Rodentia Species 0.000 claims description 2
- 238000009826 distribution Methods 0.000 claims description 2
- 230000010405 clearance mechanism Effects 0.000 claims 1
- 239000002023 wood Substances 0.000 abstract description 25
- 238000000034 method Methods 0.000 abstract description 18
- 239000000428 dust Substances 0.000 abstract description 17
- 230000008569 process Effects 0.000 abstract description 13
- 230000001360 synchronised effect Effects 0.000 abstract description 9
- 230000009471 action Effects 0.000 abstract description 7
- 240000007643 Phytolacca americana Species 0.000 abstract description 4
- 239000010687 lubricating oil Substances 0.000 abstract description 2
- 238000007789 sealing Methods 0.000 description 15
- 230000001960 triggered effect Effects 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0062—Lubrication means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a plate taking and placing mechanical arm for an intelligent manufacturing assembly line, which relates to the field of automatic machinery and solves the problem that the lower end face and the interior of a sucking disc for sucking can adsorb micro dust to influence the air tightness, and comprises a grabbing frame and a limiting seat fixedly arranged on the inner side of the grabbing frame, wherein the front end of the grabbing frame is provided with a mechanical arm for moving the grabbing frame, through the matching of a cleaning mechanism, a transmission mechanism and a lubricating mechanism, when the mechanical arm moves the grabbing frame and grabs a wood plate through a pneumatic mechanism, a double-sided synchronous belt can drive a gear to rotate, a poking sheet can poke a plurality of groups of vibrating pieces to generate vibration force, the vibration force is transmitted to the sucking disc to enable dust adhered to fall off, the bottom of the sucking disc is ensured to be clean under the action of an auxiliary piece, a connecting arm can touch a piston rod in the swinging process to enable the interior of a shunt tube to drip lubricating oil to the interior of a bearing, so as to ensure that the bearing is not rusted and clamped.
Description
Technical Field
The invention relates to the field of automatic machinery, in particular to a plate taking and placing mechanical arm for an intelligent manufacturing assembly line.
Background
Modern factories are basically equipped with intelligent manufacturing lines, in which manual operations are replaced by a large number of automated devices, so that labor costs are reduced and production efficiency is greatly improved, wherein a robot is an automated device commonly used in the intelligent manufacturing lines, and the robot is an automated operation device which can simulate some motion functions of a human hand or an arm and is used for grabbing, carrying objects or operating tools according to a fixed program.
In the existing intelligent manufacturing production line for processing the boards (particularly the wood), the boards are picked and placed through an automatic manipulator, and because a large amount of dust exists on the surface of the piled boards, the dust is used for preventing the situation that negative pressure is formed when the boards are picked and placed due to the fact that the direct contact surface of the boards is too tight, therefore, the dust on the surface of the boards needs to be cleaned through a blowing device in the picking and placing process of the boards by the existing manipulator device, so that the sucking discs on the manipulator can effectively suck and carry the boards;
wherein blow through air-blast device, can be with the dust clean up on wooden plate surface suction cup of being convenient for absorb really, but the sucking disc of manipulator lower extreme exposes for a long time when using in the more space of dust, there is some dust adhesion in the lower extreme surface and the inside of its sucking disc, if not clear up for a long time, can cause the wearing and tearing of terminal surface under the sucking disc when operation in-process sucking disc and wooden plate contact, the gas tightness of the sucking disc of influence, thereby influence the manipulator and get the stability of putting the operation to wooden plate, for this reason, we have provided a panel for intelligent manufacturing assembly line and have got the manipulator.
Disclosure of Invention
The invention aims to provide a plate taking and placing mechanical arm which can clean dust adhered to the lower end face of a sucker in the operation process and is used for an intelligent manufacturing assembly line, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a plate taking and placing mechanical arm for an intelligent manufacturing assembly line comprises a grabbing frame and a limiting seat fixedly mounted on the inner side of the grabbing frame, wherein a mechanical arm used for moving the grabbing frame is mounted at the front end of the grabbing frame, a leveling swing head is mounted at one end, close to the limiting seat, of the mechanical arm, a motor is fixedly mounted inside the leveling swing head, and the output end of the motor is fixedly embedded on the inner side of the limiting seat; the pneumatic mechanisms can suck a plurality of groups of wood plates and are fixedly arranged at the side end of the grabbing frame, and the lower ends of the pneumatic mechanisms are provided with cleaning mechanisms; the transmission mechanism can trigger the cleaning mechanism according to the movement of the grabbing frame and is arranged on the outer side of the grabbing frame, the motor can drive the grabbing frame to deflect through the limiting seat, and the purpose of deflection is that the wood board grabbed at the lower end of the grabbing frame can be horizontally moved, picked and placed.
Preferably, pneumatic mechanism include through fixed plate fixed mounting in snatch the cylinder in the frame outside, the inside wall of snatching the frame has a plurality of sealed section of thick bamboos of group through mounting panel fixed mounting, just sealed section of thick bamboo with be connected with the pipe between the cylinder, the inboard slidable mounting of sealed section of thick bamboo has the piston post, just the upper end fixed mounting of piston post has the piston, the piston with sealed section of thick bamboo is sliding connection, the piston post with the inside of piston is the cavity form, just the fixed cup joint of lower extreme of piston post has the sucking disc, spring two is installed to the upper end of piston, when snatching the frame and remove to the upper end of plank and press the back to the plank small amplitude, the cylinder passes through the pipe and sucks the inside air of sealed section of thick bamboo, because the lower extreme and the plank laminating of sucking disc are inseparable for the sucking disc can be effectively adsorbed to plank to the inside atmospheric pressure of sealed section of thick bamboo is lower and lower, the piston can move upwards to compress the second spring, so that the wood board can also move upwards for a part of distance, and the sucker and the piston column can vertically slide in the sealing cylinder and cannot rotate.
Preferably, the cleaning mechanism comprises a first gear movably sleeved on the outer surface of the sealing cylinder, a plurality of groups of fixed cylinders arranged in a circumferential manner are fixedly arranged in the first gear, a telescopic rod is slidably arranged in the fixed cylinders, a first spring is arranged at the upper end of the telescopic rod, a plurality of groups of vibrating pieces arranged in a circumferential manner are fixedly sleeved on the outer surface of the telescopic rod, a plurality of groups of poking pieces arranged in a circumferential manner are fixedly arranged on the inner side of the poking ring, an umbrella-shaped disc is fixedly arranged on the outer surface of the piston column and movably attached to the sucker, a plurality of groups of vibrating pieces arranged in a circumferential manner are fixedly arranged on the upper end of the umbrella-shaped disc, the poking pieces and the vibrating pieces are in staggered distribution, an auxiliary part is arranged on the outer side of the first gear, when the poking rings rotate, the poking pieces in the first gear can poke the vibrating pieces, and the vibrating force generated by the vibrating pieces is transmitted to the sucker through the umbrella-shaped disc, the dust adhered to the inside of the suction cup is fallen off.
Preferably, the auxiliary member including the meshing install in the gear two of a gear side, the inboard fixed mounting of gear two has spacing pipe, just the upper end of spacing pipe is rotated through the bearing and is installed the fixed block, the fixed block with it is fixed connection to snatch the frame, L type pole has been inlayed in the inboard activity of spacing pipe, spring three is installed to the upper end of L type pole, just the lower extreme external surface fixing of L type pole has cup jointed the sponge cover, and at gear one rotation in-process, two drive spacing pipes of accessible gear rotate, and the sponge cover of its spacing pipe lower extreme can clean once to the lower extreme surface of sucking disc, and wherein the diameter of gear one is greater than the diameter of gear two, and gear rotate homoenergetic at every turn and drive gear two and rotate the round.
Preferably, the outer surface of the sponge sleeve is tangent to the horizontal plane of the lower end of the sucker.
Preferably, drive mechanism include through the leading truck activity cup joint in snatch the double-sided hold-in range of frame surface, just the inboard rodent of double-sided hold-in range with a gear activity laminating, the leveling yaw is kept away from the one end fixed mounting of arm has the linking arm, just U type groove has been seted up to the inboard of linking arm, it keeps away from to snatch the frame the one end of motor has ratchet wheel through support bracket movable mounting, just ratchet wheel with double-sided hold-in range swing joint, ratchet wheel's upper end fixed surface installs the gag lever post, just the upper end activity of gag lever post inlay in the inboard in U type groove, when the arm drives to snatch the frame and removes, for guaranteeing to snatch the level of frame, the motor can finely tune to snatching the frame at the arm swing in-process.
Preferably, the upper end of the grabbing frame is further provided with a lubricating mechanism, the lubricating mechanism comprises a material box fixedly mounted at the upper end of the grabbing frame, an air cylinder is fixedly mounted at the upper end of the material box, a movable rod is movably embedded in one end, close to the connecting arm, of the air cylinder, a piston disc is fixedly mounted at the other end of the movable rod, the piston disc is in sliding connection with the air cylinder, a spring IV is mounted at one end, away from the movable rod, of the piston disc, two groups of communicating pipes are communicated with one end, away from the movable rod, of the air cylinder, the lower end of one group of communicating pipes is fixedly embedded in the inner side of the material box, a check valve II is mounted at the upper end of the other group of communicating pipes, an annular pipe is fixedly communicated with the inner side of the material box, the annular pipe is fixedly connected with the grabbing frame, and shunt pipes are fixedly communicated with the parts, close to the bearings, of the outer surfaces of the annular pipe, and a first check valve is installed on the outer side of the flow dividing pipe, a limiting part is installed on the outer side of the movable rod, and when the bearing needs to be lubricated, the movable rod is triggered in the swinging process of the connecting arm through the limiting part.
Preferably, the locating part include fixed mounting in the arc piece of movable rod surface, just the nut is installed through the bolt to the end of movable rod, the inflator is close to the one end fixed mounting of movable rod has spacing arc frame, just the arc piece with spacing arc frame activity gomphosis, when need not lubricating to the bearing, the user can hold between the fingers the nut and stretch into the movable rod, after the lateral wall of inflator is pasted to the arc piece, rotates it, makes the arc piece inlay in the inside of spacing arc frame.
Preferably, the flow direction of the second one-way valve is the one-way flow from the communicating pipe to the gas cylinder, and the flow direction of the dividing pipe is the flow from the ring pipe to the dividing pipe.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, through the matching of the cleaning mechanism, the transmission mechanism and the lubricating mechanism, when the mechanical arm moves the grabbing frame and grabs a wood board through the pneumatic mechanism, the double-sided synchronous belt can drive the gear to rotate, the poking piece can poke a plurality of groups of vibrating pieces to generate vibration force, the vibration force is transmitted to the sucker to enable dust adhered inside the sucker to fall off, the bottom of the sucker is ensured to be clean under the action of the auxiliary piece, and the connecting arm can touch the piston rod in the swinging process to enable the inside of the shunt pipe to drip lubricating oil to the inside of the bearing, so that the bearing is prevented from being rusted and blocked.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of another embodiment of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a schematic view of a connecting arm according to the present invention;
FIG. 5 is an enlarged view taken at A of FIG. 4 in accordance with the present invention;
FIG. 6 is a schematic view of the structure of the vibrating plate and the pick of the present invention;
FIG. 7 is a schematic view of the internal structure of the sealing cylinder and the limiting tube according to the present invention;
FIG. 8 is a schematic view of the construction of a loop of the present invention;
fig. 9 is a schematic structural view of a limiting arc frame and an arc sheet of the invention.
In the figure: 1-a gripping frame; 2-a limiting seat; 3-leveling the swing head; 4-an electric motor; 5, a mechanical arm; 6-a pneumatic mechanism; 7-a cleaning mechanism; 8-an auxiliary element; 9-a transmission mechanism; 10-a lubricating mechanism; 11-a stop; 12-a linker arm; 13-U-shaped groove; 14-ratchet gear; 15-a limiting rod; 16-double-sided synchronous belt; 17-a cylinder; 18-a sealed cylinder; 19-a cartridge; 20-ring pipe; 21-air cylinder; 22-a movable rod; 23-gear one; 24-a stationary cartridge; 25-a telescopic rod; 26-a dial ring; 27-a piston column; 28-suction cup; 29-fixing block; 30-a bearing; 31-a limiting tube; 32-gear two; a 33-L shaped rod; 34-a sponge sleeve; 35-umbrella shaped disc; 36-a vibrating plate; 37-plectrum; 38-spring one; 39-spring two; 40-spring III; 41-shunt tube; 42-one-way valve one; 43-communicating tube; 44-one-way valve II; 45-spring four; 46-a piston disc; 47-limit arc frame; 48-arc-shaped pieces; 49-nut.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1 and 2, a plate taking and placing mechanical arm for an intelligent manufacturing assembly line in the drawings comprises a grabbing frame 1 and a limiting seat 2 fixedly installed on the inner side of the grabbing frame 1, wherein a mechanical arm 5 for moving the grabbing frame 1 is installed at the front end of the grabbing frame 1, a leveling swing head 3 is installed at one end, close to the limiting seat 2, of the mechanical arm 5, a motor 4 is fixedly installed inside the leveling swing head 3, and the output end of the motor 4 is fixedly installed on the inner side of the limiting seat 2; the pneumatic mechanisms 6 are fixedly arranged at the side ends of the grabbing frame 1, and a cleaning mechanism 7 is arranged at the lower ends of the pneumatic mechanisms 6; the transmission mechanism 9 can trigger the transmission mechanism 9 of the cleaning mechanism 7 according to the movement of the grabbing frame 1 and is arranged on the outer side of the grabbing frame 1, the motor 4 can drive the grabbing frame 1 to deflect through the limiting seat 2, and the purpose of deflection is that the grabbing frame 1 can horizontally move to grab and place the wood plates grabbed at the lower end of the grabbing frame 1.
Referring to fig. 2 and 4, in the drawings, the pneumatic mechanism 6 includes an air cylinder 17 fixedly installed on the outer side of the grabbing frame 1 through a fixing plate, a plurality of sets of sealing cylinders 18 are fixedly installed on the inner side wall of the grabbing frame 1 through a mounting plate, a guide pipe is connected between the sealing cylinders 18 and the air cylinder 17, a piston column 27 is slidably installed on the inner side of the sealing cylinder 18, a piston is fixedly installed at the upper end of the piston column 27, the piston is slidably connected with the sealing cylinder 18, the piston column 27 and the piston are hollow, a suction cup 28 is fixedly connected to the lower end of the piston column 27, a spring two 39 is installed at the upper end of the piston, when the grabbing frame 1 moves to the upper end of the wood board and presses the wood board to a small extent, the air inside the sealing cylinder 18 is sucked by the air cylinder 17 through the guide pipe, because the lower end of the suction cup 28 is tightly attached to the wood board, the suction cup 28 can effectively suck the wood board, and after the air pressure inside the sealing cylinder 18 is lower, the piston can move upwards, compressing the second spring 39, so that the wooden plate can also move upwards for a part of the distance, wherein the suction cup 28 and the piston column 27 can slide straight up and down inside the sealing cylinder 18 and can not rotate.
Referring to fig. 4-6, in the drawings, the cleaning mechanism 7 includes a first gear 23 movably sleeved on the outer surface of the sealing cylinder 18, and a plurality of sets of fixed cylinders 24 arranged in a circumferential manner are fixedly installed inside the first gear 23, a telescopic rod 25 is slidably installed inside the fixed cylinder 24, a first spring 38 is installed at the upper end of the telescopic rod 25, a plurality of sets of poking rings 26 are fixedly sleeved on the outer surface of the telescopic rod 25, a plurality of sets of poking pieces 37 arranged in a circumferential manner are fixedly installed on the inner side of the poking ring 26, an umbrella-shaped disc 35 is fixedly installed on the outer surface of the piston column 27, the umbrella-shaped disc 35 is movably attached to the suction cup 28, a plurality of sets of vibrating pieces 36 arranged in a circumferential manner are fixedly installed on the upper end of the umbrella-shaped disc 35, the poking pieces 37 and the vibrating pieces 36 are distributed in an interlaced manner, an auxiliary member 8 is installed on the outer side of the first gear 23, when the poking ring 26 rotates, the poking pieces 36 can poke the vibrating pieces 36, the vibration force generated by the vibration plate 36 is transmitted to the suction cup 28 through the umbrella-shaped plate 35 to peel off the dust adhered to the inside of the suction cup 28.
Referring to fig. 2-4, in the drawings, the transmission mechanism 9 includes a double-sided synchronous belt 16 movably sleeved on the outer surface of the grabbing frame 1 through a guide frame, and the inner side teeth of the double-sided synchronous belt 16 are movably attached to a first gear 23, a connecting arm 12 is fixedly mounted at one end of the leveling swing head 3 away from the mechanical arm 5, a U-shaped groove 13 is formed in the inner side of the connecting arm 12, a ratchet gear 14 is movably mounted at one end of the grabbing frame 1 away from the motor 4 through a support bracket, the ratchet gear 14 is movably engaged with the double-sided synchronous belt 16, a limiting rod 15 is fixedly mounted on the upper end surface of the ratchet gear 14, and the upper end of the limiting rod 15 is movably embedded in the inner side of the U-shaped groove 13.
The working principle that dust adhered to the lower end face of the sucking disc 28 can be cleaned in the operation process is as follows: when the stacked wood plates are taken and placed on the production line, the mechanical arm 5 drives the grabbing frame 1 to move under the action of the sucker 28, the wood plates are sucked by the sucker 28 at the lower end of the grabbing frame 1, when the mechanical arm 5 drives the grabbing frame 1 to move left and right, in order to ensure the level of the grabbing frame 1, the motor 4 can finely adjust the grabbing frame 1 in the swinging process of the mechanical arm 5, and when the mechanical arm 5 drives the grabbing frame 1 to move right, the motor 4 drives the grabbing frame 1 to deflect anticlockwise, namely, the connecting arm 12 rotates clockwise relative to the grabbing frame 1; on the contrary, the motor 4 drives the grabbing frame 1 to deflect clockwise, namely the connecting arm 12 rotates anticlockwise relative to the grabbing frame 1, wherein the grabbing frame 1 moves leftwards to take the wood boards, and moves rightwards to place the wood boards;
firstly, when the grabbing frame 1 moves to the upper end face of a wood plate, the wood plate is pressed by a small amplitude, at the moment, the air inside the sealing cylinder 18 is sucked by the air cylinder 17 through the guide pipe, the lower end of the sucker 28 is tightly attached to the wood plate, so that the sucker 28 can effectively adsorb the wood plate, and after the air pressure inside the sealing cylinder 18 is gradually lowered, the piston can move upwards and compress the spring II 39, so that the wood plate can also move upwards for a part of distance to effectively adsorb the wood plate, then the grabbing frame 1 moves to a production line under the control of the mechanical arm 5, at the moment, the air cylinder 17 inflates the inside of the sealing cylinder 18, so that the sucker 28 is not adsorbed to the wood plate, and the wood plate is placed on the running water for transmission;
during the process of placing the wooden board by moving the grabbing frame 1 to the right, the connecting arm 12 deflects clockwise relative to the grabbing frame 1, at this time, the deflecting connecting arm 12 drives the ratchet wheel 14 to rotate through the limiting rod 15, the ratchet wheel 14 can not drive the double-sided synchronous belt 16 to drive, when the grabbing frame 1 moves leftwards and a wood plate needs to be taken, the ratchet wheel 14 can drive the double-sided synchronous belt 16 to drive, the double-sided synchronous belt 16 can drive the first gear 23 distributed on the outer surface of the sealing cylinder 18 to rotate, the rotation of the first gear 23 can drive the poking ring 26 to rotate through the matching of the fixed cylinder 24 and the telescopic rod 25, the vibrating plate 36 can be shifted by the shifting sheet 37 in the shifting ring 26, the vibrating force generated by the vibrating plate 36 is transmitted to the sucking disc 28 through the umbrella-shaped disc 35, so that the dust adhered to the inside of the sucking disc 28 can fall off, and the deflection angle of the connecting arm 12 driving the ratchet wheel 14 to swing left and right through the limiting rod 15 is not more than 180 degrees.
Example 2
Referring to fig. 7 and 8, in this embodiment, as further described in embodiment 1, the auxiliary member 8 includes a second gear 32 engaged with the first gear 23, a limiting pipe 31 is fixedly installed inside the second gear 32, a fixing block 29 is rotatably installed at an upper end of the limiting pipe 31 through a bearing 30, the fixing block 29 is fixedly connected with the grabbing frame 1, an L-shaped rod 33 is movably embedded inside the limiting pipe 31, a third spring 40 is installed at an upper end of the L-shaped rod 33, and a sponge sleeve 34 is fixedly sleeved on an outer surface of a lower end of the L-shaped rod 33.
Referring to FIG. 7, the outer surface of the sponge cover 34 is shown as being tangent to the horizontal surface of the lower end of the suction cup 28.
In this embodiment: because the material of sucking disc 28 is the silicon rubber material mostly, when the power of quivering that tremble 36 produced transmits sucking disc 28 through umbelliform dish 35, the power of quivering that its sucking disc 28 upper end portion received is great, and the power of quivering that the sucking disc 28 bottom received is less, make the dust of the plane adhesion of sucking disc 28 bottom break away from the effect obvious inadequately, for this reason in gear 23 rotation process, accessible gear two 32 drive spacing pipe 31 and rotate, the sponge cover 34 of its spacing pipe 31 lower extreme can clean the lower extreme surface of sucking disc 28 once, in order to guarantee that the lower extreme surface of sucking disc 28 can not the adhesion dust, wherein the diameter of gear one 23 is greater than the diameter of gear two 32, and gear 23 rotates homoenergetic at every turn and drives gear two 32 and rotates the round.
Example 3
Referring to fig. 1, 4, 8 and 9, in the embodiment, for further explanation of other embodiments, the upper end of the grabbing frame 1 is further provided with a lubricating mechanism 10, the lubricating mechanism 10 includes a material box 19 fixedly mounted on the upper end of the grabbing frame 1, the upper end of the material box 19 is fixedly provided with an air cylinder 21, one end of the air cylinder 21 close to the connecting arm 12 is movably embedded with a movable rod 22, the other end of the movable rod 22 is fixedly provided with a piston disc 46, the piston disc 46 is in sliding connection with the air cylinder 21, one end of the piston disc 46 far away from the movable rod 22 is provided with a spring four 45, one end of the air cylinder 21 far away from the movable rod 22 is communicated with two sets of communicating pipes 43, the lower end of one set of the communicating pipes 43 is fixedly embedded in the material box 19, the upper end of the other set of the communicating pipes 43 is provided with a one-way valve two 44, the inner side of the material box 19 is fixedly communicated with a ring pipe 20, and the ring pipe 20 is fixedly connected with the grabbing frame 1, the outer surface of the ring pipe 20 close to the bearing 30 is fixedly communicated with a shunt pipe 41, a one-way valve 42 is installed on the outer side of the shunt pipe 41, a limiting part 11 is installed on the outer side of the movable rod 22, and when the bearing 30 needs to be lubricated, the connecting arm 12 can be triggered to the movable rod 22 in the swinging process through the limiting part 11.
Referring to fig. 8 and 9, the limiting member 11 includes an arc-shaped piece 48 fixedly mounted on the outer surface of the movable rod 22, a nut 49 is mounted on the end of the movable rod 22 through a bolt, a limiting arc frame 47 is fixedly mounted on one end of the air cylinder 21 close to the movable rod 22, and the arc-shaped piece 48 is movably embedded in the limiting arc frame 47, so that when the bearing 30 is not lubricated, a user can pinch the nut 49 to extend the movable rod 22, and rotate the arc-shaped piece 48 after the arc-shaped piece 48 is attached to the side wall of the air cylinder 21, so that the arc-shaped piece 48 is embedded in the limiting arc frame 47.
The second check valve 44 is communicated in one direction from the communicating pipe 43 to the air cylinder 21, and the branch pipe 41 is communicated in the direction from the loop pipe 20 to the branch pipe 41.
In this embodiment: because dust is more in the air inside the wood board production workshop, and the sliding capacity of the bearing 30 is poor due to the influence of impurities inside the bearing 30, therefore, when the bearing 30 needs to be lubricated, a user can pinch the nut 49 to twist the movable rod 22, so that the arc-shaped sheet 48 is separated from the limiting arc frame 47, at the moment, the movable rod 22 is not limited any more, under the action of the spring IV 45, the movable rod 22 can be contacted with the side wall of the connecting arm 12, the movable rod 22 can be pushed in the swinging process of the connecting arm 12, the piston disc 46 can fill gas into the material box 19, so that the lubricant inside the material box 19 drops at the upper end of the bearing 30 through the shunt pipe 41, the bearing 30 is lubricated, and when the lubrication is not needed, the user can embed the arc-shaped sheet 48 into the limiting arc frame 47 again.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a panel is got and is put manipulator for intelligent manufacturing assembly line, including snatch frame (1) and fixed mounting in snatch frame (1) inboard spacing seat (2), the front end of snatching frame (1) is installed and is used for removing arm (5) of snatching frame (1), its characterized in that: one end, close to the limiting seat (2), of the mechanical arm (5) is provided with a leveling swing head (3), a motor (4) is fixedly arranged inside the leveling swing head (3), and the output end of the motor (4) is fixedly embedded in the inner side of the limiting seat (2);
the pneumatic mechanisms (6) are fixedly arranged at the side ends of the grabbing frame (1), and a cleaning mechanism (7) is arranged at the lower end of each pneumatic mechanism (6);
a transmission mechanism (9), wherein the transmission mechanism (9) which can trigger the cleaning mechanism (7) according to the movement of the grabbing frame (1) is arranged on the outer side of the grabbing frame (1).
2. The plate taking and placing manipulator for the intelligent manufacturing assembly line according to claim 1, wherein the manipulator comprises: pneumatic mechanism (6) include through fixed plate fixed mounting in snatch cylinder (17) in the frame (1) outside, the inside wall of snatching frame (1) has a plurality of sealed section of thick bamboos (18) of group through mounting panel fixed mounting, just sealed section of thick bamboo (18) with be connected with the pipe between cylinder (17), the inboard slidable mounting of sealed section of thick bamboo (18) has piston post (27), just the upper end fixed mounting of piston post (27) has the piston, the piston with sealed section of thick bamboo (18) are sliding connection, piston post (27) with the inside of piston is the cavity form, just the fixed cover of lower extreme of piston post (27) has connect sucking disc (28), spring two (39) are installed to the upper end of piston.
3. The plate taking and placing manipulator for the intelligent manufacturing assembly line according to claim 2, wherein the manipulator comprises: clearance mechanism (7) including the activity cup joint in the gear (23) of sealed cylinder (18) surface, just the inside fixed mounting of gear (23) has a fixed section of thick bamboo (24) that a plurality of groups are the circumference and arrange, the inside slidable mounting of fixed section of thick bamboo (24) has telescopic link (25), just spring (38) is installed to the upper end of telescopic link (25), a plurality of groups the fixed cover of surface of telescopic link (25) has been cup jointed and has been dialled ring (26), just the inboard fixed mounting of dialling ring (26) has a plectrum (37) that a plurality of groups are the circumference and arrange, the fixed surface of piston post (27) installs umbelliform dish (35), just umbelliform dish (35) with sucking disc (28) activity laminating, the upper end fixed mounting of umbelliform dish (35) has trembler (36) that a plurality of groups are the circumference and arrange, just plectrum (37) with trembler (36) are crisscross the distribution, and an auxiliary part (8) is arranged on the outer side of the first gear (23).
4. The plate taking and placing manipulator for the intelligent manufacturing assembly line according to claim 3, wherein the manipulator comprises: auxiliary member (8) including the meshing install in gear two (32) of gear (23) side, the inboard fixed mounting of gear two (32) has spacing pipe (31), just the upper end of spacing pipe (31) is rotated through bearing (30) and is installed fixed block (29), fixed block (29) with it is fixed connection to snatch frame (1), L type pole (33) have been inlayed in the inboard activity of spacing pipe (31), spring three (40) are installed to the upper end of L type pole (33), just sponge cover (34) have been cup jointed to the lower extreme external surface fixation of L type pole (33).
5. The plate taking and placing manipulator for the intelligent manufacturing assembly line according to claim 4, wherein the manipulator comprises: the outer surface of the sponge sleeve (34) is tangent to the horizontal plane of the lower end of the sucker (28).
6. The plate taking and placing mechanical arm for the intelligent manufacturing assembly line according to claim 4, wherein the plate taking and placing mechanical arm comprises: drive mechanism (9) including cup joint in through the leading truck activity snatch double-sided hold-in range (16) of frame (1) surface, just the inboard rodent of double-sided hold-in range (16) with gear (23) activity laminating, keep away from leveling yaw (3) the one end fixed mounting of arm (5) has linking arm (12), just U type groove (13) have been seted up to the inboard of linking arm (12), it keeps away from to snatch frame (1) the one end of motor (4) has ratchet wheel (14) through bearing bracket movable mounting, just ratchet wheel (14) with double-sided hold-in range (16) swing joint, the upper end fixed surface of ratchet wheel (14) installs gag lever post (15), just the upper end activity of gag lever post (15) inlay in the inboard of U type groove (13).
7. The plate taking and placing manipulator for the intelligent manufacturing assembly line according to claim 6, wherein the manipulator comprises: the upper end of grabbing frame (1) still installs lubricating mechanism (10), lubricating mechanism (10) including fixed mounting in grab magazine (19) of frame (1) upper end, just the upper end fixed mounting of magazine (19) has inflator (21), the inside activity of one end that inflator (21) is close to linking arm (12) has inlayed movable rod (22), just the other end fixed mounting of movable rod (22) has piston dish (46), piston dish (46) with inflator (21) are sliding connection, the one end that movable rod (22) were kept away from to piston dish (46) is installed spring four (45), the one end intercommunication that movable rod (22) were kept away from to inflator (21) has two sets of communicating pipe (43), one of them group the lower extreme of communicating pipe (43) is fixed inlay in the inboard of communicating pipe (19), another group the upper end of communicating pipe (43) is installed check valve two (44), the inner side of the material box (19) is fixedly communicated with a ring pipe (20), the ring pipe (20) is fixedly connected with the grabbing frame (1), the parts, close to the bearing (30), of the outer surface of the ring pipe (20) are fixedly communicated with a shunt pipe (41), a one-way valve I (42) is installed on the outer side of the shunt pipe (41), and a limiting part (11) is installed on the outer side of the movable rod (22).
8. The plate taking and placing manipulator for the intelligent manufacturing assembly line according to claim 7, wherein the manipulator comprises: locating part (11) including fixed mounting in arc piece (48) of movable rod (22) surface, just nut (49) are installed through the bolt to the end of movable rod (22), inflator (21) are close to the one end fixed mounting of movable rod (22) has spacing arc frame (47), just arc piece (48) with spacing arc frame (47) activity gomphosis.
9. The plate taking and placing manipulator for the intelligent manufacturing assembly line according to claim 7, wherein the manipulator comprises: the flow direction of the second one-way valve (44) is the one-way flow from the communicating pipe (43) to the air cylinder (21), and the flow direction of the shunt pipe (41) is the flow from the ring pipe (20) to the shunt pipe (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210688175.0A CN114952923B (en) | 2022-06-17 | 2022-06-17 | A panel is got and is put manipulator for intelligent manufacturing assembly line |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210688175.0A CN114952923B (en) | 2022-06-17 | 2022-06-17 | A panel is got and is put manipulator for intelligent manufacturing assembly line |
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| CN114952923A true CN114952923A (en) | 2022-08-30 |
| CN114952923B CN114952923B (en) | 2024-04-30 |
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| CN114952923B (en) | 2024-04-30 |
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