CN114952923B - A panel is got and is put manipulator for intelligent manufacturing assembly line - Google Patents
A panel is got and is put manipulator for intelligent manufacturing assembly line Download PDFInfo
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- CN114952923B CN114952923B CN202210688175.0A CN202210688175A CN114952923B CN 114952923 B CN114952923 B CN 114952923B CN 202210688175 A CN202210688175 A CN 202210688175A CN 114952923 B CN114952923 B CN 114952923B
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- movable rod
- limiting
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims description 44
- 239000002023 wood Substances 0.000 claims description 37
- 238000007789 sealing Methods 0.000 claims description 24
- 239000000463 material Substances 0.000 claims description 22
- 238000003756 stirring Methods 0.000 claims description 19
- 238000004140 cleaning Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 4
- 230000001050 lubricating effect Effects 0.000 claims description 3
- 241000252254 Catostomidae Species 0.000 claims description 2
- 238000004891 communication Methods 0.000 claims description 2
- 238000010030 laminating Methods 0.000 claims 1
- 239000000428 dust Substances 0.000 abstract description 16
- 238000000034 method Methods 0.000 description 17
- 230000008569 process Effects 0.000 description 13
- 230000001360 synchronised effect Effects 0.000 description 10
- 238000005461 lubrication Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 6
- 238000007664 blowing Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 235000014676 Phragmites communis Nutrition 0.000 description 1
- 240000007643 Phytolacca americana Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 239000010687 lubricating oil Substances 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
- 230000001960 triggered effect Effects 0.000 description 1
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
-
- 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
-
- 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 picking and placing manipulator for an intelligent manufacturing assembly line, which relates to the field of automatic machinery and solves the problem that the lower end face of a suction disc used for sucking and the inside of the suction disc can absorb tiny dust to influence the air tightness.
Description
Technical Field
The invention relates to the field of automatic machinery, in particular to a plate taking and placing manipulator for an intelligent manufacturing assembly line.
Background
The modern factory is basically provided with an intelligent manufacturing assembly line, manual operation is replaced by a large number of automation devices on the assembly line, the labor cost is reduced, and meanwhile, the production efficiency is greatly improved, wherein a manipulator is a common automation device on the intelligent manufacturing assembly line, and the manipulator is an automatic operation device which can imitate certain action functions of a human hand or an arm and is used for grabbing and carrying objects or operating tools according to fixed programs.
On the existing intelligent manufacturing assembly line for processing the boards (particularly wood), the automatic mechanical arm is used for taking and placing the wood boards, and as a large amount of dust exists on the surfaces of the piled wood boards, the dust is used for preventing the formation of negative pressure when taking and placing due to the fact that the direct contact surface of the wood boards is too tight;
the dust on the surface of the wood board can be cleaned up by blowing through the blowing device, the sucking disc is convenient to suck, but when the sucking disc at the lower end of the manipulator is exposed in a space with more dust for a long time for use, the lower end surface and the interior of the sucking disc can be adhered with part of dust, if the dust is not cleaned for a long time, the abrasion of the lower end surface of the sucking disc can be caused when the sucking disc contacts the wood board in the operation process, the air tightness of the affected sucking disc is affected, and therefore the stability of the manipulator for picking and placing the wood board is affected.
Disclosure of Invention
The invention aims to provide a plate picking and placing manipulator for an intelligent manufacturing assembly line, which can clean dust adhered to the lower end surface of a sucker in the operation process, so as to solve the problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the plate picking and placing manipulator for the intelligent manufacturing assembly line comprises a grabbing frame and a limiting seat fixedly arranged on the inner side of the grabbing frame, wherein a mechanical arm for moving the grabbing frame is arranged at the front end of the grabbing frame, a leveling swing head is arranged at one end, close to the limiting seat, of the mechanical arm, a motor is fixedly arranged in 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 absorb the wood boards, the pneumatic mechanisms are fixedly arranged at the side ends of the grabbing frames, and cleaning mechanisms are arranged at the lower ends of the pneumatic mechanisms; the transmission mechanism can trigger the cleaning mechanism according to the movement of the grabbing frame, the transmission mechanism 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 to be taken and placed.
Preferably, the pneumatic mechanism comprises a cylinder fixedly mounted on the outer side of the grabbing frame through a fixing plate, a plurality of groups of sealing drums are fixedly mounted on the inner side wall of the grabbing frame through a mounting plate, a guide pipe is connected between the sealing drums and the cylinder, a piston column is mounted on the inner side of each sealing drum in a sliding mode, a piston is fixedly mounted on the upper end of each piston column, the piston is in sliding connection with each sealing drum, the piston column and the inner portion of the piston are hollow, a sucker is fixedly sleeved at the lower end of each piston column, a second spring is mounted at the upper end of each piston, after the grabbing frame moves to the upper end of a wood board and presses the wood board by a small extent, the cylinder sucks air in the inside of the sealing drum through the guide pipe, the lower end of each sucker is tightly attached to the wood board, the sucker can effectively adsorb the wood board, after the air pressure in the sealing drum is low, the piston can move upwards, the piston can compress the second spring, and the wood board can also move part of the distance upwards, and the sucker and the piston column cannot rotate downwards and directly.
Preferably, the cleaning mechanism comprises a first gear movably sleeved on the outer surface of the sealing cylinder, a plurality of groups of circumferentially arranged fixed cylinders are fixedly arranged in the first gear, a telescopic rod is slidably arranged in the first fixed cylinder, a first spring is arranged at the upper end of the telescopic rod, a plurality of groups of stirring rings are fixedly sleeved on the outer surface of the telescopic rod, a plurality of groups of stirring sheets circumferentially arranged are fixedly arranged on the inner side of the stirring rings, umbrella-shaped discs are fixedly arranged on the outer surface of the piston column, the umbrella-shaped discs are movably attached to the suction disc, a plurality of groups of circumferentially arranged vibrating sheets are fixedly arranged at the upper end of the umbrella-shaped discs, the stirring sheets are staggered, an auxiliary piece is arranged on the outer side of the first gear, the vibrating sheets in the first gear can stir the vibrating sheets when the stirring rings rotate, and generated vibration force is transmitted to the suction disc through the umbrella-shaped discs to enable dust adhered to the vibrating sheets inside the suction disc to fall off.
Preferably, the auxiliary piece is including the meshing install in gear two of gear one side end, the inboard fixed mounting of gear two has spacing pipe, just the upper end of spacing pipe is through the bearing rotation install the fixed block, the fixed block with snatch the frame and be fixed connection, the inboard activity of spacing pipe has inlayed L type pole, spring three is installed to the upper end of L type pole, just the lower extreme external surface fixed of L type pole has cup jointed the sponge cover, and at the gear rotation in-process, accessible gear two drives spacing pipe and rotates, and the sponge cover of its spacing pipe lower extreme can clean once the lower extreme surface of sucking disc, and wherein the diameter of gear one is greater than the diameter of gear two, and gear one rotates homoenergetic at every turn and drives gear two and rotate one round.
Preferably, the outer surface of the sponge sleeve is tangent to the horizontal plane of the lower end of the sucker.
Preferably, the transmission mechanism comprises a double-sided synchronous belt movably sleeved on the outer surface of the grabbing frame through a guide frame, inner side meshing teeth of the double-sided synchronous belt are movably attached to a gear, one end of the leveling swing head, which is far away from the mechanical arm, is fixedly provided with a connecting arm, a U-shaped groove is formed in the inner side of the connecting arm, one end of the grabbing frame, which is far away from the motor, is movably provided with a ratchet gear through a support bracket, the ratchet gear is movably meshed with the double-sided synchronous belt, the upper end surface of the ratchet gear is fixedly provided with a limiting rod, the upper end of the limiting rod is movably embedded in the inner side of the U-shaped groove, and when the mechanical arm drives the grabbing frame to move left and right, the motor can finely adjust the grabbing frame in the swinging process of the mechanical arm for guaranteeing the level of the grabbing frame.
Preferably, the upper end of the grabbing frame is further provided with a lubrication mechanism, the lubrication mechanism comprises a material box fixedly arranged at the upper end of the grabbing frame, the upper end of the material box is fixedly provided with an air cylinder, the air cylinder is close to one end of the connecting arm, a movable rod is movably embedded in the air cylinder, the other end of the movable rod is fixedly provided with a piston disc, the piston disc is in sliding connection with the air cylinder, one end of the piston disc, which is far away from the movable rod, is provided with a spring IV, one end of the air cylinder, which is far away from the movable rod, is communicated with two groups of communicating pipes, wherein the lower ends of one group of communicating pipes are fixedly embedded in the inner side of the material box, the other group of communicating pipes are provided with a second check valve, the inner side of the material box is fixedly communicated with a ring pipe, the ring pipe is fixedly connected with the grabbing frame, the outer surface of the ring pipe is fixedly communicated with a shunt pipe, the outer side of the shunt pipe is provided with a first check valve, the outer side of the movable rod is provided with a limiting piece, and when lubrication is needed, the connecting arm can trigger the movable rod in a swinging process.
Preferably, the limiting part comprises an arc-shaped piece fixedly mounted on the outer surface of the movable rod, a nut is mounted at the end of the movable rod through a bolt, a limiting arc frame is fixedly mounted at one end of the movable rod, which is close to the air cylinder, the arc-shaped piece is movably embedded with the limiting arc frame, when lubrication of bearings is not needed, a user can pinch the nut to extend the movable rod into the air cylinder, and the arc-shaped piece is rotated after being stuck to the side wall of the air cylinder, so that the arc-shaped piece is embedded in the limiting arc frame.
Preferably, the second check valve is in a flow direction from the communicating pipe to the inflator in a one-way flow mode, and the shunt tube is in a flow direction from the ring pipe to the shunt tube.
Compared with the prior art, the invention has the beneficial effects that:
According to the invention, through the cooperation of the cleaning mechanism, the transmission mechanism and the lubricating mechanism, when the mechanical arm moves the grabbing frame to grab a wood board through the pneumatic mechanism, the double-sided synchronous belt can drive the gear to rotate, the poking piece can poke the vibration pieces to generate vibrating force, the vibrating force is conducted to the suction disc to enable dust adhered to the inside of the suction disc to fall off, meanwhile, the bottom of the suction disc is ensured to be clean under the action of the auxiliary piece, the connecting arm can touch the piston rod in the swinging process to enable the inside of the shunt tube to drop lubricating oil into the bearing, so that the bearing is ensured not to have rust and clamping.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of another view angle structure of the whole present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a schematic view of a connecting arm structure according to the present invention;
FIG. 5 is an enlarged view of the invention at A in FIG. 4;
FIG. 6 is a schematic diagram of the vibrating reed and the pulling piece according to the present invention;
FIG. 7 is a schematic view of the inner structure of the seal cartridge and the spacing tube of the present invention;
FIG. 8 is a schematic view of a grommet according to the present invention;
Fig. 9 is a schematic view of the limiting arc frame and the arc piece structure of the invention.
In the figure: 1-grabbing a frame; 2-a limiting seat; 3-leveling the swinging head; 4-an electric motor; 5-a mechanical arm; 6-a pneumatic mechanism; 7-a cleaning mechanism; 8-auxiliary parts; 9-a transmission mechanism; 10-a lubrication mechanism; 11-limiting parts; 12-connecting arms; 13-U-shaped groove; 14-a ratchet gear; 15-a limiting rod; 16-double-sided synchronous belt; 17-cylinder; 18-sealing the cylinder; 19-a material box; 20-loop pipe; 21-inflator; 22-a movable rod; 23-gear one; 24-fixing the cylinder; 25-telescoping rod; 26-a dial ring; 27-a piston column; 28-sucking disc; 29-a fixed block; 30-bearing; 31-limiting pipes; 32-gear two; 33-L-shaped bar; 34-a sponge sleeve; 35-umbrella-like disc; 36-a vibrating piece; 37-pulling piece; 38-spring one; 39-spring II; 40-spring III; 41-shunt; 42-one-way valve one; 43-communicating pipe; 44-a second check valve; 45-spring IV; 46-a piston disc; 47-limiting arc frames; 48-arc-shaped sheets; 49-nut.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1 and 2, a plate picking and placing manipulator for an intelligent manufacturing assembly line in the drawing 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 in the leveling swing head 3, and the output end of the motor 4 is fixedly embedded 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 cleaning mechanisms 7 are 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 to be arranged on the outer side of the grabbing frame 1 according to the movement 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 wood boards grabbed at the lower end of the grabbing frame 1 can be horizontally moved to be taken and placed.
Referring to fig. 2 and 4, in the drawings, the pneumatic mechanism 6 includes a cylinder 17 fixedly installed on the outer side of the grabbing frame 1 through a fixing plate, a plurality of groups of sealing drums 18 are fixedly installed on the inner side wall of the grabbing frame 1 through a mounting plate, a conduit is connected between the sealing drums 18 and the cylinder 17, a piston column 27 is slidably installed on the inner side of the sealing drums 18, a piston is fixedly installed at the upper end of the piston column 27, the piston is slidably connected with the sealing drums 18, the piston column 27 and the piston are hollow, a sucker 28 is fixedly sleeved at the lower end of the piston column 27, a second spring 39 is installed at the upper end of the piston, after the grabbing frame 1 moves to the upper end of a wood board and slightly presses the wood board, the cylinder 17 sucks air in the sealing drums 18 through the conduit, the sucker 28 is tightly attached to the wood board, so that the sucker 28 can effectively adsorb the wood board, and after the air pressure in the sealing drums 18 is low, the piston can move upwards, the second spring 39 is compressed, so that the wood board can also move upwards a part of the distance, and the sucker 28 and the piston column 27 cannot rotate more and more.
Referring to fig. 4-6, in the illustration, the cleaning mechanism 7 includes a first gear 23 movably sleeved on an outer surface of the sealing cylinder 18, a plurality of groups of circumferentially arranged fixed cylinders 24 are fixedly installed inside the first gear 23, a telescopic rod 25 is slidably installed inside the fixed cylinders 24, a first spring 38 is installed at an upper end of the telescopic rod 25, a stirring ring 26 is fixedly sleeved on an outer surface of the plurality of groups of telescopic rods 25, a plurality of groups of circumferentially arranged stirring plates 37 are fixedly installed inside the stirring ring 26, an umbrella-shaped disc 35 is fixedly installed on an outer surface of the piston post 27, the umbrella-shaped disc 35 is movably attached to the suction disc 28, a plurality of groups of circumferentially arranged vibration plates 36 are fixedly installed at an upper end of the umbrella-shaped disc 35, the stirring plates 37 and the vibration plates 36 are staggered, an auxiliary member 8 is installed outside the first gear 23, when the stirring ring 26 rotates, and vibration force generated by the vibration plates 36 is transferred to the suction disc 28 through the umbrella-shaped disc 35, so that adhered dust inside the vibration plates 28 falls off.
Referring to fig. 2-4, in the illustration, 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, inner side teeth of the double-sided synchronous belt 16 are movably attached to a first gear 23, one end of the leveling swing head 3, which is far away from the mechanical arm 5, is fixedly provided with a connecting arm 12, a U-shaped groove 13 is formed in the inner side of the connecting arm 12, one end of the grabbing frame 1, which is far away from the motor 4, is movably provided with a ratchet gear 14 through a support bracket, the ratchet gear 14 is movably engaged with the double-sided synchronous belt 16, the upper end surface of the ratchet gear 14 is fixedly provided with a limiting rod 15, and the upper end of the limiting rod 15 is movably embedded in the inner side of the U-shaped groove 13.
Working principle that dust adhered to the lower end surface of the sucker 28 can be cleaned in the working process: when the stacked wood boards are taken and placed on a production line, the mechanical arm 5 drives the grabbing frame 1 to move, so that a plurality of groups of suckers 28 at the lower end of the grabbing frame 1 absorb the wood boards, when the mechanical arm 5 drives the grabbing frame 1 to move left and right, in order to ensure the horizontal of the grabbing frame 1, the motor 4 finely adjusts 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; conversely, 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 board, and moves rightwards to put the wood board;
firstly, when the grabbing frame 1 moves to the upper end face of the wood board, the wood board is pressed in a small extent, at the moment, the air in the sealing cylinder 18 is sucked by the air cylinder 17 through the guide pipe, the suction disc 28 can effectively adsorb the wood board due to the fact that the lower end of the suction disc 28 is tightly attached to the wood board, after the air pressure in the sealing cylinder 18 is lower and lower, the piston can move upwards, the springs II 39 are compressed, the wood board can also move upwards for a part of distance, the wood board is effectively sucked, 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 charges the inside of the sealing cylinder 18, the suction disc 28 is not adsorbed on the wood board, and the wood board is placed on the production line for conveying;
In the process of placing the wood board by moving the grabbing frame 1 rightwards, the connecting arm 12 deflects clockwise relative to the grabbing frame 1, at the moment, the deflecting connecting arm 12 drives the ratchet wheel 14 to rotate through the limiting rod 15, the ratchet wheel 14 cannot drive the double-sided synchronous belt 16 to drive, in the process of moving the grabbing frame 1 leftwards to take the wood board, at the moment, the ratchet wheel 14 can drive the double-sided synchronous belt 16 to 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 stirring ring 26 to rotate through the cooperation of the fixed cylinder 24 and the telescopic rod 25, the stirring piece 37 in the stirring ring 26 can stir the vibration piece 36, and the vibration force generated by the vibration piece 36 is transmitted to the sucker 28 through the umbrella-shaped disc 35, so that adhered dust in the sucker 28 can fall off, and the connecting arm 12 drives the ratchet wheel 14 to swing leftwards and rightwards through the limiting rod 15.
Example 2
Referring to fig. 7 and 8, in this embodiment, for further description of example 1, the auxiliary member 8 includes a second gear 32 engaged with and mounted on a side end of the first gear 23, a limiting tube 31 is fixedly mounted on an inner side of the second gear 32, a fixing block 29 is rotatably mounted on an upper end of the limiting tube 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 on an inner side of the limiting tube 31, a third spring 40 is mounted on 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 sleeve 34 is shown as being tangential to the horizontal plane 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 vibration force that the trembler 36 produced passes through bevel disk 35 and transmits to sucking disc 28, the vibration force that its sucking disc 28 upper end part received is great, and the vibration force that the sucking disc 28 bottom received is less for the dust that sucking disc 28 bottom plane adhered breaks away from the effect is obvious inadequately, therefore in gear one 23 rotation in-process, accessible gear two 32 drive spacing pipe 31 rotates, 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 sucking disc 28 lower extreme surface can not adhere to the dust, wherein the diameter of gear one 23 is greater than the diameter of gear two 32, and gear one 23 rotates for every turn and can drive gear two 32 rotation one round.
Example 3
Referring to fig. 1, fig. 4, fig. 8 and fig. 9, for further description of the embodiment, the upper end of the grabbing frame 1 is further provided with a lubrication mechanism 10, the lubrication mechanism 10 includes a material box 19 fixedly installed at the upper end of the grabbing frame 1, the upper end of the material box 19 is fixedly provided with an air cylinder 21, a movable rod 22 is movably embedded in one end of the air cylinder 21 close to the connecting arm 12, 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 from the movable rod 22 is provided with a spring four 45, one end of the air cylinder 21 far from the movable rod 22 is communicated with two groups of communicating pipes 43, wherein the lower end of one group of communicating pipes 43 is fixedly embedded in the inner side of the material box 19, the upper end of the other group of communicating pipes 43 is provided with a two one-way valve 44, the inner side of the material box 19 is fixedly communicated with a loop 20, the loop 20 is fixedly connected with the grabbing frame 1, the outer surface of the loop 20 is fixedly communicated with a shunt tube 41, the outer side of the shunt tube 41 is fixedly provided with a one-way valve 42, the outer side of the shunt tube 22 is fixedly provided with a limiting member 11, and one end of the other side of the shunt tube 22 is required to be in sliding connection with the other side, when the bearing 30 is required to be in the process of connecting the movable arm 12, and the swing can be triggered by the limiting arm 12.
Referring to fig. 8 and 9, in the drawings, the limiting member 11 includes an arc 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, the arc piece 48 is movably embedded with the limiting arc frame 47, when the bearing 30 is not required to be lubricated, a user can pinch the nut 49 to extend the movable rod 22, and after the arc piece 48 is stuck to the side wall of the air cylinder 21, the arc piece 48 is rotated to enable the arc piece 48 to be embedded in the limiting arc frame 47.
The second check valve 44 is in the flow direction from the communication pipe 43 to the air cylinder 21, and the shunt 41 is in the flow direction from the loop 20 to the shunt 41.
In this embodiment: because the dust in the air in the wood board production workshop is more, and the sliding capacity of the bearing 30 is poor because the inside of the bearing 30 is influenced by impurities, 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 piece 48 is separated from the limiting arc frame 47, 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 be filled with gas into the interior of the material box 19, so that the lubricant in the material box 19 can be dripped at the upper end of the bearing 30 through the shunt tube 41, the bearing 30 is lubricated, and when the lubrication is not needed, the user can embed the arc piece 48 into the limiting arc frame 47 again.
It is noted that relational terms such as first and second, and the like are 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. Moreover, 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 understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. 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), snatch the front end of frame (1) and install and be used for removing snatch arm (5) of frame (1), its characterized in that: one end of the mechanical arm (5) close to the limiting seat (2) is provided with a leveling swing head (3), the interior of the leveling swing head (3) is fixedly provided with a motor (4), and the output end of the motor (4) is fixedly embedded into the inner side of the limiting seat (2);
The pneumatic mechanisms (6) are used for sucking the wood boards, 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);
The transmission mechanism (9) triggers the cleaning mechanism (7) according to the movement of the grabbing frame (1), and the transmission mechanism (9) is arranged on the outer side of the grabbing frame (1);
The pneumatic mechanism (6) comprises an air cylinder (17) fixedly arranged on the outer side of the grabbing frame (1) through a fixing plate, a plurality of groups of sealing cylinders (18) are fixedly arranged 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 arranged in the inner side of the sealing cylinders (18) in a sliding manner, a piston is fixedly arranged at the upper end of the piston column (27), the piston is in sliding connection with the sealing cylinders (18), the piston column (27) and the interior of the piston are hollow, a sucker (28) is fixedly sleeved at the lower end of the piston column (27), and a spring II (39) is arranged at the upper end of the piston;
The cleaning mechanism (7) comprises a first gear (23) movably sleeved on the outer surface of the sealing cylinder (18), a plurality of groups of circumferentially arranged fixed cylinders (24) are fixedly arranged in the first gear (23), a telescopic rod (25) is slidably arranged in the fixed cylinders (24), a first spring (38) is arranged at the upper end of the telescopic rod (25), a plurality of groups of stirring rings (26) are fixedly sleeved on the outer surface of the telescopic rod (25), a plurality of groups of circumferentially arranged stirring sheets (37) are fixedly arranged on the inner side of the stirring rings (26), umbrella-shaped discs (35) are fixedly arranged on the outer surface of the piston column (27), the umbrella-shaped discs (35) are movably attached to the suckers (28), a plurality of circumferentially arranged groups of vibrating sheets (36) are fixedly arranged at the upper ends of the umbrella-shaped discs (35), the stirring sheets (37) and the vibrating sheets (36) are alternately distributed, and auxiliary pieces (8) are arranged on the outer side of the first gear (23);
The auxiliary piece (8) comprises a gear II (32) which is meshed with the side end of the gear I (23), a limiting pipe (31) is fixedly arranged on the inner side of the gear II (32), a fixing block (29) is rotatably arranged at the 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 in the inner side of the limiting pipe (31), a spring III (40) is arranged at the upper end of the L-shaped rod (33), a sponge sleeve (34) is fixedly sleeved on the outer surface of the lower end of the L-shaped rod (33), and the outer surface of the sponge sleeve (34) is tangent to the horizontal plane of the lower end of the sucker (28);
the utility model discloses a mechanism for gripping a flexible container, including frame (1), drive mechanism (9) including through the leading truck activity cup joint in snatch double-sided hold-in range (16) of frame (1) surface, just the inboard tooth of double-sided hold-in range (16) with first (23) movable laminating of gear, leveling pendulum head (3) are kept away from 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), snatch frame (1) keep away from one end of motor (4) has ratchet gear (14) through the bracket movable mounting, just ratchet gear (14) with double-sided hold-in range (16) movable engagement, the upper end fixed surface of ratchet gear (14) has gag lever post (15), just the upper end activity of gag lever post (15) inlay in the inboard of U type groove (13).
2. The plate picking and placing manipulator for an intelligent manufacturing line according to claim 1, wherein: the upper end of the grabbing frame (1) is also provided with a lubricating mechanism (10), the lubricating mechanism (10) comprises a material box (19) fixedly arranged at the upper end of the grabbing frame (1), the upper end of the material box (19) is fixedly provided with a material box (21), one end of the material box (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 material box (21), one end of the piston disc (46) far away from the movable rod (22) is provided with a spring IV (45), one end of the material box (21) far away from the movable rod (22) is communicated with two groups of communicating pipes (43), the lower end of one group of the communicating pipes (43) is fixedly embedded in the inner side of the material box (19), the upper end of the other group of the communicating pipes (43) is provided with a one-way valve II (44), the inner side of the material box (19) is fixedly communicated with a piston disc (20), one end of the piston disc (46) is far away from the movable rod (22) and one end of the other group of the material box (22) is fixedly communicated with the other end of the other communicating pipe (43) and is fixedly communicated with the other end of the other communicating pipe (43) which is fixedly communicated with the other end (41), and a limiting piece (11) is arranged on the outer side of the movable rod (22).
3. The plate picking and placing manipulator for an intelligent manufacturing line according to claim 2, wherein: the limiting piece (11) comprises an arc-shaped piece (48) fixedly mounted on the outer surface of the movable rod (22), a nut (49) is mounted at the end of the movable rod (22) through a bolt, a limiting arc frame (47) is fixedly mounted at one end, close to the movable rod (22), of the inflator (21), and the arc-shaped piece (48) is movably embedded with the limiting arc frame (47).
4. The plate picking and placing manipulator for an intelligent manufacturing line according to claim 2, wherein: the second check valve (44) is in a flow direction from the communication pipe (43) to the inflator (21), and the shunt tube (41) is in a flow direction from the loop (20) to the shunt tube (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 |
|---|---|---|---|
| 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 CN114952923A (en) | 2022-08-30 |
| CN114952923B true CN114952923B (en) | 2024-04-30 |
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| TWI682830B (en) * | 2019-05-10 | 2020-01-21 | 東佑達自動化科技股份有限公司 | Claw structure |
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| CN114952923A (en) | 2022-08-30 |
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