CN201077079Y

CN201077079Y - Folding mechanical arm

Info

Publication number: CN201077079Y
Application number: CNU2007201197968U
Authority: CN
Inventors: 陈永周
Original assignee: Zhongshan Jutong Mechanical & Electrical Technology Co Ltd
Current assignee: Zhongshan Jutong Mechanical & Electrical Technology Co Ltd
Priority date: 2007-04-27
Filing date: 2007-04-27
Publication date: 2008-06-25
Anticipated expiration: 2017-04-27

Abstract

The utility model discloses a foldaway manipulator, which is characterized in that a control chassis glidingly connected by a linear slide rail and a cantilever type main beam of an assistant beam are arranged on a fixing base; a ventilate reset stockless cylinder is arranged on the cantilever type main beam; a transmission mechanism connected with the linear slide rail can slide on the rail of the assistant beam fixedly connected with the control chassis; at least two vertical downwards polyarticular retractable mechanical arms and two traction cylinders are fixed connected with the frame body of the assistant beam, wherein, the traction cylinders are connected with the two ends of the assistant beam and control the polyarticular retractable mechanical arms to vertically stretch. Compared with the manipulator of the non-foldaway mechanism, the utility model has the advantages of greatly shortened travel of the cylinder, adjustable length, greatly saved space, faster running speed due to the adoption of the length of the mechanical arm of the speed-multiply mechanism, accurate and lively working step on the same condition after the travel of the cylinder is shortened, and ability to solve the problems that the height of the workshop limits the length of the mechanical arm in the prior art and the using flexibility of the manipulator.

Description

Collapsible manipulator

Technical field

Utility model is the automation equipment device about the automatic taking-up that is applied to injection machine injecting products and mouth of a river stub bar.

Background technology

Be used for injection molding product, mouth of a river stub bar in the prior art and take out the formula manipulator oblique arm formula manipulator is arranged, also have horizontal travel type manipulator and pivoted arm manipulator.These manipulator arms are mainly by cylinder, cylinder holder, and guide post, tong, suction cup portion assembly are formed.Prior art since the length of its mechanical arm near factory building height, mechanical arm is long, usage space is restricted often, thereby has influence on the use limitation of manipulator.When arm need extend, the cylinder stroke of the mechanical arm of the non-collapsible mechanism of prior art needed corresponding lengthening, made the length lengthening of arm, and is higher to the requirement for height of factory building, is restricted when factory building is shorter, even can't uses.The operational flexibility of its mechanical arm is relatively poor, and velocity efficiency is lower.

Summary of the invention

The purpose of this utility model is long at the prior art mechanical arm, and the problem that the speed of service is low provides a kind of and can shorten mechanical arm length flexibly, makes the collapsible faster mechanical arm of the manipulator speed of service, is easy to the mechanical arm of making and safeguarding.

The technical scheme that the utility model technical solution problem is adopted is, a kind of collapsible manipulator, comprise, mounting seat and the vertical base crossbeam link arm that is connected and installed, the control cabinet, and have cylinder and vertically be assemblied in mechanical arm on the described crossbeam link arm, it is characterized in that: mounting seat is provided with by the be slidingly connected cantilevered main beam of control cabinet and secondary crossbeam of linear slide rail, Rodless cylinder and the buffer of resetting of ventilating is housed on the described cantilevered main beam, the secondary crossbeam that connects firmly with the control cabinet is slided on its slide rail by the transmission mechanism that is connected in described linear slide rail, is fixedly connected with the flexible mechanical arm of two multi-joints vertically downward at least and controls two pulling cylinders that the flexible mechanical arm of multi-joint is done the transversal stretching motion with the two ends that are connected to described secondary crossbeam in the framework of secondary crossbeam.

The utility model has following beneficial effect than prior art.

The utility model adopts the cylinder stroke of mechanical arm of the non-collapsible mechanism of cylinder stroke ratio prior art of the mechanical arm of collapsible mechanism to shorten greatly, and when arm need extend, the cylinder stroke of collapsible mechanical arm was constant; But not the cylinder stroke of the mechanical arm of collapsible mechanism needs corresponding lengthening, makes the length lengthening of arm, and is restricted greatly when shorter factory building uses.Collapsible mechanical arm dexterous durable, that stretch flexibly, because design of part is simple, arm cylinder stroke is short, does not need guide rail guide rod guiding, is easy to make and maintenance.Collapsible arm length can be regulated, when arm need extend or shorten, and holder top size constancy, only needing increases or deletes that holder bottom machine articulated number gets final product.During work, the height of end face is constant on the mechanical arm, arm is only done horizontal movement under the pulling cylinder action, can not clash into the ceiling of factory building, foldable structure can be saved the space significantly, has reduced the requirement to the space, job step is accurate, lucid and lively, can adapt to the requirement of different production occasion, solve the prior art mechanical arm and limited by factory building height, influence the problem that manipulator uses flexibly.The duplication acceleration mechanism that accordion structure has concurrently, after the cylinder stroke shortened greatly, under the same conditions, the speed of service was faster, had effectively improved productivity ratio.

Description of drawings

Further specify the present invention below in conjunction with drawings and Examples, but therefore do not limit the present invention among the described scope of embodiments.

Fig. 1 is the utility model organigram.

Fig. 2 is the organigram of collapsible manipulator arm.

Fig. 3 is the cutaway view of Fig. 2.

Fig. 4 is the fundamental diagram of collapsible duplication acceleration mechanism.

Among the figure: 1. mounting seat, 2, main beam, 3. buffer, 4. Rodless cylinder, 5. the capable slide rail of line, 6. drag chain, 7 control cabinets, 8, secondary crossbeam, 9, Suction cup assembly, 10. pulling cylinder, 11. tong, 12. arm cylinders, 13. air cylinder fixed plate, 14, connecting plate, 15, holder, 16, collapsible duplication acceleration mechanism, 17, buffer, 18, slide block, 19, secondary crossbeam fixed head.

The specific embodiment

Among Fig. 1～Fig. 3,1 is provided with by the be slidingly connected cantilevered main beam 2 of control cabinet 7 and secondary crossbeam 8 of linear slide rail 5 on the mounting seat, Rodless cylinder 4 and the buffer 3 of resetting of ventilating is housed on the described cantilevered main beam 2, the secondary crossbeam 8 that connects firmly with control cabinet 7 is slided on its slide rail by the transmission mechanism that is connected in described linear slide rail 5, is fixedly connected with the flexible mechanical arm 20 of two multi-joints vertically downward at least and controls two pulling cylinders 10 that the flexible mechanical arm of multi-joint is done the transversal stretching motion with holder 15 two ends that are connected to described secondary crossbeam 8 in the framework of secondary crossbeam 8.Secondary crossbeam, control cabinet and secondary crossbeam link arm move back and forth at Rodless cylinder 4 effect lower edge linear slide rails 5.The cantilevered main beam 2 that laterally extends is arranged on the bottom of the control cabinet 7 of mounting seat 1.Linear slide rail 5 and the ventilation Rodless cylinder 4 that resets is arranged on the upper surface of cantilevered main beam 2.The buffer 3 of buffering Rodless cylinder 4 reciprocating motions of the pistons is housed at the end of linear slide rail 5.From controlling the outside that cabinet 7 extended drag chains 6 are connected in linear slide rail 5, it is reciprocating to drive linear slide rail 5 by the drive apparatus in the control cabinet 7.The secondary crossbeam 8 of cantilevered that is connected on the control cabinet 7 is connected in the vertical plane of controlling cabinet 7 by secondary crossbeam fixed head 19.The slide block 18 of the linear slide rail 5 that is slidingly connected is equipped with in control cabinet 7 and secondary crossbeam 8 lower ends, so that the secondary crossbeam 8 of control cabinet 7 and disjunctor assembling can slide by property slide rail 5 along the line together.Be fixedly connected with the flexible mechanical arm 20 of two multi-joints vertically downward in the framework of secondary crossbeam 8.The flexible mechanical arm 20 of this multi-joint is made up of the arm cylinder 12, air cylinder fixed plate 13, connecting plate 14, holder 15, collapsible duplication acceleration mechanism 16, buffer 17, Suction cup assembly 9 and/or the tong 11 that connect successively.Collapsible duplication acceleration mechanism 16 is made up of the many groups of hinged parallel four-bar linkages of connecting mutually.Arm cylinder 12 straight up is connected in the upper end of the flexible mechanical arm 20 of multi-joint by its piston.Two parallel flexible mechanical arms 20 of multi-joint that are assemblied on the secondary crossbeam 8, its lower end has a Suction cup assembly 9 that band buffer 3 is housed at least.Wherein have at least the lower end of the flexible mechanical arm 20 of a multi-joint that the tong 11 of seizing workpiece on both sides by the arms is housed.Be equipped with by two inboard chute (not shown)s at the both ends of secondary crossbeam 8 respectively and connect firmly two pulling cylinders 10 on connecting plate 14, pull out cylinder 10 and when ventilation, drive the flexible mechanical arm 20 of multi-joint and do the transversal stretching motion.Under arm cylinder 12 and two pulling cylinder 10 effects, make the flexible mechanical arm of flexible up and down multi-joint at two, produce by the collapsible duplication acceleration mechanism 16 of hinged parallel four connecting rods of mutual series connection and quicken the folding retractable motion with the horizontal cross stretching motion.

Fig. 4 is the schematic diagram that collapsible mechanism has duplication acceleration mechanism concurrently: as shown in the figure, when the effect of F power is downward, the C1 point moves to the C2 fixed pivot along center line, A1, B1 move to level and downward direction, C3, the C4 of the below of side fixed pivot C2, C5 point move up, A2, A3, A4, B2, B3, B4 are to level with upward to moving, and the speed that C3 shifts to C2 is equal to the speed that C1 shifts to C2; The speed that C4 shifts to C3 also is equal to the speed that C1 shifts to C2; The speed that C5 shifts to C4 also is equal to the speed that C1 shifts to C2; The speed that side C5 shifts to C2 is that C3 shifts to C2, C4 and shifts to the stack that C3, C5 shift to the speed of C4, is easy to find out that the speed that C5 shifts to C2 is the multiple that C1 shifts to the speed of C2.As the same when the effect of F power makes progress, the speed of the reverse C2 of C5 is the multiple of the speed of the reverse C2 of C1.Therefore collapsible mechanism has duplication acceleration mechanism concurrently, and multiple speed is fast more more when joint hinge number.

Its operation principle is: when 12 ventilations of arm cylinder, the arm cylinder piston rod upwards shrinks, and many at this moment groups hinged parallel four-bar linkage of series connection are mutually stretched out downwards; 10 ventilations of pulling cylinder are done level and are drawn contractive action, Suction cup assembly 9 adsorption productions, the main mouth of a river of tong 11 folders stub bar; Pulling cylinder 10 ventilation is done level and is pulled out, and stretches out action, and Suction cup assembly 9 is extracted product by sucker from mould, meanwhile, is sandwiched in 11 mouth of a river stub bar extracted from mould; During 12 ventilations of arm cylinder, the arm cylinder piston rod stretches out downwards, and the hinged parallel four-bar linkage of the mutual series connection of many groups this moment upwards shrinks; Rodless cylinder 4 ventilation promotes secondary crossbeam fixed head 19, slide block 18, control cabinet 7, secondary crossbeam 8 link arms property slide rail 5 along the line together and moves to buffer 3.During 12 ventilations of arm cylinder, cylinder piston rod upwards shrinks, and many groups hinged parallel four-bar linkage of series connection are mutually stretched out downwards; Suction cup assembly 9, tong 11 put down product and mouth of a river stub bar.During 12 ventilations of arm cylinder, the arm cylinder piston rod stretches out downwards, and many groups hinged parallel four-bar linkage of series connection are mutually upwards shunk; Rodless cylinder 4 ventilation homings connect next working cycles.

Claims

1. collapsible manipulator, comprise, mounting seat and the vertical crossbeam link arm that is connected and installed base, the control cabinet, and have cylinder and vertically be assemblied in mechanical arm on the described crossbeam link arm, it is characterized in that: (1) is provided with by the be slidingly connected cantilevered main beam (2) of control cabinet (7) and secondary crossbeam (8) of linear slide rail (5) on the mounting seat, Rodless cylinder (4) and the buffer (3) of resetting of ventilating is housed on the described cantilevered main beam (2), slided on its slide rail by the transmission mechanism that is connected in described linear slide rail (5) with the secondary crossbeam (8) that connects firmly of control cabinet (7), the two ends flexible mechanical arm of control multi-joint that is fixedly connected with the flexible mechanical arm (20) of two multi-joints vertically downward at least and is connected to described secondary crossbeam (8) in the framework of secondary crossbeam (8) is made two pulling cylinders (10) that transversal stretching moves.

2. collapsible manipulator according to claim 1, it is characterized in that the described multi-joint mechanical arm (20) that stretches is made up of cylinder (12), air cylinder fixed plate (13), connecting plate (14), holder (15), collapsible duplication acceleration mechanism (16), buffer (17) and the Suction cup assembly (9) thereof or the tong (11) that connect successively.

3. collapsible manipulator according to claim 2 is characterized in that, described collapsible duplication acceleration mechanism (16) is made up of the many groups of hinged parallel four-bar linkages of connecting mutually.

4. collapsible manipulator according to claim 1 is characterized in that, the lower end of the flexible mechanical arm of the multi-joint on two secondary crossbeams has at least one the Suction cup assembly of drawing workpiece is housed.

5. collapsible manipulator according to claim 1 is characterized in that, has at least the lower end of the flexible mechanical arm of a multi-joint that the tong of seizing mouth of a river stub bar on both sides by the arms is housed.

6. collapsible manipulator according to claim 1 is characterized in that, the drag chain that connects linear slide rail (5) on the main beam extends from the control cabinet.

7. collapsible manipulator according to claim 1 is characterized in that, at the front end face of the linear slide rail of cantilevered main beam buffer is housed.