CN201325060Y - Guide rail push-pull mechanical hand - Google Patents

Guide rail push-pull mechanical hand Download PDF

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Publication number
CN201325060Y
CN201325060Y CNU2008201834922U CN200820183492U CN201325060Y CN 201325060 Y CN201325060 Y CN 201325060Y CN U2008201834922 U CNU2008201834922 U CN U2008201834922U CN 200820183492 U CN200820183492 U CN 200820183492U CN 201325060 Y CN201325060 Y CN 201325060Y
Authority
CN
China
Prior art keywords
guide
manipulator
guiding trestle
type
guide rail
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CNU2008201834922U
Other languages
Chinese (zh)
Inventor
任有志
袁贵栋
蔡建军
张付祥
陈继荣
于冬梅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hebei University of Science and Technology
Original Assignee
Hebei University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hebei University of Science and Technology filed Critical Hebei University of Science and Technology
Priority to CNU2008201834922U priority Critical patent/CN201325060Y/en
Application granted granted Critical
Publication of CN201325060Y publication Critical patent/CN201325060Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model relates to a guide rail push-pull mechanical hand, comprising a y movement bracket (1), a first y guide bracket (2), a second y guide bracket (3), a third y guide bracket (4), a fourth y guide bracket ( 5), a z movement bracket (6), clamp-type fingers (7,8), a palm (9), a first y guide shaft (10) and a second y guide shaft (11), wherein the y movement bracket (1), the first y guide bracket (2), the second y guide bracket (3), the third y guide bracket (4) and the fourth y guide bracket ( 5) are fixedly connected with the palm (9), and the z movement bracket (6) is fixedly connected with the palm (9) through a cam guide groove (6-2) and a screw (6-1); the cam guide groove (6-2) and an oblique wedge type cam (6-6) make relative movement, and the clamp-type fingers (7,8) are hinged with the palm (9); and the clamp-type fingers (7,8) are connected by a spring. The utility model can allow the mechanical hand to open and close and vertically move.

Description

The plug-type manipulator of guide rail
Technical field
The utility model relates to the plug-type manipulator of a kind of mechanical manipulator, particularly guide rail, as the mechanical manipulator that picks up the finished product gloves on the plastic sheeting product line automatically, belongs to the manipulator technical field.
Background technology
Plastic thin-film gloves is the sizable plastic products of a kind of consumption, and its mode of production is normally finished on the dedicated stream waterline.Production process generally is like this: the double-plastic that processes through blow moulding machine is placed on the conveyer belt with being flattened in advance, draws it by certain pick feed by conveyer belt.Above conveyer belt, be provided with a fingerprint heating platen, be provided with the fingerprint that resistance wire turns in its lower surface, when fingerprint is switched on, the resistance wire heating.By a cover feeding mechanism, the fingerprint heating platen when pausing, is depressed conveyer belt, and utilize the heat of resistance wire that some position (marginal portions of gloves) of double-plastic is bonded together.The plastic sheeting of conveyer belt after with hot pressing is transported to next station when the fingerprint heating platen lifts, and by the workman gloves torn and promptly finished the production process of gloves.This mode of production efficient is very high, the working ability of a common junior machine is about 1~3/second, thereby the workman to tear the labour intensity of getting gloves also very big, to finish the arm expanding-contracting action during everyone per tour at least 28800~86400 times, and also to look after simultaneously lathe operation, reload, reject substandard product, or the like.Therefore, design a kind of alternative manually-operated manipulator, finish this simple repeated labor, can alleviate working strength of workers greatly undoubtedly.
Summary of the invention
The utility model is the plug-type manipulator of a kind of guide rail, and this manipulator is realized the folding of manipulator by Wedge type cam, normal direction (z to) guide rail and spring; Realize the lengthwise movement of manipulator integral body by vertically (x to) guide rail and guider; Laterally (y to) motion of manipulator integral body can be moved and realize by horizontal (y to) of vertical (x to) guide rail.This manipulator can be applicable in the emgloves stripping operation.
The utility model is the plug-type manipulator of a kind of guide rail, comprise: y motion bracket 1, the one y guiding trestle 2, the 2nd y guiding trestle 3, the 3rd y guiding trestle 4, the 4th y guiding trestle 5, z motion bracket 6, clamp-type finger 7,8, palm 9, the one y axis of guides 10, the two y axis of guides 11, wherein, described y motion bracket 1, the one y guiding trestle 2, the 2nd y guiding trestle 3, the 3rd y guiding trestle 4, the 4th y guiding trestle 5 connects firmly on described palm 9, and described z motion bracket 6 connects firmly on described palm 9 by cam gathering sill 6-2 and screw 6-1, and there are relative motion in described cam gathering sill 6-2 and Wedge type cam 6-6, described clamp-type finger 7,8 are hinged on the palm 9, described clamp-type finger 7, link together by spring between 8.
The plug-type manipulator of guide rail of the present utility model can be used for the manipulator of the emgloves demoulding, can realize: manipulator open (strut gloves, unclamp fingerprint) close (loosen gloves, clamp fingerprint), manipulator vertically (x to) move (gloves demolding), manipulator vertically (y to) move (manipulator and fingerprint (gloves production line) are synchronized with the movement).
Description of drawings
Fig. 1 is the front view of the plug-type manipulator of guide rail of the present utility model;
Fig. 2 is the left view of the plug-type manipulator of guide rail of the present utility model;
Fig. 3 is the vertical view of the plug-type manipulator of guide rail of the present utility model.
The specific embodiment
The plug-type manipulator of guide rail of the present utility model comprises: y motion bracket 1; The one y guiding trestle 2; The 2nd y guiding trestle 3; The 3rd y guiding trestle 4; The 4th y guiding trestle 5; Z motion bracket 6; Clamp-type finger 7,8; Palm 9; The one y axis of guide 10; The 2nd y axis of guide 11.Wherein y motion bracket 1 comprises: the 1-1 screw; The 1-2 bearing; The 1-3 sleeve; The 1-4 nut.Wherein a y guiding trestle 2 comprises: the 2-1 nut; The 2-2 sleeve; The 2-3 bearing; The 2-4 sleeve; The 2-5 bearing; The 2-6 screw.The structure of the 2nd y guiding trestle 3, the 3rd y guiding trestle 4, the 4th y guiding trestle 5 and the structure of a y guiding trestle 2 are identical.Z motion bracket 6 comprises: screw 6-1; Cam gathering sill 6-2; Screw 6-3; Bearing 6-4; Nut 6-5; Wedge type cam 6-6; Nut 6-7.Clamp-type finger 7 comprises: screw 7-1; Roller 7-2; Roller frame plate 7-3; Dactylus 7-4; Activity refers to 7-5; Screw 7-6; Bearing 7-7; Spring 7-8; Spring 7-9; Spring support 7-10; Nut 7-11; Nut 7-12; Screw 7-13; Screw 7-14; Roller frame plate 7-15.It is 7 identical that the structure of clamp-type finger 8 and clamp-type are pointed.
The overall positions relation: palm 9 is as the support member of whole manipulator, y motion bracket 1, a y guiding trestle 2, the 2nd y guiding trestle 3, the 3rd y guiding trestle 4, the 4th y guiding trestle 5 all connect firmly on palm 9, z motion bracket 6 connects firmly on palm 9 by cam gathering sill 6-2 and screw 6-1, and there are relative motion in cam gathering sill 6-2 and Wedge type cam 6-6.Clamp-type finger 7,8 is hinged on the palm 9, links together by spring 7-8 and spring 7-9 between the clamp-type finger 7,8.The one y axis of guide 10, the 2nd y axis of guide 11 can provide power for manipulator by setting up mechanical synchronization (gear drive or chain transmission) with the gloves production line for being independent of the axis of guide of being parallel to each other outside the manipulator body, constant spacing.
The motion that the plug-type manipulator of guide rail of the present utility model is described below generates:
1, manipulator opening and closing (unclamp and clamp fingerprint): when manipulator along with a y axis of guide 10, the 2nd y axis of guide 11 laterally (along x to) during motion, the bearing 6-4 of z motion bracket 6 moves along the channled rail that is independent of manipulator.When channled rail at z when raising, Wedge type cam 6-6 rises along cam gathering sill 6-2, the roller 7-2 in the jack-up clamp-type finger 7,8, thereby manipulator is opened.When channled rail at z when reducing, Wedge type cam 6-6 descends along cam gathering sill 6-2, the dactylus 7-4 in the jack-up clamp-type finger 7,8 is subjected to spring 7-8 and spring 7-9 tension force, thereby makes the manipulator closure.
2, manipulator integral body vertically moves (gloves demolding): 4 bearings of a y guiding trestle 2, the 2nd y guiding trestle 3 and the 3rd y guiding trestle 4; 4 bearings of the 4th y guiding trestle 5 are held a y axis of guide 10, the 2nd y axis of guide 11 respectively tightly, realize that y is to guiding.Bearing 1-2 in the y motion bracket 1 moves along the channled rail that is independent of manipulator, when channled rail y to change in location the time, the bearing 1-2 in the y motion bracket 1 drive whole manipulator follow y to change in location.When manipulator begins to clamp, manipulator and fingerprint and gloves combine, along with manipulator whole horizontal (along x) to motion, the bearing 1-2 in the y motion bracket 1 of manipulator is subjected to the channled rail effect along the y positive movement, manipulator drives emgloves and fingerprint breaks away from.
3, manipulator whole laterally mobile (manipulator and fingerprint are synchronized with the movement): in the whole gloves demolding process, need manipulator and fingerprint to be synchronized with the movement with production line.The one y axis of guide 10, the 2nd y axis of guide 11 drive whole manipulator along x to moving.
Course of action: plug-type manipulator of guide rail and a y axis of guide 10, the 2nd y axis of guide 11 are formed a unit, by several unit by being linked at the kinematic chain of forming a sealing together, according to the suitable channled rail of the concrete condition of emgloves production line configuration, each manipulator all carries out the clamping of fingerprint and unclamps and gloves demolding along guide rail.Certainly this manipulator also can be used for other similar applications.

Claims (7)

1, the plug-type manipulator of a kind of guide rail, comprise: y motion bracket (1), the one y guiding trestle (2), the 2nd y guiding trestle (3), the 3rd y guiding trestle (4), the 4th y guiding trestle (5), z motion bracket (6), clamp-type finger (7,8), palm (9), the one y axis of guide (10), the 2nd y axis of guide (11), wherein, described y motion bracket (1), the one y guiding trestle (2), the 2nd y guiding trestle (3), the 3rd y guiding trestle (4), the 4th y guiding trestle (5) connects firmly on described palm (9), it is characterized in that, described z motion bracket (6) connects firmly on described palm (9) by cam gathering sill (6-2) and screw (6-1), there are relative motion in described cam gathering sill (6-2) and Wedge type cam (6-6), described clamp-type finger (7,8) be hinged on the palm (9) described clamp-type finger (7,8) link together by spring between.
2, the plug-type manipulator of guide rail according to claim 1 is characterized in that, a described y axis of guide (10), the 2nd y axis of guide (11) are for being independent of the axis of guide of being parallel to each other outside the manipulator body, constant spacing.
3, the plug-type manipulator of guide rail according to claim 1 is characterized in that, described y motion bracket (1) comprising: screw (1-1), bearing (1-2), sleeve (1-3), nut (1-4).
4, the plug-type manipulator of guide rail according to claim 1 is characterized in that, a described y guiding trestle (2) comprising: nut (2-1), sleeve (2-2), bearing (2-3), sleeve (2-4), bearing (2-5), screw (2-6).
5, the plug-type manipulator of guide rail according to claim 4 is characterized in that, the structure of described the 2nd y guiding trestle (3), the 3rd y guiding trestle (4), the 4th y guiding trestle (5) is identical with the structure of a described y guiding trestle (2).
6, the plug-type manipulator of guide rail according to claim 1 is characterized in that, described z motion bracket (6) comprising: screw (6-1), cam gathering sill (6-2), screw (6-3), bearing (6-4), nut (6-5), Wedge type cam (6-6), nut (6-7).
7, the plug-type manipulator of guide rail according to claim 1 is characterized in that, described clamp-type finger (7) comprising: screw (7-1), roller (7-2), roller frame plate (7-3), dactylus (7-4), activity refers to (7-5), screw (7-6), bearing (7-7), spring (7-8,7-9), spring support (7-10), nut (7-11,7-12), screw (7-13,7-14), it is identical that roller frame plate (7-15), described clamp-type finger (7) and described clamp-type are pointed (8) structure.
CNU2008201834922U 2008-12-19 2008-12-19 Guide rail push-pull mechanical hand Expired - Fee Related CN201325060Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU2008201834922U CN201325060Y (en) 2008-12-19 2008-12-19 Guide rail push-pull mechanical hand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU2008201834922U CN201325060Y (en) 2008-12-19 2008-12-19 Guide rail push-pull mechanical hand

Publications (1)

Publication Number Publication Date
CN201325060Y true CN201325060Y (en) 2009-10-14

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Application Number Title Priority Date Filing Date
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102491087A (en) * 2011-12-23 2012-06-13 东莞市新泽谷机械有限公司 Electronic element clamping and conveying mechanism
CN103350472A (en) * 2013-06-25 2013-10-16 张家港先锋自动化机械设备有限公司 Demolding device in glove demolding machine
CN103433936A (en) * 2013-06-23 2013-12-11 四川海普工控技术有限公司 Industrial mechanical arm with single-arm rotation clamping function
CN104057273A (en) * 2014-05-29 2014-09-24 奉化市宇达高科光电器件有限公司 Manipulator for automatically assembling optical fiber adapter
CN105855960A (en) * 2016-05-30 2016-08-17 瑞立集团瑞安汽车零部件有限公司 Portable multi-purpose quick self-locking fixture
CN106041949A (en) * 2016-06-21 2016-10-26 广东技术师范学院 Mechanical arm suitable for automatically hooking ocean buoy
US10092047B2 (en) 2014-11-13 2018-10-09 Allegiance Corporation Integrated elastomeric article manufacturing system and process
CN109648005A (en) * 2018-12-28 2019-04-19 温州易正科技有限公司 A kind of pin apparatus for bending of electronic component

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102491087A (en) * 2011-12-23 2012-06-13 东莞市新泽谷机械有限公司 Electronic element clamping and conveying mechanism
CN102491087B (en) * 2011-12-23 2014-01-15 东莞市新泽谷机械制造股份有限公司 Electronic element clamping and conveying mechanism
CN103433936A (en) * 2013-06-23 2013-12-11 四川海普工控技术有限公司 Industrial mechanical arm with single-arm rotation clamping function
CN103350472A (en) * 2013-06-25 2013-10-16 张家港先锋自动化机械设备有限公司 Demolding device in glove demolding machine
CN103350472B (en) * 2013-06-25 2015-04-29 张家港先锋自动化机械设备有限公司 Demolding device in glove demolding machine
CN104057273A (en) * 2014-05-29 2014-09-24 奉化市宇达高科光电器件有限公司 Manipulator for automatically assembling optical fiber adapter
CN104057273B (en) * 2014-05-29 2016-08-24 宁波宇达光电股份有限公司 Fiber adapter Automated assembly mechanical hand
US10092047B2 (en) 2014-11-13 2018-10-09 Allegiance Corporation Integrated elastomeric article manufacturing system and process
CN105855960A (en) * 2016-05-30 2016-08-17 瑞立集团瑞安汽车零部件有限公司 Portable multi-purpose quick self-locking fixture
CN105855960B (en) * 2016-05-30 2018-11-06 瑞立集团瑞安汽车零部件有限公司 A kind of lightweight multipurpose fast self-locking fixture
CN106041949A (en) * 2016-06-21 2016-10-26 广东技术师范学院 Mechanical arm suitable for automatically hooking ocean buoy
CN106041949B (en) * 2016-06-21 2019-01-29 广东技术师范学院 A kind of manipulator suitable for marine marker automatic coupling
CN109648005A (en) * 2018-12-28 2019-04-19 温州易正科技有限公司 A kind of pin apparatus for bending of electronic component

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C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20091014

Termination date: 20101219