CN201439202U - Material feeding mechanical hand - Google Patents
Material feeding mechanical hand Download PDFInfo
- Publication number
- CN201439202U CN201439202U CN2009203058812U CN200920305881U CN201439202U CN 201439202 U CN201439202 U CN 201439202U CN 2009203058812 U CN2009203058812 U CN 2009203058812U CN 200920305881 U CN200920305881 U CN 200920305881U CN 201439202 U CN201439202 U CN 201439202U
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- fixed block
- motor
- mechanical hand
- fixed
- buffer bar
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Abstract
The utility model relates to a moving-carrying device, in particular to a material feeding mechanical hand. The provided material feeding mechanical hand mainly solves the problems in the prior art. The technical scheme adopted by the material feeding mechanical hand to solve the technical problems is as follows: the material feeding mechanical hand comprises a motor part, an arm part and a detecting mechanism; the detecting mechanism used for detecting whether the mechanical hand works in place is arranged at the motor part and the arm part, the arm part which is connected with the motor part by a shaft joint comprises a mechanical hand mechanism and a driving mechanism, the mechanical hand mechanism is used for grabbing a tool, and the driving mechanism drives the mechanical hand mechanism to work. The material feeding mechanical hand has the following advantages: the grabbing of the mechanical hand is more exact, the working state of the mechanical hand can be monitored at any time in the operating process, and the mechanical hand can be timely adjusted and repaired once errors are incurred.
Description
Technical field:
The utility model relates to a kind of shifting apparatus, relates in particular to a kind of feeding mechanical hand.
Background technology:
Shifting apparatus is used to carry or the device of mobile article, directly use the shifting apparatus mobile article, replace in process of production manually moving, can save human resources greatly, special in the workshop of some batch processes, adopt shifting apparatus to grasp and conveying work pieces in the production process, alleviated operator's manual labor greatly, guarantee the quality of product, improved operating efficiency.Chinese invention patent 200710037005.1 discloses a kind of Pneumatic balancing mechanical arm, it comprises pedestal, pillar, rotor, motion arm and anchor clamps, also comprise master cylinder, brake cylinder and air-path control system, this mechanical arm can make and grasp and mobile article, and is simple and quick; But also there are some shortcomings in it: not catching article or doing a good job of it article may appear in operating process in mechanical arm, or mechanical arm does not move to assigned address, and this mechanical arm does not have checkout gear, when mechanical arm makes a mistake, can not detect at once, cause the accident easily or production process in the damage of workpiece or article.
Summary of the invention:
The utility model has mainly solved above-mentioned problems of the prior art, and a kind of feeding mechanical hand is provided.
The technical scheme that its technical problem that solves the utility model adopts is: a kind of feeding mechanical hand, it is characterized in that: comprise motor part and arm segment, and the testing agency whether manipulator is worked and put in place that is used for that is arranged on motor part and arm segment, described arm segment divides with motor section by shaft coupling and links to each other, and arm segment comprises manipulator mechanism that is used for gripping tool and the driving mechanism that drives manipulator mechanism work;
Manipulator mechanism comprises a pair of mechanical paw, manipulator is grabbed and is separately fixed on a pair of gripper connector, be hinged by connecting bolt between this gripper connector, and connecting bolt is fixed on the gripper connector on the fixed block, be hinged with connecting rod on the gripper connector respectively, the other end of connecting rod is hinged on the pull bar slide block;
Driving mechanism includes the linear slider that fixes with fixed block, linear slider matches with guide rail, guide rail is fixed on the guide rail fixed block, also comprise actuating cylinder, actuating cylinder fixes by cylinder fixed block and guide rail fixed block, the piston rod of this actuating cylinder links to each other with pull bar, is connected on the fixed block after being equipped with spring one, pull bar slide block and spring two on the pull bar successively.
A kind of preferred version as such scheme, on arm segment, also be provided with material jacking mechanism, this material jacking mechanism comprises liftout cylinder, the liftout head that links to each other with the liftout cylinder piston rod, and the carriage that fixes with the liftout cylinder, and this carriage is fixed on guide rail fixed block upper end.
As a kind of preferred version of such scheme, on the guide rail fixed block, also be provided with air valve device, this air valve device comprises valve, and valve is arranged on the valve connecting rod, and the valve connecting rod is fixed on the guide rail fixed block by valve connecting rod fixed head.
A kind of preferred version as such scheme, described motor section branch comprises a motor, motor is fixed on the motor fixing plate, also be provided with a motor fixed block, be provided with through hole in the middle of the motor fixed block, the dwang of motor passes the through hole on the motor fixing plate, and the motor fixed block is fixed on the motor front end face, this motor fixed block lower end and motor fixing plate fix, and the dwang of motor links to each other with shaft coupling.
As a kind of preferred version of such scheme, whether correct described testing agency comprise monitoring manipulator material grasping monitoring means one, the monitoring means two whether manipulator is in material grasping point, the monitoring means three whether manipulator is in the feeding state.
A kind of preferred version as such scheme, described monitoring means one comprises the optocoupler shrouding, it is fixed on guide rail fixed block one side, the optocoupler shrouding is provided with groove one, nearly upper and lower side place is equipped with monitoring point A and monitoring point B respectively on groove, also include sensing chip A, it is fixed on pull bar slide block and optocoupler shrouding homonymy one side, and the sensing chip front end is set in the groove.
A kind of preferred version as such scheme, described monitoring means two comprises sensing chip B, it is fixed on the guide rail fixed block) on the side, also comprise monitoring point C, it is fixed on motor fixed block upper end by securing cover plate, when manipulator is in the material grasping state, corrects before the sensing chip B and be positioned at monitoring point C.
A kind of preferred version as such scheme, described monitoring means three comprises monitoring point D, monitoring point D is arranged on the motor fixed block, also comprise buffer bar, it is nested with on two buffer bar fixed blocks, and the buffer bar lower end is provided with one section and passes the buffer bar fixed block, buffer bar upper and lower side position is equipped with a centring ring between two buffer bar fixed blocks, between the buffer bar fixed block on centring ring and top, be provided with spring three, this buffer bar is arranged on D lower end, monitoring point, is connected on the motor fixed block by the buffer bar fixed block, when manipulator is in the feeding state, the shaft coupling overhead makes to correct on the buffer bar to be in the D of monitoring point in the buffer bar lower end.
It is more accurate to the utility model has the advantages that manipulator grasps, and monitors its duty in the Robot actions process at any time, can in time adjust and keep in repair manipulator in case mistake occurs.
Description of drawings
Below in conjunction with drawings and Examples the utility model is further specified.
Fig. 1 is a kind of structural representation of the utility model arm segment;
Fig. 2 is a kind of structural representation of the present utility model;
Fig. 3 is a kind of structure exploded perspective view of the present utility model.
The specific embodiment:
Below by embodiment, and in conjunction with the accompanying drawings, the technical solution of the utility model is further described.
Embodiment:
According to Fig. 1, Fig. 2 and shown in Figure 3, the utility model feeding mechanical hand comprises motor part and arm segment, and the testing agency whether manipulator is worked and put in place that is used for that is arranged on motor part and arm segment, described arm segment divides with motor section by shaft coupling 5 and links to each other, and arm segment comprises manipulator mechanism that is used for gripping tool and the driving mechanism that drives manipulator mechanism work.
Manipulator mechanism comprises a pair of mechanical paw 20,21, mechanical paw is separately fixed at a pair of gripper connector 1, on 2, this gripper connector becomes "＜" shape, its the upper end with the amalgamation mutually of gripper lower end, and pass through bolting, two gripper connector mid portions are respectively arranged with the articulated joint of complementary shape, be hinged by connecting bolt 16, make mechanical paw, the mechanical paw connector forms a scissors shape, and connecting bolt 16 is connected on the fixed block 7, the gripper connector also is connected on the fixed block 7, gripper connector lower end is hinged by connecting pin 1 and connecting rod 3 respectively, and the other end of connecting rod is hinged on the pull bar slide block 8 by connecting pin 2 18; Driving mechanism includes the linear slider 40 that fixes with fixed block 7, linear slider matches with guide rail 50, form a carriage, limited block 10 also is installed, on the linear slider end, shell fragment is installed at limited block in the guide rail upper end, the V-shaped shape of this shell fragment, two termination is provided with outside flange, is provided with bolt in the middle and is fixed on the limited block, when linear slider rises to limited block, this shell fragment has played cushioning effect, has reduced the impulse force that collision brings; Described guide rail is fixed on the guide rail fixed block 13, also comprise actuating cylinder 41, actuating cylinder fixes by cylinder fixed block 27 and guide rail fixed block, the piston rod of this actuating cylinder links to each other with pull bar 9, be equipped with spring 1 on the pull bar successively, be connected on the fixed block 7 behind pull bar slide block 8 and the spring 2 44, be provided with gripper connecting bolt 16 between described this pull bar and the actuating cylinder piston rod, spring one lower end is placed on the end face of connecting bolt, described fixed block 7 middle parts are provided with a square opening, after pull bar upper end penetrated the fixed block lower end and enters square opening, it was spacing on fixed block with it to be provided with spring housing 24 in the pull bar upper end.On arm segment, also be provided with material jacking mechanism, this material jacking mechanism comprises liftout cylinder 42, the liftout head 26 that links to each other with the liftout cylinder piston rod, and the carriage 25 that fixes with the liftout cylinder, this carriage is fixed on guide rail fixed block 13 upper ends, and this material jacking mechanism is used for the workpiece on the mechanical paw ejected finishes feeding.Also be provided with air valve device on the guide rail fixed block 13, this air valve device comprises valve 32, and valve is arranged on the valve connecting rod 29, and the valve connecting rod is fixed on the guide rail fixed block by valve connecting rod fixed head 30.
Above-mentioned motor section branch comprises a motor 47, motor is fixed on the motor fixing plate 39, also be provided with a motor fixed block 12, be provided with through hole in the middle of the motor fixed block, the dwang of motor passes the through hole on the motor fixing plate, the motor fixed block is fixed on the motor front end face, and this motor fixed block lower end and motor fixing plate 39 fix, and the dwang of motor links to each other with shaft coupling 5.Whether correct above-mentioned testing agency comprise monitoring manipulator material grasping monitoring means one, the monitoring means two whether manipulator is in material grasping point, the monitoring means three whether manipulator is in the feeding state.Monitoring means one comprises optocoupler shrouding 28, it is fixed on guide rail fixed block 13 1 sides, the optocoupler shrouding is provided with groove 53 one, nearly upper and lower side place is equipped with monitoring point A51 and monitoring point B52 respectively on groove, this monitoring point becomes concave shape to be embedded in the groove, also includes sensing chip A15, and it is fixed on pull bar slide block and optocoupler shrouding homonymy one side, the sensing chip front end is set in the groove, is provided with a breach at the sensing chip front end.Described monitoring means two comprises sensing chip B19, it is fixed on guide rail fixed block 13 1 sides, also comprise monitoring point C43, it is fixed on motor fixed block 12 upper ends by securing cover plate 34, in the securing cover plate upper end one inductor fixed head 33 is installed also, when manipulator is in the material grasping state, corrects before the sensing chip B and be positioned at monitoring point C.Monitoring means three comprises monitoring point D, monitoring point D is arranged on the motor fixed block 13, also comprise buffer bar 22, it is nested with on two buffer bar fixed blocks 4, and the buffer bar lower end is provided with one section and passes the buffer bar fixed block, buffer bar upper and lower side position is equipped with a centring ring 23 between two buffer bar fixed blocks, between the buffer bar fixed block on centring ring and top, be provided with spring 3 46, this buffer bar is arranged on D lower end, monitoring point, be connected on the motor fixed block 13 by the buffer bar fixed block, when manipulator is in the feeding state, shaft coupling 5 overheads are in the buffer bar lower end, make to correct on the buffer bar to be in the D of monitoring point, this moment, the annunciator manipulator was just in feeding.
The process of manipulator material grasping was when this used novel work: push away on the actuating cylinder, the F point moves and overcomes the elastic force of shell fragment 11 to the E point, influenced by limited block, linear slider stops to rise, and actuating cylinder pushes away on continuing, cylinder overcomes the elastic force of spring 2, promote the folding controlling organization, make mechanical paw hold state tightly and reach 1 boundary's point, push away the elastic force that overcomes spring 1 on again, sensing chip A arrives test point B, makes mechanical paw have enough power to hold workpiece tightly.As when not having workpiece, sensing chip A then can surpass test point B, test point B dropout; When grabbing workpiece during bigger than normal or malposition, sensing chip A will can not arrive test point B, and B point signal is used to inform whether the control appliance material grasping is correct, so that controller is done respective handling, after mechanical paw arrives the tram, the liftout cylinder starts, and Lifting Device ejects material, and actuating cylinder is descending, mechanical paw unclamps, material breaks away from paw fully, and the liftout cylinder is regained, and the liftout equipment restores.
The finger feed process is: after pushing away material grasping on the mechanical paw, the driven by motor shaft coupling rotates to holding fix, waits for feeding, and feeding destination clamping device is opened, motor rotation then, and buffer bar is subjected to the shaft coupling rotary thrust and compresses, and test point D opens simultaneously.Inform relevant device this moment, and manipulator is just in feeding.Motor rotates to blow-out position, and the blowning installation air valve is opened, the deslagging of blowing action.Blow and finish rear motor continuation action, rotate to charging position, the action of liftout cylinder, the feeding destination is stepped up device and is stepped up, actuating cylinder is done drawback movement backward, and buffer bar is followed shaft coupling and resetted, and reset motor is to initial point, test point D closes simultaneously, and inform that relevant device-finger feed finishes this moment.The beginning of material grasping action for the second time, after the normal run action, the driven by motor shaft coupling rotates to holding fix more than repeating.
Specific embodiment described herein only is that the present invention's spirit is illustrated.The technical staff of the technical field of the invention can make various modifications or replenishes or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Although this paper used morely mechanical paw, connecting rod, buffer bar, liftout cylinder, etc. term, do not get rid of the possibility of using other term.Using these terms only is in order to describe and explain essence of the present invention more easily; They are construed to any additional restriction all is contrary with spirit of the present invention.
Claims (8)
1. feeding mechanical hand, it is characterized in that: comprise motor part and arm segment, and the testing agency whether manipulator is worked and put in place that is used for that is arranged on motor part and arm segment, described arm segment divides with motor section by shaft coupling (5) and links to each other, and arm segment comprises manipulator mechanism that is used for gripping tool and the driving mechanism that drives manipulator mechanism work;
Manipulator mechanism comprises a pair of mechanical paw (20,21), mechanical paw is separately fixed on a pair of gripper connector (2), be hinged by connecting bolt (16) between this gripper connector, and connecting bolt is fixed on the gripper connector on the fixed block (7), be hinged with connecting rod (3) on the gripper connector respectively, the other end of connecting rod is hinged on the pull bar slide block (8):
Driving mechanism includes the linear slider (40) that fixes with fixed block (7), linear slider matches with guide rail (50), guide rail is fixed on the guide rail fixed block (13), also comprise actuating cylinder (41), actuating cylinder fixes by cylinder fixed block (27) and guide rail fixed block, the piston rod of this actuating cylinder links to each other with pull bar (9), is connected on the fixed block (7) after being equipped with spring one (45), pull bar slide block (8) and spring two (44) on the pull bar successively.
2. a kind of feeding mechanical hand according to claim 1, it is characterized in that on arm segment, also being provided with material jacking mechanism, the liftout head (26) that this material jacking mechanism comprises liftout cylinder (42), links to each other with the liftout cylinder piston rod, and the carriage (25) that fixes with the liftout cylinder, this carriage is fixed on guide rail fixed block (13) upper end.
3. a kind of feeding mechanical hand according to claim 1, it is characterized in that on guide rail fixed block (13), also being provided with air valve device, this air valve device comprises valve (32), valve is arranged on the valve connecting rod (29), and the valve connecting rod is fixed on the guide rail fixed block by valve connecting rod fixed head (30).
4. a kind of feeding mechanical hand according to claim 1, it is characterized in that described motor section branch comprises a motor (47), motor is fixed on the motor fixing plate (39), also be provided with a motor fixed block (12), be provided with through hole in the middle of the motor fixed block, the dwang of motor passes the through hole on the motor fixing plate, and the motor fixed block is fixed on the motor front end face, this motor fixed block lower end and motor fixing plate (39) fix, and the dwang of motor links to each other with shaft coupling (5).
5. a kind of feeding mechanical hand according to claim 1 is characterized in that whether correct described testing agency comprise monitoring manipulator material grasping monitoring means one, the monitoring means two whether manipulator is in material grasping point, the monitoring means three whether manipulator is in the feeding state.
6. a kind of feeding mechanical hand according to claim 5, it is characterized in that described monitoring means one comprises optocoupler shrouding (28), it is fixed on guide rail fixed block (13) one sides, the optocoupler shrouding is provided with groove one, nearly upper and lower side place is equipped with monitoring point A (51) and monitoring point B (52) respectively on groove, also include sensing chip A, it is fixed on pull bar slide block and optocoupler shrouding homonymy one side, and the sensing chip front end is set in the groove.
7. a kind of feeding mechanical hand according to claim 5, it is characterized in that described monitoring means two comprises sensing chip B (19), it is fixed on guide rail fixed block (13) one sides, also comprise monitoring point C (43), it is fixed on motor fixed block (12) upper end by securing cover plate (34), when manipulator is in the material grasping state, corrects before the sensing chip B and be positioned at monitoring point C.
8. a kind of feeding mechanical hand according to claim 6, it is characterized in that described monitoring means three comprises monitoring point D, monitoring point D is arranged on the motor fixed block (12), also comprise buffer bar (22), it is nested with on two buffer bar fixed blocks (4), and the buffer bar lower end is provided with one section and passes the buffer bar fixed block, buffer bar upper and lower side position is equipped with a centring ring (23) between two buffer bar fixed blocks, between the buffer bar fixed block on centring ring and top, be provided with spring three (46), this buffer bar is arranged on D lower end, monitoring point, be connected on the motor fixed block (12) by the buffer bar fixed block, when manipulator is in the feeding state, shaft coupling (5) overhead makes to correct on the buffer bar to be in the D of monitoring point in the buffer bar lower end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009203058812U CN201439202U (en) | 2009-07-09 | 2009-07-09 | Material feeding mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009203058812U CN201439202U (en) | 2009-07-09 | 2009-07-09 | Material feeding mechanical hand |
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| Publication Number | Publication Date |
|---|---|
| CN201439202U true CN201439202U (en) | 2010-04-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009203058812U Expired - Fee Related CN201439202U (en) | 2009-07-09 | 2009-07-09 | Material feeding mechanical hand |
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| CN (1) | CN201439202U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850903A (en) * | 2010-04-27 | 2010-10-06 | 深圳市亚世工业设备有限公司 | Two-way expanding, taking and placing device |
| CN101988622A (en) * | 2010-08-31 | 2011-03-23 | 湖南三德科技发展有限公司 | Oxygen charging device with functions of loading and recognizing oxygen bomb |
| CN102001030A (en) * | 2010-09-27 | 2011-04-06 | 浙江大学 | Automatic material feeding/taking manipulator of paralled surface grinding machine |
| CN102380561A (en) * | 2011-11-14 | 2012-03-21 | 张洪岩 | Special-shaped feeding mechanical hand for punch |
| CN103009031A (en) * | 2012-10-23 | 2013-04-03 | 宁波飞图自动技术有限公司 | Special electric transmission pick-and-place manipulator for automatic assembly line/machine |
| CN104626182A (en) * | 2015-02-16 | 2015-05-20 | 无锡力优医药自动化技术有限公司 | Elastic clamping jaw component for collection of plastic infusion bottles |
| CN110040503A (en) * | 2019-05-06 | 2019-07-23 | 山东泓瑞光电科技有限公司 | A kind of LED wafer automatic fraction collector silicon wafer disk manipulator arm component |
-
2009
- 2009-07-09 CN CN2009203058812U patent/CN201439202U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850903A (en) * | 2010-04-27 | 2010-10-06 | 深圳市亚世工业设备有限公司 | Two-way expanding, taking and placing device |
| CN101988622A (en) * | 2010-08-31 | 2011-03-23 | 湖南三德科技发展有限公司 | Oxygen charging device with functions of loading and recognizing oxygen bomb |
| CN101988622B (en) * | 2010-08-31 | 2012-07-04 | 湖南三德科技发展有限公司 | Oxygen charging device with functions of loading and recognizing oxygen bomb |
| CN102001030A (en) * | 2010-09-27 | 2011-04-06 | 浙江大学 | Automatic material feeding/taking manipulator of paralled surface grinding machine |
| CN102380561A (en) * | 2011-11-14 | 2012-03-21 | 张洪岩 | Special-shaped feeding mechanical hand for punch |
| CN103009031A (en) * | 2012-10-23 | 2013-04-03 | 宁波飞图自动技术有限公司 | Special electric transmission pick-and-place manipulator for automatic assembly line/machine |
| CN103009031B (en) * | 2012-10-23 | 2014-11-19 | 宁波飞图自动技术有限公司 | Special electric transmission pick-and-place manipulator for automatic assembly line/machine |
| CN104626182A (en) * | 2015-02-16 | 2015-05-20 | 无锡力优医药自动化技术有限公司 | Elastic clamping jaw component for collection of plastic infusion bottles |
| CN110040503A (en) * | 2019-05-06 | 2019-07-23 | 山东泓瑞光电科技有限公司 | A kind of LED wafer automatic fraction collector silicon wafer disk manipulator arm component |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Zibo Qiangda Group Co., Ltd. Assignor: Dazheng Industrial Robot Tech. Co., Ltd. Contract record no.: 2011370000203 Denomination of utility model: Feeding mechanical hand Granted publication date: 20100421 License type: Exclusive License Record date: 20110516 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100421 Termination date: 20170709 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |