CN201923713U - Manipulator of hose winding machine - Google Patents
Manipulator of hose winding machine Download PDFInfo
- Publication number
- CN201923713U CN201923713U CN2010206891577U CN201020689157U CN201923713U CN 201923713 U CN201923713 U CN 201923713U CN 2010206891577 U CN2010206891577 U CN 2010206891577U CN 201020689157 U CN201020689157 U CN 201020689157U CN 201923713 U CN201923713 U CN 201923713U
- Authority
- CN
- China
- Prior art keywords
- workpiece
- manipulator
- centering
- vertical
- upset
- 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
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a manipulator of a hose winding machine. A three-axis servo drive system matched with an automatic winding mechanism is adopted; the manipulator can horizontally and vertically move and turns over a workpiece downwards when a coil is unloaded, the workpiece is put into a package, and the whole workpiece fetching process does not need manual intervention and assistance. The manipulator is connected with a walking platform of the hose winding machine in a sliding mode and comprises a workpiece fetching mechanism, a vertical walking mechanism, a horizontal walking mechanism, a centring mechanism and a turnover hydraulic device, wherein the workpiece fetching mechanism comprises a workpiece fetching hydraulic cylinder which drives a finger-shaped manipulator to radially shrink or expand to fetch the workpiece; the vertical walking mechanism is used for driving the workpiece fetching mechanism to carry out reciprocating motion along the vertical direction of the walking platform; the horizontal walking mechanism is used for connecting the vertical walking mechanism and driving the vertical walking mechanism to carry out reciprocating motion along the horizontal direction of the walking platform; the centring mechanism is arranged below the walking platform to push a workpiece packing box to an appointed position, and is provided with a pair of centering push arms capable of oppositely moving; and the turnover hydraulic device is used for driving the workpiece fetching mechanism to vertically turn over so as to downwards put the workpiece into a packing box.
Description
Technical field
The utility model is the manipulator that is applied to the flexible pipe wrapping machine to be made corresponding construction improve, and belongs to rubber manufacturing and mass transport field.
Background technology
Rubber tube manufacturing at home and abroad is wound in the coil pipe state for making things convenient for the finished product packing to need to be the semi-rigid flexible pipe with transportation, to save storage and packaging space at present.Usually this type of pipe material product manufacturing line is used for flexible pipe and batches with the degree of automation of baling equipment lower.
As adopt robot device to carry out the workpiece transportation, but still need to adopt artificial assisting to unload volume and put into packing chest, thus cause production efficiency on the low side.The coil diameter and the weight of existing tubing processing are all bigger, and workload is bigger for the site operation personnel, lacks the interface with tubing process automation equipment.
The utility model content
The utility model provides a kind of manipulator of flexible pipe wrapping machine, its design goal is to solve the problem of above-mentioned prior art existence and adopts three servo drive systems that are matched in the automatic wrapping machine structure, manipulator can move in level, on vertical, and realize unloading when rolling up workpiece is overturn downwards and the input packing, whole pickup process need not manual intervention and auxiliary.
Another design goal is, a kind of packing chest centering detent mechanism is provided, and is unloaded the course of action of the placement position of volume workpiece with standard.
For realizing above-mentioned design goal, the manipulator of described flexible pipe wrapping machine is slidingly connected to the travelling platform of flexible pipe wrapping machine, and it mainly includes:
Removal mechanism includes to drive and refers to type gripper radial shrinkage or the expansion pickup hydraulic actuating cylinder with picking up work piece;
Vertical traveling gear is used to follow away the vertical driving removal mechanism of flat-bed and moves back and forth;
Horizontal running mechanism is used to connect vertical traveling gear and drives it and follows away the platform horizontal direction and move back and forth.
The difference with the prior art part is, also includes,
Centering body, the below that is arranged at travelling platform has the centering push arm that at least one pair of can move in opposite directions so that the workpiece packing chest is pushed into assigned address;
The upset hydraulic efficiency gear, be used to drive removal mechanism along vertical upset so that workpiece is dropped into packing chest downwards.
As above-mentioned basic scheme feature, manipulator can automatically be carried out workpiece and unload the flexible pipe that volume finish curling and drop into packing chest and need not manual intervention.Mainly comprise following execution in step,
Centering body is realized the automatic centering of packing chest or wooden block dish, exactly workpiece is thrown in;
By Fu controlling level traveling gear, axial separately location of realizing removal mechanism exactly, vertical traveling gear edge;
The finger type gripper of removal mechanism radially shrinks to insert the workpiece inboard, and radial dilatation is taken off workpiece from crimping device again;
Removal mechanism move in company with horizontal running mechanism packing chest or wooden block dish above after, vertical traveling gear be moved downward to the workpiece of getting during apart from the last workpiece 100mm left and right sides in the packing chest or on the pallet, radial shrinkage is to discharge workpiece once more for the finger type gripper of removal mechanism, and workpiece falls into packing chest or pallet immediately.
Be the accuracy of positioning of raising centering body and the synchronism of 2 centering push arms running fix, the innovative approach that can take is, described centering body has a centering and drives cylinder, the output shaft that centering drives cylinder connects a centering push arm, and 2 centering push arms are connected with tooth bar by one group of gear.
Drive centering under the situation of one of them centering push arm of air cylinder driven, another centering push arm keeps relatively same moved further by the transmission of wheel and rack.
Implement the alerting ability of upset for improving removal mechanism, the rear end of described removal mechanism is located in vertical traveling gear.The upset hydraulic efficiency gear has a upset and drives hydraulic actuating cylinder, and the cylinder body that upset drives hydraulic actuating cylinder is fixed in vertical traveling gear, and the output shaft that upset drives hydraulic actuating cylinder is connected in removal mechanism.
In sum, the advantage that has of the manipulator of the utility model flexible pipe wrapping machine is:
1, by three servo drive systems, realize the Robot actions terminal along level, vertical moving and upset downwards, whole pickup process need not manual intervention with auxiliary, solves major diameter, the manually-operated work load of large heavy workpiece.
2, realize the directed accurate centering of throwing in of workpiece, improve pickup automation of operation level and integral production efficient.
3, can improve right alignment that flexible pipe twines, avoid intersecting dislocation to save packaging space effectively.
Description of drawings
Now the utility model is described further in conjunction with following accompanying drawing.
Fig. 1 is the scheme drawing of flexible pipe wrapping machine;
Fig. 2 is the structural representation of described manipulator;
Fig. 3 is the front schematic view of Fig. 2;
Fig. 4 is bowing to scheme drawing of Fig. 2;
As shown in Figures 1 to 4, travelling platform 1, crimping device 2, manipulator 3, wooden wheel crimping machine 4, writing that surpasses all the others device 5, horizontal slide rail 6;
The specific embodiment
The manipulator of flexible pipe wrapping machine mainly includes removal mechanism 30, vertical traveling gear 31, horizontal running mechanism 32, centering body 33 and upset hydraulic efficiency gear.
Wherein, removal mechanism 30 has to drive and refers to type gripper 301 radial shrinkage or the expansion pickup hydraulic actuating cylinder 302 with picking up work piece, and the rear end of removal mechanism 30 is located in vertical traveling gear 31;
Centering body 33, the below that is arranged at travelling platform 1 is to be pushed into assigned address with the workpiece packing chest, have a pair of centering push arm 331 that can move in opposite directions, 331,2 centering push arms 331 of an output shaft centering push arm of connection that centering drives cylinder 332 are connected with tooth bar 333 by one group of gear;
The upset hydraulic efficiency gear be used to drive removal mechanism 30 along vertical upset so that workpiece is dropped into packing chest downwards, cylinder body that its upset drives hydraulic actuating cylinder 34 is fixed in vertical traveling gear 31, the output shaft that upset drives hydraulic actuating cylinder 34 is connected in removal mechanism 30.
Claims (3)
1. the manipulator of a flexible pipe wrapping machine is slidingly connected to the travelling platform (1) of flexible pipe wrapping machine and has,
Removal mechanism (30) includes to drive and refers to type gripper (301) radial shrinkage or the expansion pickup hydraulic actuating cylinder (302) with picking up work piece;
Vertical traveling gear (31), the vertical driving removal mechanism (30) that is used to follow away platform (1) moves back and forth;
Horizontal running mechanism (32) is used to connect vertical traveling gear (31) and drives its horizontal direction that follows away platform (1) and moves back and forth,
It is characterized in that: described manipulator also includes,
Centering body (33), the below that is arranged at travelling platform (1) have the centering push arm (331) that at least one pair of can move in opposite directions so that the workpiece packing chest is pushed into assigned address;
The upset hydraulic efficiency gear, be used to drive removal mechanism (30) along vertical upset so that workpiece is dropped into packing chest downwards.
2. the manipulator of flexible pipe wrapping machine according to claim 1, it is characterized in that: described centering body (33) has a centering and drives cylinder (332), the output shaft that centering drives cylinder (332) connects a centering push arm (331), and 2 centering push arms (331) are connected with tooth bar (333) by one group of gear.
3. the manipulator of flexible pipe wrapping machine according to claim 1 and 2 is characterized in that: the rear end of described removal mechanism (30) is located in vertical traveling gear (31);
The upset hydraulic efficiency gear has a upset and drives hydraulic actuating cylinder (34), and the cylinder body that upset drives hydraulic actuating cylinder (34) is fixed in vertical traveling gear (31), and the output shaft that upset drives hydraulic actuating cylinder (34) is connected in removal mechanism (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206891577U CN201923713U (en) | 2010-12-17 | 2010-12-17 | Manipulator of hose winding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206891577U CN201923713U (en) | 2010-12-17 | 2010-12-17 | Manipulator of hose winding machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201923713U true CN201923713U (en) | 2011-08-10 |
Family
ID=44427577
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206891577U Expired - Fee Related CN201923713U (en) | 2010-12-17 | 2010-12-17 | Manipulator of hose winding machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201923713U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103085056A (en) * | 2013-01-28 | 2013-05-08 | 河南理工大学 | Underground coal mine disaster information detection robot platform |
| CN103434890A (en) * | 2013-08-30 | 2013-12-11 | 深圳市沃尔核材股份有限公司 | Tube wire rod automatic packaging equipment and using method thereof |
| CN103434839A (en) * | 2013-08-29 | 2013-12-11 | 江苏三环实业股份有限公司 | Lead-acid storage battery grid automatic conveying device |
| CN103896108A (en) * | 2014-03-27 | 2014-07-02 | 重庆市隆泰稀土新材料有限责任公司 | Automatic carrying system for H-shaped wheels of gantry-type wire stranding machine |
| CN104016193A (en) * | 2014-06-13 | 2014-09-03 | 东华大学 | Chemical fiber filament package placing device |
| CN104190475A (en) * | 2014-09-03 | 2014-12-10 | 江苏宇达环保科技股份有限公司 | Automatic catalyst production line |
| CN104291154A (en) * | 2014-09-28 | 2015-01-21 | 常州大学 | Elevator balance compensation chain cold shaping automatic coiling device |
| CN104495517A (en) * | 2014-11-28 | 2015-04-08 | 淮安中科科创精密机械科技有限公司 | Automatic coil unloading system for producing enamelled wires |
| CN105538318A (en) * | 2016-03-17 | 2016-05-04 | 东莞市豪斯特热冲压技术有限公司 | Carrying manipulator device for stamping products |
| CN106217846A (en) * | 2016-07-25 | 2016-12-14 | 浙江国自机器人技术有限公司 | Inner tube of a tyre automatic mosaic system |
| CN107310911A (en) * | 2017-07-31 | 2017-11-03 | 广州市康超信息科技有限公司 | A kind of control method for overturning and carrying workpiece |
| CN114604625A (en) * | 2022-04-06 | 2022-06-10 | 江苏大亚新型包装材料有限公司 | Auxiliary coil unloading and stacking device of splitting machine and using method of auxiliary coil unloading and stacking device |
-
2010
- 2010-12-17 CN CN2010206891577U patent/CN201923713U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103085056A (en) * | 2013-01-28 | 2013-05-08 | 河南理工大学 | Underground coal mine disaster information detection robot platform |
| CN103434839B (en) * | 2013-08-29 | 2015-09-30 | 江苏三环实业股份有限公司 | A kind of lead acid accumulator plate grid automatic conveying device |
| CN103434839A (en) * | 2013-08-29 | 2013-12-11 | 江苏三环实业股份有限公司 | Lead-acid storage battery grid automatic conveying device |
| CN103434890A (en) * | 2013-08-30 | 2013-12-11 | 深圳市沃尔核材股份有限公司 | Tube wire rod automatic packaging equipment and using method thereof |
| CN103434890B (en) * | 2013-08-30 | 2016-08-10 | 深圳市沃尔核材股份有限公司 | A kind of tube wire fully-automatic packaging equipment and using method thereof |
| CN103896108A (en) * | 2014-03-27 | 2014-07-02 | 重庆市隆泰稀土新材料有限责任公司 | Automatic carrying system for H-shaped wheels of gantry-type wire stranding machine |
| CN104016193A (en) * | 2014-06-13 | 2014-09-03 | 东华大学 | Chemical fiber filament package placing device |
| CN104190475A (en) * | 2014-09-03 | 2014-12-10 | 江苏宇达环保科技股份有限公司 | Automatic catalyst production line |
| CN104291154A (en) * | 2014-09-28 | 2015-01-21 | 常州大学 | Elevator balance compensation chain cold shaping automatic coiling device |
| CN104495517A (en) * | 2014-11-28 | 2015-04-08 | 淮安中科科创精密机械科技有限公司 | Automatic coil unloading system for producing enamelled wires |
| CN105538318A (en) * | 2016-03-17 | 2016-05-04 | 东莞市豪斯特热冲压技术有限公司 | Carrying manipulator device for stamping products |
| CN105538318B (en) * | 2016-03-17 | 2020-03-17 | 东莞市豪斯特热冲压技术有限公司 | Carrying manipulator device for stamping products |
| CN106217846A (en) * | 2016-07-25 | 2016-12-14 | 浙江国自机器人技术有限公司 | Inner tube of a tyre automatic mosaic system |
| CN107310911A (en) * | 2017-07-31 | 2017-11-03 | 广州市康超信息科技有限公司 | A kind of control method for overturning and carrying workpiece |
| CN114604625A (en) * | 2022-04-06 | 2022-06-10 | 江苏大亚新型包装材料有限公司 | Auxiliary coil unloading and stacking device of splitting machine and using method of auxiliary coil unloading and stacking device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201923713U (en) | Manipulator of hose winding machine | |
| CN103029966B (en) | Supporting plate dolly send the control system of substrate transfer device continuously | |
| CN206123626U (en) | Multi -functional shipment machine people of 6 -degree of freedom | |
| CN102442276B (en) | Device for rapidly replacing battery for electric automobile | |
| CN209936955U (en) | Mechanical gripper for tire cage installation | |
| CN206367847U (en) | A kind of automatic loading and unloading device | |
| CN103132760B (en) | Mechanical arm intelligent garage transportation small car and car storing-taking process | |
| CN203667579U (en) | Horizontal moving and turnover composite discharge manipulator | |
| CN102922516A (en) | Pneumatic power assisting industrial robot | |
| CN205077934U (en) | Automobile tire carrier is pressed from both sides to parallel embracing of slide formula | |
| CN202895223U (en) | Pneumatic power-assisted industrial robot | |
| CN207566485U (en) | Profile stacking device | |
| CN204916279U (en) | Mold rollover unit | |
| CN203294780U (en) | Connecting device applied between assembly lines | |
| CN101761258B (en) | Lifting type automobile access device | |
| CN202967715U (en) | Clamping conveying device of infusion tube | |
| CN204262219U (en) | Bottom Automatic Charging Device | |
| CN104493377B (en) | Battery liquid-filling hole welding equipment | |
| CN104338794A (en) | Automatic sleeve-loading and unloading and sleeve-transporting integrated device of cold-rolling mill | |
| CN201801197U (en) | Vacuum transporter | |
| CN204074813U (en) | Cold-rolling mill automatic on unload sleeve and sleeve transport single unit system | |
| CN204308431U (en) | Battery liquid-filling hole welding equipment | |
| CN107618997B (en) | A kind of small-sized remote control handling equipment | |
| CN203382192U (en) | Material conveying platform with clamping manipulator | |
| CN203373083U (en) | Automated guided trolley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110810 Termination date: 20191217 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |