CN202428440U - Grabbing manipulator - Google Patents
Grabbing manipulator Download PDFInfo
- Publication number
- CN202428440U CN202428440U CN2011205323824U CN201120532382U CN202428440U CN 202428440 U CN202428440 U CN 202428440U CN 2011205323824 U CN2011205323824 U CN 2011205323824U CN 201120532382 U CN201120532382 U CN 201120532382U CN 202428440 U CN202428440 U CN 202428440U
- Authority
- CN
- China
- Prior art keywords
- workpiece
- locking device
- travel mechanism
- mechanical arm
- described catching
- 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 grabbing manipulator. According to the technical scheme, the grabbing manipulator comprises a machine bed body, and is characterized by further comprising a guide rail which is arranged horizontally on the machine bed body, wherein at least one mechanical arm is arranged on the guide rail, and comprises a workpiece locking device, and a first shaft moving mechanism, a second shaft moving mechanism and a third shaft moving mechanism which are used for driving the workpiece locking device to move. The grabbing manipulator has the beneficial effects that: a machining process of workpieces can be performed at a plurality of stations under the driving action of a program, and two mechanical arms can be used for driving the workpiece locking device to move leftwards, rightwards, frontwards, backwards, upwards and downwards according to practical requirements; and the grabbing manipulator has the advantages of simple structure, convenience for operating and saving in time and force, and is suitable for multi-station machining processes.
Description
Technical field
The utility model relates to the robot engineering technical field, especially relate to a kind of under driven by program, can accomplish the catching robot of automatic relay.
Background technology
Manipulator, the robot base in ancient times who occurs in early days goes up development, and its research starts from mid-term in 20th century, and 1954, the U.S. wore the notion that the Wal has proposed industrial robot, and had applied for patent.In society now, the application of robot more and more widely, type also is more and more, usually as the attachment device of lathe or other machines, like loading and unloading on automatic machine tool or automatic assembly line with transmit workpiece, change cutter etc.Along with the development of industrial automation, manipulator also is widely used in industry now, and referring more particularly to the automatic relay catching robot becomes society's mechanical automation equipment in short supply.200610041307.1 disclose a kind of grab-transposition mechanical arm in number patent application; It comprises grasps seat and grasps head; Grasp seat and have arc-shaped slot with grasping on the head; Grasp the seat bottom and grasp head and be connected, through grasp seat, grasp head move up and down and the rotation of transposition dish cooperates the position conversion that realizes the transposition head, but this kind transposition mechanical arm can only be realized rotational motion and can only realize that both the annular of allocation replaces.
Summary of the invention
The purpose of the utility model is to overcome the shortcoming that exists in the prior art; A kind of simple in structure, easy to operate, the catching robot that can realize multiple spot transposition through two mechanical arms is provided; The technical scheme that adopts is: a kind of catching robot; Comprise the machine lathe bed, it is characterized in that: said catching robot also comprises the guide rail that is horizontally set on the said machine lathe bed; Said guide rail is provided with at least one mechanical arm; Said mechanical arm comprises the workpiece locking device; Said mechanical arm comprises that also driving said workpiece locking device does first mobile travel mechanism, second travel mechanism and the 3rd travel mechanism.
The technical characterictic of the utility model also has: said guide rail is provided with two mechanical arms.
The technical characterictic of the utility model also has: said the 3rd travel mechanism comprises and moves up and down motor, moves up and down synchronizing wheel, moves up and down synchronous band and drive the roller bearing leading screw of rotation down at the said synchronizing wheel that moves up and down; Said roller bearing leading screw is connected with the locking nut spiral, and said locking nut and said workpiece locking device are fixed together.
The technical characterictic of the utility model also has: said roller bearing leading screw is four.
The technical characterictic of the utility model also has: the said motor that moves up and down is fixedly mounted on the electric machine support, and said electric machine support is fixed on the manipulator support arm.
The technical characterictic of the utility model also has: said second travel mechanism comprises the guiding cylinder, and the piston rod end of said guiding cylinder is fixedly connected on the guiding cylinder support, and said guiding cylinder support and said workpiece locking device are fixed together.
The technical characterictic of the utility model also has: said first travel mechanism comprises that move left and right motor, move left and right synchronizing wheel and move left and right be with synchronously, and said workpiece locking device is with synchronously with said move left and right through slide block and is fixed together.
The technical characterictic of the utility model also has: said workpiece locking device comprises adjustable support and is installed in the locking cylinder on the adjustable support.
The technical characterictic of the utility model also has: said locking cylinder is four.
The technical characterictic of the utility model also has: said guide rail is a circular guideway, and said circular guideway is two.
The beneficial effect of the utility model is: the utility model can be accomplished the process of workpiece on a plurality of stations under driven by program; Two mechanical arms can drive the workpiece locking device is realized left and right directions, fore-and-aft direction and above-below direction according to actual needs motion; Have advantage simple in structure, easy to operate, the time and labour saving, be suitable for being used in a plurality of station mechanical processing process.
Description of drawings
Accompanying drawing 1 is the utility model front view; Accompanying drawing 2 is the utility model vertical views, and accompanying drawing 3 is the utility model left views, and accompanying drawing 4 is the utility model schematic perspective views; Accompanying drawing 5 is workpiece transportation manipulator structural representations, the system of processing structural representation that accompanying drawing 6 is made up of catching robot.Wherein, the 1st, the machine lathe bed, the 2nd, regulate base, the 3rd, regulate universal wheel, the 4th, circular line slideway, the 5th, slide block; 6 I are move left and right motors, and 6 II are to move up and down motor, the 7th, move up and down electric machine support, and 8 I are move left and right synchronizing wheels, and 8 II are to move up and down synchronizing wheel, and 9 I are that move left and right is with synchronously; 9 II are to move up and down synchronous band, the 10th, and rotating shaft, the 11st, guiding cylinder, the 12nd, guiding cylinder support, the 13rd, mechanical arm A, the 14th, mechanical arm B; The 15th, locking cylinder, the 16th, scalable framework, the 17th, roller bearing leading screw, the 18th, locking nut, the 19th, touch display screen; The 20th, piston rod, the 21st, the manipulator support arm, 101 is 180 ° of rotary cylinders, the 102nd, rise and fall guiding cylinder, the 103rd, vacuum generator; The 104th, vacuum cup, the 105th, the vacuum generator fixed support, the 106th, ring flange, 201 is No. 1 boards, 202 is No. 2 boards; 203 is No. 3 boards, the 301st, and I station, the 302nd, II station, the 303rd, III station, the 304th, IV station.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the utility model is described.Present embodiment discloses a kind of catching robot; This kind catching robot has comprised two mechanical arms-mechanical arm A13 and the mechanical arm B 14 that is arranged on the machine lathe bed 1; Each mechanical arm comprises workpiece locking device, first travel mechanism, second travel mechanism and the 3rd travel mechanism, and under first travel mechanism drove, the workpiece locking device was done along the horizontal direction of machine lathe bed 1 and moved; Under second travel mechanism drives; The workpiece locking device is done and is moved forward and backward, and under the 3rd travel mechanism drove, the workpiece locking device was done moving of above-below direction.
The workpiece locking device has comprised scalable framework 16 and has been fixed on the locking cylinder 15 on the scalable framework 16, the miniature locking cylinder of these locking cylinder 15 employings, and number is four.
First travel mechanism comprised move left and right motor 6 I, and move left and right motor 6 I driven rotary axles 10 rotate, and rotating shaft 10 drives move left and right synchronizing wheel 8 I and rotates; Move left and right synchronizing wheel 8 I drive the move left and right that meshes together with it and are with the motion of 9 I synchronously; Be with synchronously in move left and right to be fixed with slide block 5 on 9 I, manipulator support arm 21 is fixed on the slide block 5, like this; When slide block 5 when move left and right is with 9 I on circular line slideway 4, to slide under driving synchronously; Just can drive mechanical arm and do move left and right, totally two of circular line slideways 4 are symmetrical set in the horizontal direction.
Second travel mechanism comprised guiding cylinder 11; In the guiding cylinder 11 piston rod 20 is arranged, the end of piston rod 20 is fixed on the guiding cylinder support 12, and guiding cylinder support 12 is connected with roller bearing leading screw 17; The lower end of guiding cylinder support 12 is fixedly connected with scalable framework 16; Like this, when piston rod 20 is done the motion of stretching out or bouncing back, drive on it fixing scalable framework 16 and do and move forward and backward.
The 3rd travel mechanism comprised and moves up and down motor 6 II, moves up and down synchronizing wheel 8 II and move up and down and be with 9 II synchronously; Move up and down motor 6 II and be installed in and move up and down on the electric machine support 7, move up and down electric machine support 7 and be positioned on the manipulator support arm 21, move up and down motor 6 II and drive and move up and down synchronizing wheel 8 II and rotate; Move up and down synchronizing wheel 8 II and drive 17 rotations of roller bearing leading screw; Roller bearing leading screw 17 is connected with locking nut 18 spirals, and roller bearing leading screw 17 locking nuts 18 move up and down, and locking nut 18 links together with guiding cylinder support 12; Like this, just can drive the workpiece locking device moves up and down.4 roller bearing leading screws 17 are installed on each mechanical arm in the present embodiment.
Adjusting base 2 and machine lathe bed 1 have constituted the frame of the utility model jointly, for flexible motion, the universal wheel 3 of adjusting are arranged in the bottom of machine lathe bed 1.
In the present embodiment, be provided with 4 stations on this catching robot, two mechanical arms can make things convenient under driven by program, replace grabbing workpiece flexibly, accomplish the process of workpiece from semi-finished product to the finished product.
In order better to accomplish automation process, used workpiece transportation manipulator and three boards with this catching robot is supporting, thereby formed a cover system of processing workpiece.The workpiece transportation manipulator has comprised 180 ° of rotary cylinders 101, rise and fall guiding cylinder 102, vacuum generator 103 and vacuum cup 104; Vacuum generator 103 is fixed on the vacuum generator fixed support 105 with vacuum cup 104; 180 ° of rotary cylinders 101 link together through ring flange 106 with rise and fall guiding cylinder 102; Under 101 effects of 180 ° of rotary cylinders; The workpiece that vacuum cup 104 is drawn can be accomplished 180 ° of rotations, and rise and fall guiding cylinder 102 drives vacuum generator fixed support 105 and rises or descend, and piles up the variation at any time of height to adapt to workpiece.Three lathes are respectively 201, No. 2 boards 202 of No. 1 board and No. 3 boards 203, and in the actual production, can select No. 1 board 201 is moulding boards, and No. 2 boards 202 and No. 3 boards 203 are two identical typing boards.Like this, catching robot, workpiece transportation manipulator and three boards drive the workpiece reciprocal motion according to following steps under programme-control, realize moulding, typing processing to workpiece to be processed:
1) mechanical arm A13 grasps from II station 302 and transports the workpiece to be processed I of coming by the workpiece transportation manipulator and run to I station 301, and this workpiece to be processed I is placed on No. 1 board 201;
2) treat that No. 1 board 201 machines after, mechanical arm A13 grasps semi-finished product workpiece I and be placed on the III station 303 from No. 1 board 201;
3) mechanical arm A13 runs to II station 302 and grasps and transport the workpiece to be processed II of coming by the workpiece transportation manipulator and run to I station 301 subsequently, and this workpiece to be processed II is placed on No. 1 board 201;
4) mechanical arm B14 runs to III station 303 from IV station 304 and grasps semi-finished product workpiece I and be placed on No. 2 boards 202, and mechanical arm B14 turns back to IV station 304;
5) mechanical arm B14 runs to III station 303 from IV 304 stations, grasps the semi-finished product workpiece II of having been placed by mechanical arm A13, and it is grabbed on No. 3 boards 203, and mechanical arm B14 turns back to IV station 304;
6) mechanical arm A13 grasps semi-finished product workpiece II from No. 1 board 201, and semi-finished product workpiece II is placed on the III station 303, and mechanical arm A13 moves so repeatedly;
7) mechanical arm B14 runs to III station 303 from IV station 304 and grasps the finished product workpiece I of No. 2 boards 202 and place it on the II station 302, and mechanical arm B14 turns back to IV station 304, and finished product workpiece I is outwards seen off by the workpiece transportation manipulator;
8) mechanical arm B14 grasps the finished product workpiece II of No. 3 boards 203 and places it on the II station 302 from IV station 304; Mechanical arm B14 turns back to IV 304 stations; Finished product workpiece II is outwards seen off by the workpiece transportation manipulator, and mechanical arm B14 moves so repeatedly.
Certainly; Above-mentioned explanation is not the restriction to the utility model; The utility model also be not limited only to above-mentioned for example, variation, remodeling, interpolation or replacement that those skilled in the art are made in the essential scope of the utility model also belong to the protection domain of the utility model.
Claims (10)
1. a catching robot comprises the machine lathe bed, it is characterized in that: said catching robot also comprises the guide rail that is horizontally set on the said machine lathe bed; Said guide rail is provided with at least one mechanical arm; Said mechanical arm comprises the workpiece locking device; Said mechanical arm comprises that also driving said workpiece locking device does first mobile travel mechanism, second travel mechanism and the 3rd travel mechanism.
2. according to the described catching robot of claim 1, it is characterized in that: said guide rail is provided with two mechanical arms.
3. according to claim 1 or 2 described catching robots; It is characterized in that: said the 3rd travel mechanism comprises and moves up and down motor, moves up and down synchronizing wheel, moves up and down synchronous band and drive the roller bearing leading screw of rotation down at the said synchronizing wheel that moves up and down; Said roller bearing leading screw is connected with the locking nut spiral, and said locking nut and said workpiece locking device are fixed together.
4. according to the described catching robot of claim 3, it is characterized in that: said roller bearing leading screw is four.
5. according to the described catching robot of claim 4, it is characterized in that: the said motor that moves up and down is fixedly mounted on the electric machine support, and said electric machine support is fixed on the manipulator support arm.
6. according to claim 1 or 2 described catching robots; It is characterized in that: said second travel mechanism comprises the guiding cylinder; The piston rod end of said guiding cylinder is fixedly connected on the guiding cylinder support, and said guiding cylinder support and said workpiece locking device are fixed together.
7. according to claim 1 or 2 described catching robots; It is characterized in that: said first travel mechanism comprises that move left and right motor, move left and right synchronizing wheel and move left and right be with synchronously, said workpiece locking device through slide block and said move left and right synchronously band be fixed together.
8. according to claim 1 or 2 described catching robots, it is characterized in that: said workpiece locking device comprises adjustable support and is installed in the locking cylinder on the adjustable support.
9. according to the described catching robot of claim 8, it is characterized in that: said locking cylinder is four.
10. according to claim 1 or 2 described catching robots, it is characterized in that: said guide rail is a circular guideway, and said circular guideway is two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205323824U CN202428440U (en) | 2011-12-19 | 2011-12-19 | Grabbing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205323824U CN202428440U (en) | 2011-12-19 | 2011-12-19 | Grabbing manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202428440U true CN202428440U (en) | 2012-09-12 |
Family
ID=46777912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205323824U Expired - Fee Related CN202428440U (en) | 2011-12-19 | 2011-12-19 | Grabbing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202428440U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105328746A (en) * | 2015-11-10 | 2016-02-17 | 东莞市南兴家具装备制造股份有限公司 | Independently moving type vacuum sucker provided with airlock and board suction device |
| CN107618874A (en) * | 2017-09-01 | 2018-01-23 | 广州市科腾智能装备股份有限公司 | A kind of conveying device for being used to convey automotive upholstery epidermis |
-
2011
- 2011-12-19 CN CN2011205323824U patent/CN202428440U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105328746A (en) * | 2015-11-10 | 2016-02-17 | 东莞市南兴家具装备制造股份有限公司 | Independently moving type vacuum sucker provided with airlock and board suction device |
| CN107618874A (en) * | 2017-09-01 | 2018-01-23 | 广州市科腾智能装备股份有限公司 | A kind of conveying device for being used to convey automotive upholstery epidermis |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102490180A (en) | Grabbing mechanical hand, machining system constituted by same and machining method | |
| CN201881016U (en) | Work device of tap turntable | |
| CN100532026C (en) | Glass substrate transferring robot | |
| CN2936502Y (en) | Automatic cutting lathe | |
| CN201857123U (en) | Automatic conveying device for batteries | |
| CN206242049U (en) | Transfer robots | |
| CN104627673A (en) | Station switching device of plate workpiece | |
| CN104175162A (en) | Mechanical arm used for automatic feeding and discharging and automatic feeding and discharging method | |
| CN102950590A (en) | Two-axis manipulator for press line and working process of two-axis manipulator | |
| CN202428440U (en) | Grabbing manipulator | |
| CN203817267U (en) | Single-arm six-shaft manipulator | |
| CN205165633U (en) | Bearing retainer punching press conveyor hand | |
| CN204278006U (en) | The double-arm manipulator of a kind of large-scale multistation | |
| CN103111633A (en) | Two-head lathe special for hydraulic pipe | |
| CN205187198U (en) | Bearing roller line manipulator | |
| CN204975090U (en) | Last feeding mechanical arm arm system of thin sheet part stamping processing | |
| CN104609342A (en) | Horizontal-movement lifting equipment used for large cylindrical workpiece | |
| CN204893634U (en) | Abnormal shape glass processing center | |
| CN114160698B (en) | Servo control manufacturing tank equipment | |
| CN202964649U (en) | Two-axis manipulator used on stamping production line | |
| CN204400563U (en) | A kind of translation lifting equipment for large-scale cylindrical workpiece | |
| CN209379851U (en) | Bearer ring forging line automatic feeding system | |
| CN215236953U (en) | Supporting platform device of up-moving type five metals bender | |
| CN202089555U (en) | Straight line servo conveying system | |
| CN211470009U (en) | Elevator plate processing automatic feeding mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20120912 Termination date: 20121219 |