CN203028010U - Mechanical arm grabbing mechanism and dumpling grabbing device using same - Google Patents
Mechanical arm grabbing mechanism and dumpling grabbing device using same Download PDFInfo
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- CN203028010U CN203028010U CN 201320042261 CN201320042261U CN203028010U CN 203028010 U CN203028010 U CN 203028010U CN 201320042261 CN201320042261 CN 201320042261 CN 201320042261 U CN201320042261 U CN 201320042261U CN 203028010 U CN203028010 U CN 203028010U
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- manipulator
- fixed axis
- clamping limb
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- dumpling
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Abstract
The utility model relates to a mechanical arm grabbing mechanism and a dumpling grabbing device using the same, and provides a mechanical arm grabbing mechanism with a compact structure and a dumpling grabbing device using the same. The mechanical arm grabbing mechanism comprises a mechanical arm mounting base and mechanical arms, wherein the mechanical arms are mounted on the mechanical arm mounting base; each mechanical arm comprises a first clamping arm and a second clamping arm which are arranged opposite to each other; the mechanical arm mounting base comprises a fixed shaft extending along a straight line; more than two groups of mechanical arms are arranged in parallel along the extending direction of the fixed shaft; in each group of mechanical arms, the first clamping arm is fixedly connected to the fixed shaft and the second clamping arm is assembled on the fixed shaft in a mode of rotating around the axis of the fixed shaft; each second clamping arm is in transmission connection with a driving rod which is used for driving each second clamping arm to rotate around the fixed shaft to be in open/close cooperation with each corresponding first clamping arm during action; and the driving rod is in transmission connection with a driving rod driving device for driving the driving rod to act. The mechanical arm grabbing mechanism has small whole occupied space, a compact structure and high action consistency.
Description
Technical field
The utility model relates to the manipulator grasping mechanism and uses the dumpling grabbing device of this mechanism.
Background technology
The manufacturing process of quick-freezing dumpling is divided into filling processed, face processed, dumpling moulding, quick-frozen and packing etc. substantially.Filling processed, face processed, dumpling molding procedure have substantially all realized automation at present, but, when the dumpling after the moulding rolls off the production line from shaped device, the mode of the artificial transfer dumpling that the general employing of producer at present is traditional, productivity ratio is low, increased labour cost, it is neat to guarantee that dumpling is put, and causes difficulty for the automation of follow-up dumpling balance operation.Simultaneously, because the workman need catch and contact boiled dumpling, traditional approach also has safe and sanitary hidden danger.Application number is in 201120388850.5 the disclosed cam plate dumpling of the Chinese patent moulding positioning tool, the top dumpling device that provides a kind of dumpling to roll off the production line usefulness automatically, with the corresponding setting of dumpling forming device that is used for the moulding of dumpling inclusion, dumpling after the follower lever that utilizes cam disc during use and be mated will be shaped pushes shaped device, roll off the production line though saved manually, but dumpling fitly can't be put, be unfavorable for the automation of follow-up dumpling balance operation, and can cause the dumpling distortion, influence the outward appearance of product.
At present, in other industrial production fields, exist the action of adopting mechanical hand for emulating human hand to realize the technology of the transhipment of article, be that 201210189672.2 Chinese patent discloses a kind of multi-robot and embraces the grapple structure synchronously such as application number, comprise the manipulator grasping mechanism and drive the mechanical arm of manipulator grasping mechanism displacement.The manipulator grasping mechanism comprises connection seat; horizontally-guided spare by two correspondences guiding is assemblied in two manipulator mount pads on the connection seat respectively; be installed in many first clamping limbs and many second clamping limbs on the corresponding manipulator mount pad respectively; two manipulator mount pads are connected with pulley by stay cord realizes rightabout same moved further; one of them manipulator mount pad is provided with the telescopic cylinder that drives its motion; first clamping limb and the second clamping limb move toward one another are closed up or opposing motion separately realizes the opening and closing action thereby drive when telescopic cylinder moves; article are clamped or unclamp; the action of cooperative mechanical arm simultaneously realizes the clamping of article; shift and unclamp.But, because each first clamping limb and second clamping limb are to be arranged side by side along the opening and closing direction, the lengthwise dimension of manipulator mount pad is bigger, and need mobile space, and complex structure, it is big to take up room, and folding of each manipulator is to rely on stay cord and telescopic cylinder to drive to realize, the transmission accuracy of each clamping limb is low, poor reliability, and can not be applicable to the extracting of boiled dumpling.
The utility model content
The purpose of this utility model provides a kind of manipulator grasping mechanism of compact conformation, and a kind of dumpling grabbing device that uses this mechanism is provided simultaneously.
The technical scheme that the manipulator grasping mechanism adopts in the utility model is: the manipulator grasping mechanism, comprise the manipulator mount pad, be installed in the manipulator on the manipulator mount pad, described manipulator comprises first clamping limb and second clamping limb that is oppositely arranged, described manipulator mount pad comprises along linearly extended fixed axis, described manipulator be provided with two groups above and be set up in parallel along the bearing of trend of fixed axis, each is organized first clamping limb in the manipulator and is connected on the fixed axis and second clamping limb rotates around the fixed axis axis and is assemblied on the fixed axis; Each described second clamping limb be connected with when action drive each second clamping limb jointly around fixed axis rotate and with the drive rod that corresponding each first clamping limb opening and closing cooperate, be connected with the drive rod drive unit that drives the drive rod action on the described drive rod.
Adopt technique scheme, each is organized first clamping limb in the manipulator and is connected on the fixed axis and second clamping limb rotates around the fixed axis axis and is assemblied on the fixed axis, and each second clamping limb is synchronization action under the drive rod of correspondence drives, the opening and closing direction is vertical with fixed axis, the rotary space that needs is little, and is driven by unified drive rod drive unit by drive rod, and overall space takies little, compact conformation, action consistency is good.
Described drive rod is parallel with described fixed axis and around the swinging axle of fixed axis swing assembling, and described second clamping limb is that stop part and the swinging axle by the oscillating stroke setting of corresponding swinging axle on it is in transmission connection; Described drive rod is parallel with described fixed axis and swings the swinging axle of assembling around fixed axis, described second clamping limb is that stop part and the swinging axle by the oscillating stroke setting of corresponding swinging axle on it is in transmission connection, described drive rod drive unit is the telescopic cylinder with expansion link, be fixed with drive block on the described expansion link, described drive block is provided with the chute that slides and be rotatably assorted for described swinging axle guiding and drives described swinging axle swing around fixed axis when flexible with expansion link.Drive rod adopts the swinging axle of said structure, and the drive rod drive unit adopts the telescopic cylinder of said structure, can be with the flexible swing that is converted into swinging axle of expansion link, and simple in structure, easy for installation, flexible movements.
Be arranged with on the described fixed axis second clamping limb is applied the power of rotating towards first clamping limb and the torsion spring that manipulator is closed up, one end and second clamping limb of described torsion spring are in transmission connection, and the other end ends spinning and fits on the torsion spring stop part that correspondence arranges on the fixed axis.Above-mentioned torsion spring is set, can provides enough chucking powers for second clamping limb, guarantee that the article clamping is firm.
Described torsion spring stop part is that the turned position is rotated adjustablely and is assemblied on the fixed axis and regulates the moment of torsion of torsion spring when rotating.The torsion spring stop part that the position is adjustable can be adjusted the clamping force of manipulator, avoids clamping force excessive and produce the substandard products dumpling or clamp insecure.
The technical scheme that the dumpling grabbing device adopts in the utility model is: the dumpling grabbing device, comprise the manipulator grasping mechanism and drive the manipulator shift mechanism that the manipulator grasping mechanism moves, described manipulator grasping mechanism comprises the manipulator mount pad, be installed in the manipulator on the manipulator mount pad, described manipulator comprises first clamping limb and second clamping limb that is oppositely arranged, described manipulator mount pad comprises along linearly extended fixed axis, described manipulator be provided with two groups above and be set up in parallel along the bearing of trend of fixed axis, each is organized first clamping limb in the manipulator and is connected on the fixed axis and second clamping limb rotates around the fixed axis axis and is assemblied on the fixed axis; Each described second clamping limb be connected with drive each second clamping limb jointly around fixed axis rotate and with the drive rod that corresponding each first clamping limb opening and closing cooperate, be connected with the drive rod drive unit that drives the drive rod action on the described drive rod; Described first clamping limb is provided with corresponding clamping recess with second clamping limb.Adopt technique scheme, each is organized first clamping limb in the manipulator and is connected on the fixed axis and second clamping limb rotates around the fixed axis axis and is assemblied on the fixed axis, and each second clamping limb is synchronization action under the drive rod of correspondence drives, the opening and closing direction is vertical with fixed axis, the rotary space that needs is little, and is driven by unified drive rod drive unit by drive rod, and overall space takies little, compact conformation, action consistency is good.Described first clamping limb is provided with the clamping that corresponding clamping recess is convenient to dumpling with second clamping limb, reduces the dumpling distortion that clamping causes.
Described drive rod is parallel with described fixed axis and around the swinging axle of fixed axis swing assembling, and described second clamping limb is that stop part and the swinging axle by the oscillating stroke setting of corresponding swinging axle on it is in transmission connection; Described drive rod is parallel with described fixed axis and swings the swinging axle of assembling around fixed axis, described second clamping limb is that stop part and the swinging axle by the oscillating stroke setting of corresponding swinging axle on it is in transmission connection, described drive rod drive unit is the telescopic cylinder with expansion link, be fixed with drive block on the described expansion link, described drive block is provided with the chute that slides and be rotatably assorted for described swinging axle guiding and drives described swinging axle swing around fixed axis when flexible with expansion link.Drive rod adopts the swinging axle of said structure, and the drive rod drive unit adopts the telescopic cylinder of said structure, can be with the flexible swing that is converted into swinging axle of expansion link, and simple in structure, easy for installation, flexible movements.
Be arranged with on the described fixed axis second clamping limb is applied the power of rotating towards first clamping limb and the torsion spring that manipulator is closed up, one end and second clamping limb of described torsion spring are in transmission connection, and the other end ends spinning and fits on the torsion spring stop part that correspondence arranges on the fixed axis.Above-mentioned torsion spring is set, can provides enough chucking powers for second clamping limb, guarantee that the article clamping is firm.
Described torsion spring stop part is that the turned position is rotated adjustablely and is assemblied on the fixed axis and regulates the moment of torsion of torsion spring when rotating.The torsion spring stop part that the position is adjustable can be adjusted the clamping force of manipulator, avoids clamping force excessive and produce the substandard products dumpling or clamp insecure.
Described manipulator shift mechanism comprises the manipulator mount pad for assembly manipulator, also comprise along continuous straight runs guiding first guide, only revolving mobile first slide block that is assemblied on first guide of guiding under the driving of respective drive device; Vertically Dao Xiang second guide, only revolving mobile second slide block that is assemblied on second guide of guiding under the driving of respective drive device; Be installed with the 3rd guide of guiding vertically on described first slide block, be installed with the 4th guide of along continuous straight runs guiding on described second slide block, vertically only revolve guiding on described the 3rd guide and being equipped with take-off lever be used to the described manipulator mount pad that is connected; Described take-off lever also along continuous straight runs only revolves mobile being assemblied on described the 4th guide of leading.Adopt technique scheme, first and second slide block under corresponding drive unit, can realize separately moving horizontally and vertically mobile, the 3rd guide and the 4th guide are installed in respectively can be respectively with first slide block and second slide block movement on first slide block and second slide block, and take-off lever all is that guiding cooperates with the 3rd guide and the 4th guide, therefore, the action of first slide block and second slide block can pass to take-off lever respectively, make moving horizontally and vertical mobile mutually noninterfere of take-off lever, be convenient to horizontal balance and the vertically coordination of action, reliable transmission.
The manipulator shift mechanism also comprises support body, and described drive unit comprises by motor-driven and rotates the cam disc be assemblied on the support body, is in transmission connection in two end faces of cam disc and first transmission mechanism and second transmission mechanism between corresponding first slide block or second slide block respectively; Described first transmission mechanism comprises that an end is articulated in the fork on the support body and is arranged on first chute that vertically leads on first slide block, described fork is provided with the assembling of described first chute guiding and first ligand that is rotatably assorted away from an end of its hinged end and constitutes the tangent mechanism that drives the motion of the first slide block along continuous straight runs, corresponding curve chute and the roller of swinging for the driving fork that be provided with on the corresponding end-faces of described cam disc and the described fork; Described second transmission mechanism comprises second chute of the along continuous straight runs guiding that is arranged on second slide block, and described cam disc is provided with to constitute with the assembling of described second chute guiding and second ligand that is rotatably assorted and drives the tangent mechanism that second slide block vertically moves.It is reliable to adopt the cam disc structure to drive, the action of being convenient to need to obtain is exported, first transmission mechanism and second transmission mechanism are in transmission connection respectively and can avoid first transmission mechanism and second transmission mechanism to occur interfering between two end faces of cam disc and corresponding first slide block or second slide block, assemble easy to maintenance.The tangent mechanism that adopts fork, chute and first ligand to constitute, reliable in action, the transmission accuracy height is convenient to safeguard.Fork adopts corresponding curve chute and roller to drive the control of being convenient to the fork pendulum angle, is convenient to obtain the robot movement path of needs.Second transmission device adopts said structure, and compact conformation, reliable in action are convenient to assembling and are safeguarded.
Description of drawings
Fig. 1: the front view of the dumpling grabbing device embodiment in the utility model;
Fig. 2: the dumpling grabbing device embodiment connects the structural representation behind the manipulator grasping mechanism in the utility model;
The right view of Fig. 3: Fig. 1;
Fig. 4: the structural representation of the dumpling grasping mechanism embodiment in the utility model.
The name of each Reference numeral correspondence is called among the figure: 1 support body, 20 manipulators, 21 first clamping limbs, 22 second clamping limbs, 222 flangings, 30 manipulator mount pads, 31 fixed axis, 311 moving blocks, 32 turning cylinders, 33 telescopic cylinders, 34 drive blocks, 341 chutes, 35 torsion springs, 36 adjustable rings, 4 linking arms, 51 cross slide waies, 52 transverse sliders, 61 vertical guide pin bushings, 62 vertical guide posts, 63 horizontal guide grooves, 64 sliding connection blocks, 65 vertical slide blocks, 7 take-off levers, 8 cam discs, 9 forks, 10 cam disc rotating shafts.
The specific embodiment
The dumpling grabbing device embodiment such as Fig. 1 in the utility model ~ shown in Figure 4, the dumpling grabbing device comprises the manipulator grasping mechanism and drives the manipulator shift mechanism of manipulator grasping mechanism motion.
The manipulator grasping mechanism comprises manipulator mount pad 30, is installed in the manipulator on the manipulator mount pad 30, manipulator comprises first clamping limb 21 and second clamping limb 22 that is oppositely arranged, manipulator mount pad 30 comprises along linearly extended fixed axis 31, manipulator be provided with two groups above and be set up in parallel along the bearing of trend of fixed axis 31, each first clamping limb 21 of organizing in the manipulator is connected on the fixed axis 31, being arranged with moving block 311, the second clamping limbs 22 on the fixed axis 31 is assemblied on the fixed axis 31 by the axis rotation of moving block 311 around fixed axis 31; Driving each second clamping limb 22 when each second clamping limb 22 is connected with action rotates and the drive rod that cooperates with corresponding each first clamping limb, 21 opening and closing around fixed axis 31 jointly, in the present embodiment, drive rod is to be provided with flanging 222 and to constitute the stop part that is in transmission connection with swinging axle 32 with fixed axis 31 oscillating strokes parallel and corresponding swinging axle 32 on swinging axle 32, the second clamping limbs 22 of fixed axis 31 swing assemblings.Be connected with the drive rod drive unit that drives swinging axle 32 actions on the swinging axle 32, in the present embodiment, the drive rod drive unit is the telescopic cylinder 33 with expansion link, be fixed with drive block 34 on the expansion link, drive block 34 is provided with the chute 341 that slides and be rotatably assorted for swinging axle 32 guiding, constitute tangent mechanism, and when drive block 34 is flexible with expansion link, drive swinging axle 32 around fixed axis 31 swings.Be arranged with on the fixed axis 31 second clamping limb 22 is applied the power of rotating towards first clamping limb 21 and the torsion spring 35 that manipulator is closed up, one end of torsion spring 35 and second clamping limb 22 are in transmission connection, the other end ends spinning and fits on the torsion spring stop part that correspondence arranges on the fixed axis 31, in the present embodiment, the torsion spring stop part is to rotate the adjustable ring 36 be assemblied on the fixed axis 31, and the holding screw of adjustable ring 36 by corresponding setting it on is adjusted at the moment of torsion that torsion spring 35 is regulated in turned position on the fixed axis 31.
The manipulator shift mechanism comprises support body 1, also comprise: be arranged on the mobile transverse slider 52 that is assemblied on the cross slide way 51 of cross slide way 51, guiding of along continuous straight runs guiding on the support body 1, cross slide way 51 is arranged with two spinnings of ending with realization transverse slider 52 in parallel and joins; Be arranged on the support body 1 two vertical guide pin bushings 61 of guiding vertically, set up between mobile 62, the two vertical guide posts 62 of two vertical guide posts that are assemblied on the two vertical guide pin bushings 61 of guiding and be fixed with vertical slide block 65 respectively.Be installed with two pilot holes of guiding vertically on the transverse slider 52, vertical slide block 65 is provided with horizontally extending horizontal guide groove 63.Vertically only revolve guiding in two pilot holes and be equipped with two take-off levers 7, be connected on the take-off lever 7 for the linking arm 4 of manipulator mount pad 30 by correspondence; Two take-off levers 7 are by the sliding connection block 64 of lower end setting and mobile assembling of horizontal guide groove 63 guiding on the vertical slide block 65.
The embodiment of above-mentioned dumpling grabbing device in use, the opening and closing of manipulator 20 are to be driven by telescopic cylinder 33, when the expansion link on the telescopic cylinder 33 drives drive block 34 withdrawals, swinging axle 32 leads in the chute 341 of drive block 34 and slides and rotation, thereby overcoming torsion spring 35 torsion drives second clamping limb, 22 relative first clamping limbs 21 and opens, when the expansion link drive drive block 34 on the telescopic cylinder 33 stretches out, the active force of 32 pairs of second clamping limbs 22 of swinging axle is removed, torsion spring drives second clamping limb, 21 relative first clamping limbs 21 and closes up and suitable clamping force is provided, dumpling is clamped, and clamping force can be regulated by adjustable ring 36, guarantees that dumpling clamps and reduces distortion as far as possible.In the manipulator shift mechanism, cam disc 8 stretches out the cam disc rotating shaft 10 of support body 1 and rotates under the driven by motor of correspondence, vertical slide block 65 is motion vertically under the drive of above-mentioned second transmission mechanism of correspondence, vertically move by the sliding connection block 64 drive take-off levers 7 that the lower end arranges by two take-off levers 7 simultaneously, realize vertical motion by linking arm 4 20 on drive manipulators and manipulator 20 then.Simultaneously, fork 9 is stirred the motion of transverse slider 52 along continuous straight runs at the drive lower swing of above-mentioned first transmission mechanism of correspondence by corresponding tangent mechanism, because sliding connection block 64 is by the horizontal guide groove 63 guiding assemblings on the vertical slide block 65, therefore take-off lever 7 is followed the motion of transverse slider 52 along continuous straight runs simultaneously, realizes horizontal movement by linking arm 4 20 on drive manipulators and manipulator 20 then.Thus, manipulator 20 can be realized the motion of reliable vertical direction, horizontal direction according to set path, the opening and closing of cooperative mechanical hand 20 simultaneously, and with dumpling clamping, transhipment and release, the extracting of realization dumpling reaches puts in order.
Manipulator grasping mechanism among the embodiment that the manipulator grasping mechanism embodiment is above-mentioned dumpling grabbing device in the utility model repeats no more herein.In addition, in other embodiment of the present utility model, the manipulator grasping mechanism also can be used in the field beyond the dumpling production.
In the above-described embodiments, what drive rod adopted is around fixed axis swing and the swinging axle parallel with fixed axis, second clamping limb is provided with flanging and cooperates with the swinging axle transmission, in other embodiments, drive rod also can adopt other form, and for example, drive rod directly is connected with the expansion link of corresponding telescopic cylinder, by expansion link move up and down with second clamping limb on flanging be in transmission connection, can drive second clamping limb equally and rotate.And the torsion spring in above-described embodiment and adjustable ring are nonessential structures, can save in other embodiments.In addition, what first guide in the manipulator shift mechanism and first slide block, second guide and second slide block adopted is the adaptive structure of two guide posts and two pilot holes, in other embodiment of the present utility model, corresponding guide and slide block also can adopt other forms to replace, and for example adopt the form of dovetail slide rail and dovetail groove.And first transmission mechanism in the drive unit and second transmission mechanism adopt in above-described embodiment cam disc 8 structures and tangent mechanism also can replace to other forms, for example rack-and-pinion transmission, feed screw nut transmission etc., first transmission mechanism and second transmission mechanism also can exchange.
Claims (10)
1. manipulator grasping mechanism, comprise the manipulator mount pad, be installed in the manipulator on the manipulator mount pad, described manipulator comprises first clamping limb and second clamping limb that is oppositely arranged, it is characterized in that: described manipulator mount pad comprises along linearly extended fixed axis, described manipulator be provided with two groups above and be set up in parallel along the bearing of trend of fixed axis, each is organized first clamping limb in the manipulator and is connected on the fixed axis and second clamping limb rotates around the fixed axis axis and is assemblied on the fixed axis; Each described second clamping limb be connected with when action drive each second clamping limb jointly around fixed axis rotate and with the drive rod that corresponding each first clamping limb opening and closing cooperate, be connected with the drive rod drive unit that drives the drive rod action on the described drive rod.
2. manipulator grasping mechanism according to claim 1, it is characterized in that: described drive rod is parallel with described fixed axis and swings the swinging axle of assembling around fixed axis, described second clamping limb is that stop part and the swinging axle by the oscillating stroke setting of corresponding swinging axle on it is in transmission connection, described drive rod drive unit is the telescopic cylinder with expansion link, be fixed with drive block on the described expansion link, described drive block is provided with the chute that slides and be rotatably assorted for described swinging axle guiding and drives described swinging axle swing around fixed axis when flexible with expansion link.
3. manipulator grasping mechanism according to claim 1 and 2, it is characterized in that: be arranged with on the described fixed axis second clamping limb is applied the power of rotating towards first clamping limb and the torsion spring that manipulator is closed up, one end and second clamping limb of described torsion spring are in transmission connection, and the other end ends spinning and fits on the torsion spring stop part that correspondence arranges on the fixed axis.
4. manipulator grasping mechanism according to claim 3 is characterized in that: described torsion spring stop part is that the turned position is rotated adjustablely and is assemblied on the fixed axis and regulates the moment of torsion of torsion spring when rotating.
5. dumpling grabbing device, comprise the manipulator grasping mechanism and drive the manipulator shift mechanism that the manipulator grasping mechanism moves, described manipulator grasping mechanism comprises the manipulator mount pad, be installed in the manipulator on the manipulator mount pad, described manipulator comprises first clamping limb and second clamping limb that is oppositely arranged, it is characterized in that: described manipulator mount pad comprises along linearly extended fixed axis, described manipulator be provided with two groups above and be set up in parallel along the bearing of trend of fixed axis, each is organized first clamping limb in the manipulator and is connected on the fixed axis and second clamping limb rotates around the fixed axis axis and is assemblied on the fixed axis; Each described second clamping limb be connected with drive each second clamping limb jointly around fixed axis rotate and with the drive rod that corresponding each first clamping limb opening and closing cooperate, be connected with the drive rod drive unit that drives the drive rod action on the described drive rod; Described first clamping limb is provided with corresponding clamping recess with second clamping limb.
6. dumpling grabbing device according to claim 5, it is characterized in that: described drive rod is parallel with described fixed axis and swings the swinging axle of assembling around fixed axis, described second clamping limb is that stop part and the swinging axle by the oscillating stroke setting of corresponding swinging axle on it is in transmission connection, described drive rod drive unit is the telescopic cylinder with expansion link, be fixed with drive block on the described expansion link, described drive block is provided with the chute that slides and be rotatably assorted for described swinging axle guiding and drives described swinging axle swing around fixed axis when flexible with expansion link.
7. according to claim 5 or 6 described dumpling grabbing devices, it is characterized in that: be arranged with on the described fixed axis second clamping limb is applied the power of rotating towards first clamping limb and the torsion spring that manipulator is closed up, one end and second clamping limb of described torsion spring are in transmission connection, and the other end ends spinning and fits on the torsion spring stop part that correspondence arranges on the fixed axis.
8. dumpling grabbing device according to claim 7 is characterized in that: described torsion spring stop part is that the turned position is rotated adjustablely and is assemblied on the fixed axis and regulates the moment of torsion of torsion spring when rotating.
9. according to claim 5 or 6 described dumpling grabbing devices, it is characterized in that: described manipulator shift mechanism comprises the manipulator mount pad for assembly manipulator, also comprise along continuous straight runs guiding first guide, only revolving mobile first slide block that is assemblied on first guide of guiding under the driving of respective drive device; Vertically Dao Xiang second guide, only revolving mobile second slide block that is assemblied on second guide of guiding under the driving of respective drive device; Be installed with the 3rd guide of guiding vertically on described first slide block, be installed with the 4th guide of along continuous straight runs guiding on described second slide block, vertically only revolve guiding on described the 3rd guide and being equipped with take-off lever be used to the described manipulator mount pad that is connected; Described take-off lever also along continuous straight runs only revolves mobile being assemblied on described the 4th guide of leading.
10. dumpling grabbing device according to claim 9, it is characterized in that: described manipulator shift mechanism also comprises support body, and described drive unit comprises by motor-driven and rotates the cam disc be assemblied on the support body, is in transmission connection in two end faces of cam disc and first transmission mechanism and second transmission mechanism between corresponding first slide block or second slide block respectively; Described first transmission mechanism comprises that an end is articulated in the fork on the support body and is arranged on first chute that vertically leads on first slide block, described fork is provided with the assembling of described first chute guiding and first ligand that is rotatably assorted away from an end of its hinged end and constitutes the tangent mechanism that drives the motion of the first slide block along continuous straight runs, corresponding curve chute and the roller of swinging for the driving fork that be provided with on the corresponding end-faces of described cam disc and the described fork; Described second transmission mechanism comprises second chute of the along continuous straight runs guiding that is arranged on second slide block, and described cam disc is provided with to constitute with the assembling of described second chute guiding and second ligand that is rotatably assorted and drives the tangent mechanism that second slide block vertically moves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320042261 CN203028010U (en) | 2013-01-25 | 2013-01-25 | Mechanical arm grabbing mechanism and dumpling grabbing device using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320042261 CN203028010U (en) | 2013-01-25 | 2013-01-25 | Mechanical arm grabbing mechanism and dumpling grabbing device using same |
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| CN203028010U true CN203028010U (en) | 2013-07-03 |
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| CN 201320042261 Expired - Fee Related CN203028010U (en) | 2013-01-25 | 2013-01-25 | Mechanical arm grabbing mechanism and dumpling grabbing device using same |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103651649A (en) * | 2014-01-07 | 2014-03-26 | 成都松川雷博机械设备有限公司 | Food forming method |
| CN106361371A (en) * | 2016-09-19 | 2017-02-01 | 深圳市罗伯医疗科技有限公司 | Clamping device and ultrasonic diagnosis equipment with same |
| CN107458108A (en) * | 2017-08-25 | 2017-12-12 | 浙江正润机械有限公司 | Swing rotary mechanism and cardboard transfer correction manipulator |
| CN115636133A (en) * | 2022-12-23 | 2023-01-24 | 山东华玺食品科技有限公司 | Automatic stacking and stacking equipment for canned meat processed food |
-
2013
- 2013-01-25 CN CN 201320042261 patent/CN203028010U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103651649A (en) * | 2014-01-07 | 2014-03-26 | 成都松川雷博机械设备有限公司 | Food forming method |
| CN106361371A (en) * | 2016-09-19 | 2017-02-01 | 深圳市罗伯医疗科技有限公司 | Clamping device and ultrasonic diagnosis equipment with same |
| CN107458108A (en) * | 2017-08-25 | 2017-12-12 | 浙江正润机械有限公司 | Swing rotary mechanism and cardboard transfer correction manipulator |
| CN107458108B (en) * | 2017-08-25 | 2023-04-18 | 浙江正润机械有限公司 | Swing rotary mechanism and paperboard transfer deviation-rectifying manipulator |
| CN115636133A (en) * | 2022-12-23 | 2023-01-24 | 山东华玺食品科技有限公司 | Automatic stacking and stacking equipment for canned meat processed food |
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