CN203048164U - Automatic feeding manipulator - Google Patents
Automatic feeding manipulator Download PDFInfo
- Publication number
- CN203048164U CN203048164U CN 201320081922 CN201320081922U CN203048164U CN 203048164 U CN203048164 U CN 203048164U CN 201320081922 CN201320081922 CN 201320081922 CN 201320081922 U CN201320081922 U CN 201320081922U CN 203048164 U CN203048164 U CN 203048164U
- Authority
- CN
- China
- Prior art keywords
- arm
- bearing
- auxiliary
- rotation
- paw
- 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 an automatic feeding manipulator, which comprises a base, a manipulator arm and a gripper, wherein the manipulator arm is arranged on the base, and the gripper is arranged on the manipulator arm and is used for gripping a condenser workpiece. The automatic feeding manipulator is characterized in that the manipulator arm comprises a support seat, a main arm, an auxiliary arm, a support arm, a transmission rod, a support seat motor, a main arm motor and a support arm motor, wherein the support seat motor is used for driving the support seat to rotate, the main arm motor is used for driving the main arm to rotate, and the support arm motor is used for driving the support arm to rotate and further drive the auxiliary arm to rotate by the transmission rod. The automatic feeding manipulator has the advantages that automatic feeding of the condenser is realized, the labor efficiency is improved, and the labor intensity is reduced; meanwhile, the automatic feeding manipulator is specially designed according to the characteristics of the condenser; and gripping is convenient, control is accurate, the structure is simple, cost is low, and the like.
Description
Technical field
The utility model relates to a kind of robot device for automatic charging, relates in particular to a kind of automatic charging machinery hand for condenser.
Background technology
Condenser is the member that uses in the conditioning unit, is for cooling off the high temperature refrigerant steam after the refrigerating compressor compression and the H Exch that makes it to liquefy.The general main coil pipe by serpentine bend of its structure constitutes, and is whole rectangular tabular.
Condenser needs the operation of drying through together in process of production.In this operation, the coil pipe that needing to interlock in advance is superimposed takes off one by one and is aligned on the drying line plate chain and toasts.In the prior art, finish the work of this carrying and generally adopt the workman to finish, exist labour intensity big, defective such as production efficiency is low.
Therefore, the applicant considers, if can design a kind of manipulator that can finish condenser extracting material loading automatically, then can reach the liberation workman, raises labour efficiency, and reduces the purpose of labour intensity.
The utility model content
At the problems referred to above and deficiency, technical problem to be solved in the utility model is: how to provide a kind of simple in structure, can be used in the automatic charging machinery hand of condenser automatic charging, to raise labour efficiency, reduce labour intensity.
In order to address the above problem, the utility model has adopted following technical scheme.
A kind of automatic charging machinery hand comprises base, is arranged on the mechanical arm on the base, is arranged on the paw that is used for grasping the condenser workpiece on the mechanical arm, it is characterized in that described mechanical arm comprises bearing, principal arm, auxiliary, support arm, drive link; Described bearing can be arranged on base top with horizontally rotating, and the bearing motor that bearing and is fixed in base links to each other and also can lean on its driven rotary; Described principal arm lower end is arranged on the bearing rotationally, and principal arm links to each other with principal arm motor on being arranged on bearing and can lean on it to drive vertical rotation, and the principal arm upper end can vertically be connected on the auxiliary rotationally; Described support arm one end is arranged on the bearing rotationally, support arm links to each other with support arm motor on being arranged on bearing and can lean on it to drive vertical rotation, the support arm other end and described drive link lower end vertically are rotationally connected, described drive link upper end vertically is rotationally connected with an end of described auxiliary, the other end of described auxiliary and a connector vertically are rotationally connected, described connector lower end horizontally rotates and connects described paw, and connector and paw junction also are provided with the rotation controling mechanism for the rotation of control paw.
When the utility model uses, the armrest pawl is realized the extracting to the condenser member, horizontally rotate by control bearing driven by motor bearing, rotate up and down by control principal arm driven by motor principal arm, rotate around principal arm by the control electronic drive support arm of support arm and then by drive link drive auxiliary simultaneously, and then realization is to the movement of condenser.So just realized extracting, the movement of condenser and put down.During concrete enforcement, accurately control each motor range by electric-control system, can realize automatic charging.Reach and raise labour efficiency, reduce the effect of labour intensity.Wherein concrete electric-control system belongs to control field routine techniques, not at this detailed description.
As optimization, also comprise for keeping paw to be in the balance control mechanism of horizontality, described equalizing gear comprises a corner straight coupling with two support arms, the corner of corner straight coupling is arranged on the auxiliary rotationally, the rotational axis line at the rotational axis line of corner straight coupling and auxiliary and the principal arm place of being rotationally connected is same straight line, a support arm end of corner straight coupling and an end of a following parallel rod vertically are rotationally connected, the other end and the bearing of following parallel rod vertically are rotationally connected, center of rotation place, following parallel rod two ends line equates with center of rotation place, principal arm two ends line and is parallel, another support arm end of corner straight coupling and an end of going up parallel rod vertically are rotationally connected, the last parallel rod other end and connector vertically are rotationally connected, and center of rotation place, last parallel rod two ends line equates with center of rotation place, principal arm place line with center of rotation place, auxiliary upper binding head place and be parallel.
After optimizing like this, described balance control mechanism can remain in the mechanical arm moving process, and paw is in the state of initial level angle all the time, has guaranteed that the balance of capture member is reliable.When specifically implementing certainly, also can adopt the balance control mechanism of other structures, keep balance such as direct armrest pawl gravity, perhaps control paw backward rotation equal angular etc. behind the detection computations mechanical arm rotational angle.All should be considered as still falling into the utility model protection domain.
As optimization, described paw comprises a horizontally disposed connecting panel, and two ends, connecting panel below are provided with pawl symmetrically and refer to, that can vertically rotate in the middle part of pawl refers to is connected on the connecting panel, pawl refers to that the below has the pawl point that extends internally, and pawl refers to that the top is connected with the telescopic boom of a horizontally disposed cylinder.After optimizing like this, only need flexible by cylinder control cylinder telescopic boom, just can control pawl and refer to rotate, and then the pawl point below referring to by pawl is caught the condenser member or decontrol.Have simple in structurely, control is convenient, and the condenser member grasps advantages such as reliable.
As further optimization, described connecting panel below also is provided with the travel switch for detection of the condenser member.Like this, detect member by travel switch after, feed back to control system again and control, to realize the extracting to condenser more exactly.During concrete enforcement, because condenser generally is that mutual dislocation superposes for 90 °, so travel switch can be set to three, one of them is used for detecting downwards whether paw is descending puts in place, two other leans on rotation controling mechanism control paw to rotate in place the extracting that realizes that better pawl refers to for detection of the condenser placement direction then.
As optimization, described rotation controling mechanism adopts rotary cylinder.Have simple in structurely, control advantage easily.Certainly during concrete enforcement, also can be to adopt motor gear to drive the paw rotation and control, should be considered as still falling into the utility model protection domain.
In sum, the utility model can be realized the automatic charging of condenser, has improved efficiency, has reduced labour intensity.Advantages such as simultaneously, the utility model arranges at the condenser characteristics specially, also has to grasp conveniently, and control precisely, and is simple in structure, with low cost.
Accompanying drawingExplanation
Fig. 1 is structural representation of the present utility model.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described further.
This specific embodiment as shown in Figure 1, a kind of automatic charging machinery hand comprises base 1, be arranged on the mechanical arm on the base 1, be arranged on the paw that is used for grasping condenser workpiece 2 on the mechanical arm, wherein, described mechanical arm comprises bearing 3, principal arm 4, auxiliary 5, support arm 6, drive link 7; Described bearing 3 can be arranged on base 1 top with horizontally rotating, and the bearing motor 8 that bearing 3 and is fixed in base 1 links to each other and can lean on its driven rotary; Described principal arm 4 lower ends are arranged on the bearing 3 rotationally, and principal arm 4 links to each other with principal arm motor (not shown) on being arranged on bearing 3 and can lean on it to drive vertical rotation, and principal arm 4 upper ends can vertically be connected on the auxiliary 5 rotationally; Described support arm 6 one ends are arranged on the bearing 3 rotationally, support arm 6 links to each other with support arm motor (not shown) on being arranged on bearing 3 and can lean on it to drive vertical rotation, support arm 6 other ends and described drive link 7 lower ends vertically are rotationally connected, one end of described drive link 7 upper ends and described auxiliary 5 vertically is rotationally connected, the other end of described auxiliary 5 and a connector 9 vertically are rotationally connected, described connector 9 lower ends horizontally rotate and connect described paw, and connector 9 also is provided with the rotation controling mechanism 10 that rotates for the control paw with the paw junction.
In the present embodiment, also comprise for keeping paw to be in the balance control mechanism of horizontality, described equalizing gear comprises a corner straight coupling 11 with two support arms, the corner of corner straight coupling 11 is arranged on the auxiliary 5 rotationally, the rotational axis line at the rotational axis line of corner straight coupling 11 and auxiliary 5 and principal arm 4 places of being rotationally connected is same straight line, a support arm end of corner straight coupling 11 and an end of a following parallel rod 12 vertically are rotationally connected, the other end of following parallel rod 12 and bearing 3 vertically are rotationally connected, center of rotation place, following parallel rod 12 two ends line equates with center of rotation place, principal arm 4 two ends line and is parallel, another support arm end of corner straight coupling 11 and an end of going up parallel rod 13 vertically are rotationally connected, last parallel rod 13 other ends and connector 9 vertically are rotationally connected, and center of rotation place, last parallel rod 13 two ends line equates with center of rotation place, principal arm place line with center of rotation place, auxiliary 5 upper binding head place and be parallel.
In the present embodiment, described paw comprises a horizontally disposed connecting panel 14, two ends, connecting panel 14 below are provided with pawl symmetrically and refer to 15, that can vertically rotate in the middle part of pawl refers to is connected on the connecting panel 14, pawl refers to that 15 belows have the pawl point that extends internally, and pawl refers to that 15 tops are connected with the telescopic boom of a horizontally disposed cylinder 16.So only need flexible by cylinder 16 control cylinder telescopic booms, just can control pawl and refer to that 15 rotate, and then the pawl point below referring to by pawl is caught the condenser member or decontrol.14 belows of connecting panel described in the present embodiment also are provided with the travel switch 17 for detection of the condenser member.Like this, detect member by travel switch after, feed back to control system again and control, to realize the extracting to condenser more exactly.During concrete enforcement, because condenser generally is that mutual dislocation superposes for 90 °, so travel switch can be set to three, one of them is used for detecting downwards whether paw is descending puts in place, two other leans on rotation controling mechanism control paw to rotate in place the extracting that realizes that better pawl refers to for detection of the condenser placement direction then.
In this specific embodiment, described rotation controling mechanism 10 adopts rotary cylinder.Have simple in structurely, control advantage easily.Certainly during concrete enforcement, also can be to adopt motor gear to drive the paw rotation and control, should be considered as still falling into the utility model protection domain.
When the utility model uses, realize the detection of condenser locations is fed back by travel switch, leaning on rotary cylinder control paw to horizontally rotate puts in place, paw drives pawl by control cylinder and refers to rotate, realization horizontally rotates by control bearing driven by motor bearing the extracting of condenser member, rotates up and down by control principal arm driven by motor principal arm, rotate around principal arm by the control electronic drive support arm of support arm and then by drive link drive auxiliary simultaneously, and then realization is to the movement of condenser.In the moving process, can remain in the mechanical arm moving process by the balance control mechanism, paw is in the state of initial level angle all the time, has guaranteed that the balance of capture member is reliable.So just realized extracting, the movement of condenser and put down.During concrete enforcement, accurately control each motor range by electric-control system, can realize automatic charging.Reach and raise labour efficiency, reduce the effect of labour intensity.Wherein concrete electric-control system belongs to control field routine techniques, not at this detailed description.
This specific embodiment should be considered as preferred embodiment of the present utility model rather than restriction, during concrete enforcement, can also make all changes that is equal to, such as the balance control mechanism that also can adopt other structures, keep balance such as direct armrest pawl gravity, perhaps control paw backward rotation equal angular etc. behind the detection computations mechanical arm rotational angle.All should be considered as still falling into the utility model protection domain.In addition, when specifically implementing, the automatic charging that the utility model not only can be used for condenser grasps, and the automatic charging that also can also be used for other workpiece grasps, and should be considered as still falling into the utility model protection domain.
Claims (5)
1. an automatic charging machinery hand comprises base, is arranged on the mechanical arm on the base, is arranged on the paw that is used for grasping the condenser workpiece on the mechanical arm, it is characterized in that described mechanical arm comprises bearing, principal arm, auxiliary, support arm, drive link; Described bearing can be arranged on base top with horizontally rotating, and the bearing motor that bearing and is fixed in base links to each other and also can lean on its driven rotary; Described principal arm lower end is arranged on the bearing rotationally, and principal arm links to each other with principal arm motor on being arranged on bearing and can lean on it to drive vertical rotation, and the principal arm upper end can vertically be connected on the auxiliary rotationally; Described support arm one end is arranged on the bearing rotationally, support arm links to each other with support arm motor on being arranged on bearing and can lean on it to drive vertical rotation, the support arm other end and described drive link lower end vertically are rotationally connected, described drive link upper end vertically is rotationally connected with an end of described auxiliary, the other end of described auxiliary and a connector vertically are rotationally connected, described connector lower end horizontally rotates and connects described paw, and connector and paw junction also are provided with the rotation controling mechanism for the rotation of control paw.
2. automatic charging as claimed in claim 1 machinery hand, it is characterized in that, also comprise for keeping paw to be in the balance control mechanism of horizontality, described equalizing gear comprises a corner straight coupling with two support arms, the corner of corner straight coupling is arranged on the auxiliary rotationally, the rotational axis line at the rotational axis line of corner straight coupling and auxiliary and the principal arm place of being rotationally connected is same straight line, a support arm end of corner straight coupling and an end of a following parallel rod vertically are rotationally connected, the other end and the bearing of following parallel rod vertically are rotationally connected, center of rotation place, following parallel rod two ends line equates with center of rotation place, principal arm two ends line and is parallel, another support arm end of corner straight coupling and an end of going up parallel rod vertically are rotationally connected, the last parallel rod other end and connector vertically are rotationally connected, and center of rotation place, last parallel rod two ends line equates with center of rotation place, principal arm place line with center of rotation place, auxiliary upper binding head place and be parallel.
3. automatic charging as claimed in claim 1 or 2 machinery hand, it is characterized in that, described paw comprises a horizontally disposed connecting panel, two ends, connecting panel below are provided with pawl symmetrically and refer to, that can vertically rotate in the middle part of pawl refers to is connected on the connecting panel, pawl refers to that the below has the pawl point that extends internally, and pawl refers to that the top is connected with the telescopic boom of a horizontally disposed cylinder.
4. automatic charging machinery hand as claimed in claim 3 is characterized in that, described connecting panel below also is provided with the travel switch for detection of the condenser member.
5. automatic charging machinery hand as claimed in claim 1 is characterized in that described rotation controling mechanism adopts rotary cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320081922 CN203048164U (en) | 2013-02-22 | 2013-02-22 | Automatic feeding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320081922 CN203048164U (en) | 2013-02-22 | 2013-02-22 | Automatic feeding manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203048164U true CN203048164U (en) | 2013-07-10 |
Family
ID=48731144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320081922 Expired - Fee Related CN203048164U (en) | 2013-02-22 | 2013-02-22 | Automatic feeding manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203048164U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103662831A (en) * | 2013-12-04 | 2014-03-26 | 江苏宏丰奥凯机电有限公司 | Automatic feeding and discharging machine for vibration absorber in laser welding process |
| CN104261111A (en) * | 2014-10-20 | 2015-01-07 | 山东伊特诺尔机电设备有限公司 | Automatic height hoister between conveying devices |
| CN105779184A (en) * | 2015-01-07 | 2016-07-20 | 藤原酿造机械株式会社 | Rotary type solid culture apparatus |
| CN106608531A (en) * | 2016-12-05 | 2017-05-03 | 广西大学 | Two-degree-of-freedom mechanical arm of closed chain structure and for transport work |
| CN109178920A (en) * | 2018-11-23 | 2019-01-11 | 开平太平洋绝缘材料有限公司 | A kind of prepreg stack device and method |
-
2013
- 2013-02-22 CN CN 201320081922 patent/CN203048164U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103662831A (en) * | 2013-12-04 | 2014-03-26 | 江苏宏丰奥凯机电有限公司 | Automatic feeding and discharging machine for vibration absorber in laser welding process |
| CN104261111A (en) * | 2014-10-20 | 2015-01-07 | 山东伊特诺尔机电设备有限公司 | Automatic height hoister between conveying devices |
| CN105779184A (en) * | 2015-01-07 | 2016-07-20 | 藤原酿造机械株式会社 | Rotary type solid culture apparatus |
| CN106608531A (en) * | 2016-12-05 | 2017-05-03 | 广西大学 | Two-degree-of-freedom mechanical arm of closed chain structure and for transport work |
| CN109178920A (en) * | 2018-11-23 | 2019-01-11 | 开平太平洋绝缘材料有限公司 | A kind of prepreg stack device and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203048164U (en) | Automatic feeding manipulator | |
| CN102749609B (en) | Electric energy meter verification system and electric energy meter verification robot thereof | |
| CN103434839B (en) | A kind of lead acid accumulator plate grid automatic conveying device | |
| CN104669288B (en) | A kind of small U-tube of fin assembly is unordered to grab cannula manipulator automatically | |
| CN203696417U (en) | Spring feeding assembling mechanism for automatic assembling machine of spring type micro-switch | |
| CN104924288A (en) | Full-automatic picking car for warehouse and control method of full-automatic picking car | |
| CN203045729U (en) | Gripper structure of automatic feeding manipulator | |
| CN206509187U (en) | Reinforcement machine | |
| CN105397798B (en) | Capture clamping device | |
| CN104044889B (en) | Median septum storehouse | |
| CN103848248A (en) | Lifting grabbing and turning mechanism | |
| CN206794813U (en) | A kind of multifunctional industrial robot | |
| CN104176918A (en) | Automatic pipe insertion device | |
| CN208132988U (en) | A kind of industrial robot double suction plate clamp | |
| CN202894121U (en) | Clamping mechanism capable of driving workpiece to rotate | |
| CN204297699U (en) | Compressor piling fixture and robot palletizer | |
| CN201677667U (en) | Mosaic-laying apparatus | |
| CN104670911B (en) | A kind of small U-tube crawl sequence stacking unit based on number bus | |
| CN204160172U (en) | The machining operations station of flange form sleeve | |
| CN203411039U (en) | High-speed flat bottle arranging mechanical arm | |
| CN205837978U (en) | A kind of duplex list drives grabbing device | |
| CN107696019A (en) | Can the oblique manipulator for clamping and lifting | |
| CN205034880U (en) | Davit formula expansion single -end coiling machine | |
| CN204528633U (en) | A kind of axle sleeve gripping feedway is with promoting swivel mount | |
| CN206384498U (en) | A kind of motor housing automatic charging device |
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: 20130710 Termination date: 20140222 |