CN203236112U - Mechanical hand - Google Patents
Mechanical hand Download PDFInfo
- Publication number
- CN203236112U CN203236112U CN 201320271308 CN201320271308U CN203236112U CN 203236112 U CN203236112 U CN 203236112U CN 201320271308 CN201320271308 CN 201320271308 CN 201320271308 U CN201320271308 U CN 201320271308U CN 203236112 U CN203236112 U CN 203236112U
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- China
- Prior art keywords
- thermal cutoffs
- mechanical arm
- manipulator
- imitation
- shaped groove
- 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.)
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Abstract
The utility model discloses a mechanical hand which comprises a driving motor, a transmission tank matched with the driving motor, a rotating rod mounted on the transmission tank and a rotating piece mounted on the rotating rod. The rotating piece is provided with a positioning device which is provided with a vacuum chuck used for sucking workpieces. Compared with the prior art, the mechanical hand can be used for moving small thermal fuses.
Description
Technical field
The utility model relates to a kind of manipulator.
Background technology
Fig. 1 and Figure 2 shows that a kind of Thermal Cutoffs 200, this Thermal Cutoffs 200 comprises body 210 and from the two ends of the described body 210 outward extending bending terminal 220 of difference and tabular terminal 230, described body 210 comprises first surface 211 and second surface 212.When using described Thermal Cutoffs 200, described Thermal Cutoffs 200 need to be welded on the various device.At present, generally adopt the mode of resistance electric welding that described Thermal Cutoffs 200 is welded on the various device.In welding process, need to be by manually the state of described Thermal Cutoffs 200 with regulation being placed on the electric welding tool one by one.At present, described Thermal Cutoffs 200 is placed on the described electric welding tool by manually realizing.Because the structure of described Thermal Cutoffs 200 is quite little, the operative employee is placed on the described electric welding tool described Thermal Cutoffs 200 quite difficult.
In view of the above problems, be necessary to provide a kind of manipulator, to address the above problem.
The utility model content
For the deficiencies in the prior art, the technical problem that the utility model solves provides a kind of manipulator, the movement of the Thermal Cutoffs that this manipulator is can implementation structure less.
For solving the problems of the technologies described above, the technical solution of the utility model is achieved in that
A kind of manipulator, comprise drive motors, the transmission case that matches with described drive motors, be installed in the swingle on the described transmission case and be installed in revolving part on the described swingle, be provided with positioner on the described revolving part, be provided with to draw the vacuum cup of workpiece on the described positioner.
Further, described revolving part comprises main body and the mechanical arm that outwards protrudes out from described main body, described positioner comprises the rigidity guide post that is vertically mounted on the described mechanical arm and the tracheae that is positioned at described rigidity guide post, described vacuum cup is installed in an end of described rigidity guide post, and described tracheae is connected with described vacuum cup.
Further, described mechanical arm comprises the first mechanical arm, the second mechanical arm and three-mechanical arm, and described the first mechanical arm, three-mechanical arm are about described the second mechanical arm symmetry.
Further, be provided with installing hole on the described main body, described revolving part is fixedly mounted on the described swingle by described installing hole.
The beneficial effects of the utility model are: compared with prior art, and the movement of the Thermal Cutoffs that the utility model manipulator is can implementation structure less.
Description of drawings
Fig. 1 is the schematic perspective view of Thermal Cutoffs.
Fig. 2 is the schematic diagram of another angle of Thermal Cutoffs.
Fig. 3 is the schematic perspective view of automatic charging equipment.
Fig. 4 is the schematic perspective view of another angle of automatic charging equipment.
Fig. 5 is the schematic perspective view of the feeding device of automatic charging equipment.
Fig. 6 is the schematic perspective view of the pay-off of automatic charging equipment.
Fig. 7 is the schematic perspective view of the charging tray of automatic charging equipment.
Fig. 8 is the schematic perspective view of the rotating separation device of automatic charging equipment.
Fig. 9 is the local enlarged diagram of automatic charging equipment.
Figure 10 is the partial enlarged drawing of the moving runner of automatic charging equipment.
Figure 11 is the schematic perspective view of the manipulator of automatic charging equipment.
Figure 12 is the local enlarged diagram of the manipulator of automatic charging equipment.
Figure 13 is the schematic perspective view of the horizontal rotation apparatus of automatic charging equipment.
Figure 14 is the schematic perspective view of the turn-over rig of automatic charging equipment.
Figure 15 is the package assembly schematic diagram of main shaft, cam and the roller push-rod assembly of turn-over rig shown in Figure 14.
Figure 16 is the structural representation of the roller push-rod assembly of turn-over rig shown in Figure 14.
Figure 17 is the structural representation of the main shaft of turn-over rig shown in Figure 14.
The specific embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with the drawings and specific embodiments the utility model is described in detail.
See also shown in Figure 3ly, the utility model manipulator 50 is used for automatic charging equipment 100, so that Thermal Cutoffs 200 is extracted one by one.Described automatic charging equipment 100 is used for realizing described Thermal Cutoffs 200 is carried out automatic charging, comprising: cabinet 10, the rotating separation device 40, described manipulator 50, checkout gear 60, horizontal rotation apparatus 70, turn-over rig 80 and the drawing mechanism 90 that are installed in the feeding device 20 on the described cabinet 10, the pay-off 30 that matches with described feeding device 20, match with described pay-off 30.Described cabinet 10 roughly is rectangular-shaped, is used for carrying described feeding device 20, pay-off 30, rotating separation device 40, manipulator 50, horizontal rotation apparatus 70, turn-over rig 80 and drawing mechanism 90.
See also Fig. 3 and in conjunction with Fig. 4, shown in Figure 5, described feeding device 20 comprises frame 21, be installed in motor 22 on the described frame 21, be installed on the described frame 21 and in order to the hopper 23 of accepting Thermal Cutoffs and the roller 24 that matches with described hopper 23, described roller 24 arranges near described hopper 23, and described hopper 23 is from being obliquely installed away from the described roller 24 of a side direction of described roller 24.The a pair of arm 213 that protrudes out that described frame 21 comprises base 211, is vertically mounted on the assembly wall 212 of described base 211 1 sides and protrudes out outside the side direction of described assembly wall 212 away from described base 211, described base 211 is parallel to the described arm 213 that protrudes out.Described protruding out is provided with fixed arm 214 and striker plate 216 on the arm 213, described fixed arm 214 protrudes out towards described base 211, and described striker plate 216 is the semicircle annular and coats the described arm 213 that protrudes out away from an end of described assembly wall 212.On the described fixed arm 214 stock guide 215 is installed, a side direction of described stock guide 215 certainly close described assembly walls 212 is away from the lopsidedness of described assembly wall 212.Described motor 22 is installed on the described base 211, is provided with power wheel 221 on it.Described hopper 23 is installed in described the same side that protrudes out on the arm 213 and be positioned at described assembly wall 212 and described fixed arm 214, the baffle plate 231 that it comprises swash plate 231 and is installed in described swash plate 231 both sides, described swash plate 231 is from away from a described laterally closer described lopsidedness that protrudes out arm 213 that protrudes out arm 213.When Thermal Cutoffs 200 was put into described hopper 23, described Thermal Cutoffs 200 can slide along described swash plate 231, and described baffle plate 232 is used for limiting described Thermal Cutoffs 200, in case described Thermal Cutoffs 200 skids off from the both sides of described swash plate 231.Described roller 24 is installed in described the same side that protrudes out on the arm 213 and be positioned at described assembly wall 212 and described fixed arm 214, it comprises swiveling wheel 241 and is installed on the described swiveling wheel 241 and the driven pulley 242 coaxial with described swiveling wheel 241, described swiveling wheel 241 a pair ofly protrudes out between the arm 213 and is close to described swash plate 231 described, and described driven pulley 242 is positioned at described a pair of the same side that protrudes out arm 213.Be provided with some adsorbent equipments 243 on the described swiveling wheel 241, described adsorbent equipment 243 comprises adsorption hole and is arranged on the interior magnetic element that is used for holding described Thermal Cutoffs 200 of described adsorption hole.In the present embodiment, described magnetic element is magnet.Described magnetic element acts on the absorption affinity of described Thermal Cutoffs 200 less than the gravity of described Thermal Cutoffs 200.Described motor 22 drives described power wheel 221 and rotates, and described power wheel 221 drives described driven pulley 242 by driving-belt (not shown) and rotates, and then drives described swiveling wheel 241 and do and be rotated counterclockwise.
When using described feeding device 20, Thermal Cutoffs 200 to be put in the described hopper 23, described Thermal Cutoffs 200 will slide to described swiveling wheel 24 along described swash plate 231.In the time of near described Thermal Cutoffs 200 slides into described swiveling wheel 241, described Thermal Cutoffs 200 can be attached under the effect of the magnetic element that is positioned at described adsorbent equipment 243 on the surface of described swiveling wheel 241, and along with described swiveling wheel 241 is done and is rotated counterclockwise, described striker plate 216 is used for preventing the both sides landing from described swiveling wheel 241 in the process of rotation of described Thermal Cutoffs 200.Because the absorption affinity that the gravity of described Thermal Cutoffs 200 produces greater than described magnetic element, therefore when described Thermal Cutoffs 200 rotates to extreme lower position from the extreme higher position of described swiveling wheel 241, described Thermal Cutoffs 200 can drop on the described stock guide 215 from the surface of described swiveling wheel 241, then slide along described stock guide 215, and enter into described pay-off 30.Described feeding device 20 can be exported the Thermal Cutoffs 200 of stack up apart from each other, thereby prevents blanking excessive velocities or Thermal Cutoffs 200 from mutually twining and the feeding charging tray is piled up and be difficult for Thermal Cutoffs 200 order outputs.
See also Fig. 6 and in conjunction with Fig. 3, Fig. 4 and shown in Figure 7, described pay-off 30 comprises mounting base 33 and is installed in disk feeder 31 and linear feeding device 32 on the described mounting base 33.Described mounting base 33 is rectangular-shaped, is installed on the described cabinet 10 by feet 331.Described disk feeder 31 comprises and is installed in the shaking platform 311 on the described mounting base 33 and is installed in charging tray 312 on the described shaking platform 311.Described shaking platform 311 can make described charging tray 312 vibrate at above-below direction.Described charging tray 312 comprises accepting the bottom surface 313 of blanking, extend up in the shape of a spiral from described bottom surface 313 so that the spiral path 314 that blanking is arranged in order and be arranged on described spiral path 314 away from described bottom surface 313 1 sides to support the sidewall 315 of blanking, described sidewall 315 outward-dipping extension settings, the end of described spiral path 314 is provided with discharge end 316.Edge at described charging tray 312 also is provided with mating groove 317 near described discharge end 316 places.Because the sidewall 315 that is arranged on described spiral path 314 1 sides is outward-dipping, thereby can not fall down from described spiral path 314 so that outwards be resisted against in the process that Thermal Cutoffs 200 upwards climbs along described spiral path 314 on the sloped sidewall 315 on the described spiral path 314.Described linear feeding device 32 is arranged at a side of described charging tray 312, it comprises straight-line oscillation platform 321 and is installed on the described straight-line oscillation platform 321 and the rectilinear orbit 322 that is connected with the spiral path 314 of described charging tray 312 that described straight-line oscillation platform 321 drives described rectilinear orbit 322 motions.Described rectilinear orbit 322 comprises charging aperture 323 and the discharging opening 324 that lays respectively at described rectilinear orbit 322 two ends.Described charging aperture 323 is positioned at described mating groove 315, so that described discharge end 316 cooperates with described charging aperture 323, thereby so that can enter smoothly in the described charging aperture 323 from described discharge end 316 Thermal Cutoffs 200 out.
See also Fig. 8 and in conjunction with Fig. 3, Fig. 4, Fig. 9 and shown in Figure 10, described rotating separation device 40 comprises pedestal 41, is installed in a pair of hold-down arm 42 on the described pedestal 41, is installed in auxiliary support arm 43, rotation feeding part 44 and motor 45 on the described pedestal 41.Described pedestal 41 is rectangular-shaped, is installed on the described cabinet 10.Described a pair of hold-down arm 42 is vertically mounted on the described pedestal 41.Described auxiliary support arm 43 also is vertically mounted on the described pedestal 41, and is parallel to described hold-down arm 42.Described rotation feeding part 44 is installed on the described hold-down arm 42, and it comprises rotating shaft 441 and be installed in moving runner 442 on the described rotating shaft 441 that described moving runner 442 is rotated under the effect of described rotating shaft 441.Described moving runner 442 is positioned at the same side of described a pair of hold-down arm 42, and is jointly supported by hold-down arm 42 and an auxiliary support arm 43 near described auxiliary support arm 43.Evenly be provided with somely in order to hold and to locate the imitation-shaped groove 443 of described Thermal Cutoffs 200 on the outer peripheral face of described moving runner 442, the shape of the shape of described imitation-shaped groove 443 and Thermal Cutoffs 200 is similar.Described imitation-shaped groove 443 is semi open model, is formed with the inclined guide face 444 that guiding Thermal Cutoffs 200 inserts on its inwall.Be provided with to hold the magnetic element of Thermal Cutoffs 200 in the described imitation-shaped groove 443.In the present embodiment, described magnetic material is magnet.Described motor 45 provides power for described rotation feeding part 44, and it drives described rotating shaft 441 by driving-belt (not shown) and rotates, and rotates thereby drive described moving runner 442.See also shown in Figure 9, the discharging opening 324 of described linear feeding device 32 is close to described moving runner 442, so that the Thermal Cutoffs 200 that is positioned at described discharging opening 324 can be drawn into described imitation-shaped groove 443 along with the imitation-shaped groove 443 of described moving runner 442 rotations during through described discharging opening 324, and along with described imitation-shaped groove 443 moves.Described rotating separation device 40 can be with one by one one by one horizontal output of arranged in sequence ground Thermal Cutoffs 200, thus the operation of the feeding of convenient described manipulator 50.
See also Figure 11 and in conjunction with Fig. 3, Fig. 4 and shown in Figure 12, described manipulator 50 comprises drive motors 51, the transmission case 52 that matches with described drive motors 51, be installed in the swingle 53 on the described transmission case 52 and be installed in revolving part 54 on the described swingle 53.Described drive motors 51 drives described swingle 53 rotations by described transmission case 52, and then drives described revolving part 54 rotations.Described revolving part 54 comprises main body 541, from mechanical arm 542 that described main body 541 outwards protrudes out and be installed in positioner 543 on the described mechanical arm 542.Be provided with installing hole 544 on the described main part 541, thereby so that described revolving part 54 be installed on the described swingle 53.Described mechanical arm 542 comprises the first mechanical arm 545, the second mechanical arm 546 and three-mechanical arm 547, and described the first mechanical arm 545, three-mechanical arm 547 are about described the second mechanical arm 546 symmetries.Described positioner 543 is used for adsorption temp fuse 200, comprise the rigidity guide post 5431 that is installed on the described mechanical arm 542, the tracheae 5433 that is installed in the vacuum cup 5432 of described rigidity guide post 5,431 one ends and is positioned at described rigidity guide post 5431, described tracheae 5433 is connected with vacuum generating unit (not shown), and described vacuum cup 5432 is connected with described tracheae 5433.When described vacuum generating unit work produced vacuum, described vacuum cup 5432 held described Thermal Cutoffs 200; When described vacuum generating unit is eliminated vacuum, described vacuum cup 5432 will put down described Thermal Cutoffs 200.During use, described revolving part 54 is done cyclic movement, thus the movement of the less Thermal Cutoffs 200 of implementation structure.
See also Fig. 3 and in conjunction with shown in Figure 4, described checkout gear 60 is used for Thermal Cutoffs 200 is detected, whether be positioned at prescribed direction with first surface 211 and the bending terminal 220 of identifying described Thermal Cutoffs 200, and the information that detects is fed back to described horizontal rotation apparatus 70 and described turn-over rig 80.Described checkout gear 60 comprises fixed installation section 61 and is installed in detector 62 in the described fixed installation section 61.Described fixed installation section 61 is L-shaped.Described detector 62 be positioned at described horizontal rotation apparatus 70 directly over.
See also 13 and in conjunction with Fig. 3 and shown in Figure 4, described horizontal rotation apparatus 70 comprises the first rotary cylinder 71, is installed in the rotating disc 72 on described the first rotary cylinder 71 and is used for controlling the first control module (not shown) whether described the first rotary cylinder 71 works.Be provided with turning cylinder 711 on described the first rotary cylinder 71, described turning cylinder 711 is rotated under the effect of described the first rotary cylinder 71.Described rotating disc 72 is installed on the described turning cylinder 711, thereby so that described rotating disc 72 under the effect of described turning cylinder 711, be rotated.The central authorities of described rotating disc 72 are provided with to hold the imitation-shaped groove 721 of Thermal Cutoffs 200, and the shape of described imitation-shaped groove 721 and described Thermal Cutoffs 200 are similar.Also be provided with some installing holes 722 on the described rotating disc 72, described rotating disc 72 is fixedly mounted on the described turning cylinder 711 by described installing hole 722 and the screw that matches with described installing hole 722.The information that described the first control module detects according to described checkout gear 60 judges whether the first surface 211 of described Thermal Cutoffs 200 is positioned at prescribed direction.If the bending terminal 220 of described Thermal Cutoffs 200 is positioned at prescribed direction, then described the first cylinder 71 is not worked; If the bending terminal 220 of described Thermal Cutoffs 200 is not positioned at prescribed direction, then described the first control module is controlled 71 work of described the first rotary cylinder, so that described rotating disc 72 Rotate 180 degree.Because described horizontal rotation apparatus 70 can rotate the terminal of Thermal Cutoffs 200 to prescribed direction, thereby so that described Thermal Cutoffs 200 can be placed in the described turn-over rig 80 according to predetermined form.
See also Figure 14 and in conjunction with Figure 15, Figure 16 and shown in Figure 17, described turn-over rig 80 comprise fixed head 81, respectively be fixedly mounted on described fixed head 81 two ends holder 82 and the second rotary cylinder 83, be installed in described holder 82 near the cam 84 of described rotary cylinder 83 1 sides, be installed in main shaft 85 on the described holder 82, be installed in the cover of two on the described main shaft 85 roller push-rod assembly 86 and the second control module (not shown).Described holder 82 is provided with a round tube hole 821, is provided with rotary liner 822 in the described round tube hole 821.One end of described rotary liner 822 protrudes described round tube hole 821, and is integral with described round tube hole 821 tight fits.Described cam 84 is enclosed within on the described rotary liner 822, and is integral with described rotary liner 822 tight fits.Described main shaft 85 and described roller push-rod assembly 86 all pass described rotary liner 822.One end of described main shaft 85 is connected with described the second rotary cylinder 83 by shaft coupling 851, and the other end of described main shaft 85 is provided with imitation-shaped groove 852, and described imitation-shaped groove 852 is a through-hole groove.Also be provided with two push rod grooves 853 on the described main shaft 85.The spring 863 that described roller push-rod assembly 86 comprises push rod 861, is installed in the roller 862 of described push rod 861 1 ends and is installed in described push rod 861 other ends.Described push rod 861 is positioned at described push rod groove 853, and described roller 862 is vertically mounted on the described push rod 861.Described roller 862 carries out face with the cam face 841 of described cam 84 and contacts.Described two cover roller push-rod assemblies 86 are arranged in parallel, and the axis of described two rollers 862 is parallel or coaxial.Described holder 82 also is provided with at right angle setting plate 87 away from an end of described the second rotary cylinder 83, and described at right angle setting plate 87 is vertical with the axis of described round tube hole 821.Be provided with at least two on the described at right angle setting plate 87 through hole 871 is installed, in order to pass described installation through hole 871 by securing member the other parts of at right angle setting plate 87 with the electronic device process equipment are fixed up.The information that described the second control module detects according to described checkout gear 60 judges whether the bending terminal 220 of described Thermal Cutoffs 200 is positioned at the direction of regulation.If the first surface 211 of described Thermal Cutoffs 200 is positioned at prescribed direction, then described the second rotary cylinder 83 is not worked; If the first surface 211 of described Thermal Cutoffs 200 is not positioned at prescribed direction, then described the second rotary cylinder 83 work.
When using described turn-over rig 80, described the second rotary cylinder 83 outputs power to described main shaft 85 by shaft coupling 851 and drives described main shaft 85 rotations, described main shaft 85 drives the 86 together rotations of described two cover roller push-rod assemblies, and then drive the workpiece rotating that is placed in the described imitation-shaped groove 852, thereby adjust position and the direction of workpiece.Because the cam face 841 of described cam 84 has the different cambered surface of height for the position, and described main shaft 85 and described cam 84 equal axial restraints, described cam 84 is radially fixing simultaneously, and during described main shaft 85 rotation, described roller 862 can roll on described cam face 841.When one of them roller 862 was rolled to the peak of described cam face 841,862 on another roller was rolled to the minimum point on the described cam face 841, and vice versa.
When one of them roller 862 is rolled to peak on the described cam face 841, spring 863 on the push rod 861 at these roller 862 places is compressed, push rod 861 will move along the axis direction of described main shaft 85 and be close to described shaft coupling 851 directions, simultaneously the end of push rod 861 with spring 863 will rise to the peak on the cam face 841 and away from described imitation-shaped groove 852, the Thermal Cutoffs 200 that be positioned at described imitation-shaped groove 852 this moment will expose thereupon along with described roller 862.Meanwhile, another roller 862 is in the minimum point on the cam face 841, spring 863 on the push rod 861 at these roller 862 places will shrink, thereby move push rod 861 to described imitation-shaped groove 852 places, and make an end cap residence that has spring 863 on the push rod 861 state imitation-shaped groove 852, and the Thermal Cutoffs 200 that are placed in the described imitation-shaped groove 852 are played the support effect, so that Thermal Cutoffs 200 can not deviate from described imitation-shaped groove 852.Like this, in described main shaft 85 rotations, the Thermal Cutoffs 200 that is placed in the imitation-shaped groove 852 will rotate with described main shaft 85, thereby realize the upset of the position of Thermal Cutoffs 200, so that described Thermal Cutoffs 200 is in correct Working position.
See also Fig. 3 and in conjunction with shown in Figure 4, described drawing mechanism 90 comprises the first slide rail 91 of installing on the described cabinet 10, is installed in sliding axle 92 and the second slide rail 93 on the described cabinet 10.One end of described the second slide rail 93 is fixedly mounted on described the first slide rail 91 by slide block 931, and the other end of described the second slide rail 93 is fixedly mounted on the described sliding axle 92 by slip ring 932.Described slide block 931 can slide along described the first slide rail 91, and described slip ring 932 can slide along described sliding axle 92.Be provided with Department of Transportation 933 on described the second slide rail 93, described Department of Transportation can slide along described the second slide rail 93, thereby the Thermal Cutoffs 200 that will be placed in the described Department of Transportation 933 transports out described automatic charging equipment 100.
When using described automatic charging equipment 100, at first Thermal Cutoffs 200 to be put in the described hopper 23, described Thermal Cutoffs 200 will slide to described swiveling wheel 24 along described swash plate 231.In the time of near described Thermal Cutoffs 200 slides into described swiveling wheel 241, described Thermal Cutoffs 200 can be attached under the effect of the magnetic element that is positioned at described adsorbent equipment 243 on the surface of described swiveling wheel 241, and along with described swiveling wheel 241 is done and is rotated counterclockwise, described striker plate 216 is used for preventing the both sides landing from described swiveling wheel 241 in the process of rotation of described Thermal Cutoffs 200.Because the absorption affinity that the gravity of described Thermal Cutoffs 200 produces greater than described magnetic element, therefore when described Thermal Cutoffs 200 rotates to extreme lower position from the extreme higher position of described swiveling wheel 241, described Thermal Cutoffs 200 can drop on the described stock guide 215 from the surface of described swiveling wheel 241, then slide along described stock guide 215, and enter in the charging tray 312 of disk feeder 31 of described pay-off 30.Described shaking platform 311 will be done vertical vibration, does vertical vibration thereby drive described charging tray 312.Like this, described Thermal Cutoffs 200 will rise along described spiral path 314, and enters into from described discharge end 314 in the charging aperture 323 of described linear feeding device 32.Described straight-line oscillation platform 321 will be done straight-line oscillation, does straight-line oscillation thereby drive described rectilinear orbit 322.Like this, described Thermal Cutoffs 200 will advance along described rectilinear orbit 322, and mobile described discharging opening 324 places.Then, the imitation-shaped groove 443 on the moving runner 442 of described rotating separation device 40 will be adsorbed onto described Thermal Cutoffs 200 in the described imitation-shaped groove 443, and along with described moving runner 442 rotations.When described Thermal Cutoffs 200 moved to the peak of described moving runner 442, described manipulator 50 will be worked.The positioner 543 that is separately positioned on described the first mechanical arm 545, the second mechanical arm 546, the three-mechanical arm 547 will hold the Thermal Cutoffs 200 that is positioned at described imitation-shaped groove 443, imitation-shaped groove 721, imitation-shaped groove 852 respectively.Then, described manipulator 50 will be done and rotate counterclockwise so that described the first mechanical arm 545, the second mechanical arm 546, three-mechanical arm 547 lay respectively at described imitation-shaped groove 721, imitation-shaped groove 852, Department of Transportation 933 directly over.Then, the positioner 543 that lays respectively on described the first mechanical arm 545, the second mechanical arm 546, the three-mechanical arm 547 will put down the Thermal Cutoffs 200 that adsorbs separately, so that laid respectively in described imitation-shaped groove 721, imitation-shaped groove 852, the Department of Transportation 933 by the described Thermal Cutoffs 200 of positioner 543 absorption on described the first mechanical arm 545, the second mechanical arm 546, the three-mechanical arm 547.The detector 62 of described checkout gear 60 will detect the Thermal Cutoffs 200 that is positioned at described imitation-shaped groove 721, and detection information is passed to described the first control module and the second control module.Described the first control module judges according to detection information whether the bending terminal 220 of the Thermal Cutoffs 200 that is positioned at described imitation-shaped groove 721 is positioned at prescribed direction.If described bending terminal 220 is positioned at prescribed direction, then described the first rotary cylinder 71 is not worked; If described bending terminal 220 is not positioned at prescribed direction, then described the first rotary cylinder 71 work are so that described rotating disc 72 Rotate 180 degree.Then, described manipulator 50 will be worked, and the positioner 543 that is positioned on described the second mechanical arm 546 will adsorb the Thermal Cutoffs 200 that is positioned at described imitation-shaped groove 721, and is transported in the described imitation-shaped groove 852.Described the second control module judges according to detection information whether the first surface 211 of described Thermal Cutoffs 200 is positioned at prescribed direction.If described first surface 211 is positioned at prescribed direction, then described the second rotary cylinder 83 is not worked; If described first surface 211 is not positioned at prescribed direction, then described the second rotary cylinder 83 work, and drive described main shaft 85 Rotate 180 degree.Then, the positioner 543 that is positioned on the described three-mechanical arm 547 will be transported to the Thermal Cutoffs 200 that is positioned at described imitation-shaped groove 852 described Department of Transportation 933.At last, described Department of Transportation 933 slides along described the second track 93, thereby the Thermal Cutoffs 200 that will be positioned in the described Department of Transportation 933 transports out described automatic charging equipment 100.
Compared to prior art, the movement of the Thermal Cutoffs 200 that manipulator 50 described in the utility model is can implementation structure less.
It may be noted that especially that for the person of ordinary skill of the art that does changes for equivalence of the present utility model under instruction of the present utility model, must be included in the scope that the utility model claim advocates.
Claims (4)
1. manipulator, it is characterized in that: described manipulator comprises drive motors, the transmission case that matches with described drive motors, be installed in the swingle on the described transmission case and be installed in revolving part on the described swingle, be provided with positioner on the described revolving part, be provided with to draw the vacuum cup of workpiece on the described positioner.
2. manipulator as claimed in claim 1, it is characterized in that: described revolving part comprises main body and the mechanical arm that outwards protrudes out from described main body, described positioner comprises the rigidity guide post that is vertically mounted on the described mechanical arm and the tracheae that is positioned at described rigidity guide post, described vacuum cup is installed in an end of described rigidity guide post, and described tracheae is connected with described vacuum cup.
3. manipulator as claimed in claim 2, it is characterized in that: described mechanical arm comprises the first mechanical arm, the second mechanical arm and three-mechanical arm, described the first mechanical arm, three-mechanical arm are symmetrical about described the second mechanical arm.
4. manipulator as claimed in claim 3, it is characterized in that: be provided with installing hole on the described main body, described revolving part is fixedly mounted on the described swingle by described installing hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320271308 CN203236112U (en) | 2013-05-17 | 2013-05-17 | Mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320271308 CN203236112U (en) | 2013-05-17 | 2013-05-17 | Mechanical hand |
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| Publication Number | Publication Date |
|---|---|
| CN203236112U true CN203236112U (en) | 2013-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320271308 Expired - Lifetime CN203236112U (en) | 2013-05-17 | 2013-05-17 | Mechanical hand |
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| CN (1) | CN203236112U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103358010A (en) * | 2013-05-17 | 2013-10-23 | 苏州方林科技股份有限公司 | Manipulator |
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2013
- 2013-05-17 CN CN 201320271308 patent/CN203236112U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103358010A (en) * | 2013-05-17 | 2013-10-23 | 苏州方林科技股份有限公司 | Manipulator |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20131016 |