CN203611337U

CN203611337U - Mechanical arm device

Info

Publication number: CN203611337U
Application number: CN201320594700.9U
Authority: CN
Inventors: 邓刚锋
Original assignee: Individual
Current assignee: Individual
Priority date: 2013-09-26
Filing date: 2013-09-26
Publication date: 2014-05-28
Anticipated expiration: 2023-09-26

Abstract

The utility model relates to a mechanical arm device and particularly relates to a multi-mechanical-arm circulation working device used for feeding and discharging procedures of a ceramic molding press. According to the technical scheme of the utility model, the multi-mechanical-arm working device comprises a chassis 1, a bearing 2, a rotating platform 3, a motor 4, mechanic arms 11, 12, 13 and 14, a collecting ring 9 and an air pipe rotary joint 10. By means of the bearing 2, the rotating platform 3 is capable of rotating relative to the chassis 1. The mechanical arms 11, 12, 13 and 14 are fixedly connected with sliding blocks 11-3, 12-3, 13-3 and 14-3 respectively to enable guide rails 11-2, 12-2, 13-2 and 14-2 to slide. Lifting air cylinders are arranged below all the mechanical arms respectively so as to drive the mechanical arms to go up and down. Each mechanical arm is provided with two clamping air cylinders respectively, so that the clamping pieces of the mechanical arms are enabled to be opened and closed. The rotating platform 3 is driven by the motor 4 to rotate through a gear transmission device. The collecting ring 9 and the air pipe rotary joint 10 together form an electrical anti-torsion device. In this way, during the rotation of the rotating platform 3, the continuous and smooth operation of both electric circuits and gas circuits is ensured.

Description

A kind of robot device

Technical field

The present invention relates to a kind of robot device, relate in particular to a kind of for ceramic forming press feeding with go out the multi-robot periodic duty device of material process.

Background technology

Forming press is well-known.In the existing Production of Ceramics flow process take ceramic forming press as capital equipment, pug and mould are placed on to operation in ceramic forming press punching block by manually completing.Pottery die mould workman is placed on the mould that is placed with pug in the punching block of ceramic forming press, the pressure head of wait forming press is pressed into and is placed with the mould of pug and makes after mud material forming, the punching block that again ceramic paste preforms of moulding and mould is together taken out to ceramic forming press, then repeats this operation.Under this artificial ceramic forming press feeding and discharge method, workman's labour intensity is high, inefficiency, workman's danger is also higher.

Summary of the invention

In order to reduce die mould labor strength when the ceramic die mould, reduce workman's danger, raise labour productivity, the present invention has adopted the technical scheme of multi-robot periodic duty, the technical problem solving is: use gripper of manipulator to take, put and put, take out pug and mould, alternative workman captures, places, takes out pug and mould by hand, reduces labour intensity; Avoid workman directly to contact with forming press, guarantee workman's safety; Adopt the mode of periodic duty to improve the operating efficiency of manipulator.

The technical scheme that the present invention takes is: a kind of robot device, and this device mainly comprises chassis (1), bearing (2), rotation platform (3), motor (4), four manipulator lift cylinder (11-11, 12-11, 13-11, 14-11), four groups of magnetic valve group (11-16, 12-16, 13-16, 14-16), No. 1 manipulator (11), No. 2 manipulators (12), No. 3 manipulators (13), No. 4 manipulators (14), four guide rail (11-2, 12-2, 13-2, 14-2), four slide block (11-3, 12-3, 13-3, 14-3), set of gears transmission mechanism, one group of electric keeping away is turned round device, No. 1 manipulator (11), No. 2 manipulators (12), No. 3 manipulators (13), the structure of No. 4 manipulators (14) is identical and to be fixed on rotation platform (3) upper, and each manipulator comprises a clamping cylinder Connection Block, a pair of intermediate plate slide block, a pair of clamping cylinder, a pair of intermediate plate, a handgrip contiguous block, the two ends of clamping cylinder Connection Block have T-shaped chute, described clamping cylinder is arranged in described clamping cylinder Connection Block, the piston rod of clamping cylinder is fixedly connected with described intermediate plate slide block, described intermediate plate slide block is fixedly connected with intermediate plate, described intermediate plate slide block can slide in the T-shaped chute of described clamping cylinder Connection Block, described four tongs contiguous blocks are separately fixed on described four slide blocks, described four slide blocks can slide respectively on described four guide rails, and described four guide rails are by four track base (11-1, 11-2, 11-3, 11-4) be fixed on rotation platform (3) above, described four manipulator lift cylinder (11-11, 12-11, 13-11, 14-11) be arranged on described rotation platform (3) above, the piston rod (11-12 of four manipulator lift cylinders, 12-12, 13-12, 14-12) stretch respectively at the jacking hole of described handgrip contiguous block (11-13, 12-13, 12-13, 12-13), in the time that piston rod stretches out and retract, can realize the rise and fall of manipulator, described gear drive comprises a gear ring (7) and a driving gear (8), described gear ring (7) is fixedly connected with described rotation platform (3), described driving gear (8) is arranged on the motor shaft of described motor (4), gear ring (7) is meshed with driving gear (8), described motor (4) drives described driving gear (8) to rotate and then drives described gear ring (7) to rotate and then drive described rotation platform (3) rotation, between described chassis (1) and described rotation platform (3), bearing (2) is housed, described electric keeping away turned round device and comprised collector ring (9), tracheae swivel joint (10), ring connecting rod (6) in collector ring, ring locking plate (5) in collector ring, the outer shroud of described collector ring (9) is arranged on described rotation platform (3), described tracheae swivel joint (10) one end is arranged on the interior ring of described collector ring (9), in described collector ring, the interior ring of ring connecting rod (6) one end and described collector ring (9) is connected, in described collector ring, in the other end of ring connecting rod (6) and described collector ring, ring locking plate (5) is connected, and in described collector ring, ring locking plate (5) is connected with described chassis (1).

The invention has the beneficial effects as follows:

1, in ceramic pressure-type process, realize gripper of manipulator, the part of knocking off, reduce workman's labour intensity;

2, in ceramic pressure-type process, avoid workman directly to contact with forming press, guarantee workman's safety;

3, adopt the mode of periodic duty to improve the operating efficiency of manipulator;

4, whole process is by motor and cylinder control, and the course of work is steadily reliable.

Accompanying drawing explanation

Fig. 1 is the perspective view of robot device

Fig. 2 is the top view of robot device

Fig. 3 is the cutaway view along A-A direction

Fig. 4 is the cutaway view along B-B direction

Fig. 5 is the top view of No. 1 manipulator

Fig. 6 is the cutaway view along C-C direction

Fig. 7 is the cutaway view along D-D direction

As Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, shown in Fig. 6: 1, chassis, 2, bearing, 3, rotation platform, 4, motor, 5, ring locking plate in collector ring, 6, ring connecting rod in collector ring, 7, gear ring, 8, driving gear, 9, collector ring, 10, tracheae swivel joint, 11, No. 1 manipulator, 12, No. 2 manipulators, 13, No. 3 manipulators, 14, No. 4 manipulators, 11-1, No. 1 manipulator track base, 12-1, No. 2 manipulator track bases, 13-1, No. 3 manipulator track bases, 14-1, No. 4 manipulator track bases, 11-2, No. 1 manipulator guide rail, 12-2, No. 2 manipulator guide rails, 13-2, No. 3 manipulator guide rails, 14-2, No. 4 manipulator guide rails, 11-3, No. 1 manipulator slide block, 12-3, No. 2 manipulator slide blocks, 13-3, No. 3 manipulator slide blocks, 14-3, No. 4 manipulator slide blocks, 11-4, No. 1 manipulator clamping cylinder piston rod, 12-4, No. 2 manipulator clamping cylinder piston rods, 13-4, No. 3 manipulator clamping cylinder piston rods, 14-4, No. 4 manipulator clamping cylinder piston rods, 11-5, No. 1 hand grip contiguous block, 12-5, No. 2 hand grip contiguous blocks, 13-5, No. 3 hand grip contiguous blocks, 14-5, No. 4 hand grip contiguous blocks, 11-6, No. 1 manipulator clamping cylinder Connection Block, 11-7, No. 1 manipulator intermediate plate slide block, 11-8, No. 1 manipulator intermediate plate and intermediate plate slide block connecting hole, 11-9, No. 1 manipulator clamping cylinder, 12-9, No. 2 manipulator clamping cylinders, 13-9, No. 3 manipulator clamping cylinders, 14-9, No. 4 manipulator clamping cylinders, 11-10, No. 1 manipulator intermediate plate, 12-10, No. 2 manipulator intermediate plates, 13-10, No. 3 manipulator intermediate plates, 14-10, No. 4 manipulator intermediate plates, 11-11, No. 1 manipulator lift cylinder, 12-11, No. 2 manipulator lift cylinders, 13-11, No. 3 manipulator lift cylinders, 14-11, No. 4 manipulator lift cylinders, 11-12, No. 1 manipulator lift cylinder piston rod, 12-12, No. 2 manipulator lift cylinder piston rods, 13-12, No. 3 manipulator lift cylinder piston rods, 14-12, No. 4 manipulator lift cylinder piston rods, 11-13, No. 1 manipulator jacking hole, 12-13, No. 2 manipulator jacking holes, 13-13, No. 3 manipulator jacking holes, 14-13, No. 4 manipulator jacking holes, 11-14, No. 1 T-shaped chute oil seal cover of manipulator, 11-15, No. 1 T-shaped chute of manipulator clamping cylinder Connection Block, 11-16, No. 1 manipulator magnetic valve group, 12-16, No. 2 manipulator magnetic valve groups, 13-16, No. 3 manipulator magnetic valve groups, 14-16, No. 4 manipulator magnetic valve groups.

The specific embodiment

As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7: this robot device is mainly made up of chassis 1, bearing 2,

rotation platform

3,12, No. 3 manipulators of 11, No. 2 manipulators of 4, No. 1 manipulator of motor 13, No. 4 manipulators 14, guide rail 11-2, guide rail 12-2, guide rail 13-2, guide rail 14-2, slide block 11-3, slide block 12-3, slide block 13-3, slide block 14-3.

Bearing lower surface 2-1 is fixedly connected on chassis 1, and bearing upper surface 2-2 is fixedly connected with rotation platform 3, and rotation platform 3 can be rotated with respect to chassis 1.Gear ring 7 is connected on rotation platform 3, and motor 4 drives gear ring 7 by the driving gear 8 being installed on it, and then driven rotary platform 3 rotates.Because working method and the structure of 13, No. 4 manipulators 14 of 12, No. 3 manipulators of 11, No. 2 manipulators of No. 1 manipulator are identical, below take No. 1 manipulator 11 as example explanation implementation method: No. 1 manipulator 11 is fixedly connected with slide block 11-3.Slide block 11-3 can slide on guide rail 11-2.Guide rail 11-2 is fixedly connected on rotation platform 3 by track base 11-1.The lift cylinder piston rod 11-12 of No. 1 manipulator 11 lift cylinder 11-11 is inserted in the 11-13 of jacking hole, controls magnetic valve group 11-16 and can realize stretching out and retraction of lift cylinder piston rod 11-12, thereby make No. 1 manipulator 11 rise and fall.The piston rod 11-4 of No. 1 manipulator clamping cylinder 11-9 drives intermediate plate slide block 11-7 to slide in the T-shaped chute 11-15 of clamping cylinder Connection Block 11-6, controls magnetic valve group 11-16 and can realize the clamping of intermediate plate 11-10 and open.The outer shroud of collector ring 9 is fixed on rotation platform 3, the interior ring of collector ring 9 encircles locking plate 5 in connecting rod 6 and collector ring and is connected on chassis by encircling in collector ring, so just guarantee in the time that rotation platform 3 rotates being connected electric wire and can not twisting between platform and chassis.The interior ring of the lower end of tracheae swivel joint 10 and collector ring 9 is connected, from air pump come tracheae by collector ring, encircle the endoporus of connecting rod 6 and the via hole of collector ring 9 and tracheae swivel joint 10 end connector join, the upper end of tracheae swivel joint 10 is connected with the tracheae on platform, this has just guaranteed that, in the time that rotation platform 3 rotates, tracheae can not twist.

Its workflow is:

Each station as shown in Figure 2.No. 1 manipulator 11 is in die mould station, its state is: No. 1 manipulator lift cylinder piston rod 11-12 retracts, and No. 1 manipulator is transferred to low level, and the mould that pug is housed is put into ceramic forming press punching block, and open manipulator intermediate plate 11-10 No. 1, wait for forming press die mould.No. 2 manipulators 12 are in feed station, and its state is: No. 2 manipulator intermediate plate 12-10 are in open mode, and then No. 2 manipulator lift cylinder piston rod 12-12 retract No. 2 manipulators 12 are transferred to low level; After No. 2 manipulator 12 is transferred and put in place, No. 2 manipulator intermediate plate 12-10 closure is embraced the mould that pug to be pressed is housed that is placed on feed station, and then No. 2 manipulator lift cylinder piston rod 12-12 stretch out and make No. 2 manipulators 12 rise to a high position, waits for.No. 3 manipulators 13 are in room, and its state is: No. 3 manipulator 13 intermediate plate 13-10 stay open state, and No. 3 manipulator lift cylinder piston rod 13-12 keeps stretching out state, and No. 3 manipulator 13 keeps high-order, waits for.No. 4 manipulators 14 are in discharging station, its state is: No. 4 manipulator 14 lift cylinder piston rod 14-12 retract and make No. 4 manipulators 14 drop to low level, open manipulator intermediate plate 14-10 No. 4, then stretch out No. 4 manipulator 14 lift cylinder piston rod 14-12 and make No. 4 manipulators 14 rise to a high position, wait for.After waiting for forming press die mould, No. 1 manipulator lift cylinder piston rod 11-12 stretches out, and makes No. 1 manipulator rise to a high position; Starter motor 4, is rotated counterclockwise rotation platform, and drives No. 1, No. 2, No. 3, No. 4 manipulator rotations; After 90-degree rotation, control motor 4, make it stall; Now, No. 1 manipulator 11 is in discharging station, and No. 2 manipulators 12 are in die mould station, and No. 3 manipulators 13 are in feed station, and No. 4 manipulators 14 are in room.The duty of No. 1 manipulator 11 is: the lift cylinder piston rod 11-12 of No. 1 manipulator 11 retracts and makes No. 1 manipulator 11 drop to low level, open manipulator intermediate plate 11-10 No. 1, then the lift cylinder piston rod 11-12 that stretches out No. 1 manipulator 11 makes No. 1 manipulator 11 rise to a high position, waits for.The duty of No. 2 manipulators 12 is: No. 2 manipulator lift cylinder piston rod 12-12 retracts, and No. 2 manipulators are transferred to low level, and the mould that pug is housed puts into ceramic forming press punching block, opens manipulator intermediate plate 12-10 No. 2, waits for forming press die mould; The duty of No. 3 manipulators 13 is: No. 3 manipulator intermediate plate 13-10 are in open mode, and No. 3 manipulator lift cylinder piston rod 13-12 that retract transfer to low level No. 3 manipulators 13; After No. 3 manipulator 13 is transferred and put in place, No. 3 manipulator intermediate plate 13-10 closure is embraced the mould that pug to be pressed is housed that is placed on feed station, and then No. 3 manipulator lift cylinder piston rod 13-12 stretch out and make No. 3 manipulators 13 rise to a high position, waits for.No. 4 manipulators 14 are in room, and its state is: No. 4 manipulator 14 intermediate plate 14-10 stay open state, and No. 4 manipulator lift cylinder piston rod 14-12 keeps stretching out state, and No. 4 manipulator 14 keeps high-order, waits for.After waiting for forming press die mould, No. 2 manipulator lift cylinder piston rod 12-12 stretches out, and makes No. 2 manipulators rise to a high position.Starter motor 4, is rotated counterclockwise rotation platform, and drives No. 1, No. 2, No. 3, No. 4 manipulator rotations; After 90-degree rotation, control motor 4, make it stall, enter next pressure-type process.So repeatedly, realize the periodic duty of 4 manipulators.

Although with the present invention that preferably implemented design description, be appreciated that, generally can in concept of the present invention, can make various modifications, use and remodeling to it, and these changes comprise those depart from present disclosure, drop on departing from field under the present invention, as it can be applied to principal character of the present invention, all fall within the scope of the present invention or the boundary of appended claim in.

Claims

1. a robot device, is characterized in that: this device mainly comprises chassis (1), bearing (2), rotation platform (3), motor (4), four manipulator lift cylinder (11-11, 12-11, 13-11, 14-11), four groups of magnetic valve group (11-16, 12-16, 13-16, 14-16), No. 1 manipulator (11), No. 2 manipulators (12), No. 3 manipulators (13), No. 4 manipulators (14), four guide rail (11-2, 12-2, 13-2, 14-2), four slide block (11-3, 12-3, 13-3, 14-3), set of gears transmission mechanism, one group of electric keeping away is turned round device, No. 1 manipulator (11), No. 2 manipulators (12), No. 3 manipulators (13), the structure of No. 4 manipulators (14) is identical and to be fixed on rotation platform (3) upper, and each manipulator comprises a clamping cylinder Connection Block, a pair of intermediate plate slide block, a pair of clamping cylinder, a pair of intermediate plate, a handgrip contiguous block, the two ends of clamping cylinder Connection Block have T-shaped chute, described clamping cylinder is arranged in described clamping cylinder Connection Block, the piston rod of clamping cylinder is fixedly connected with described intermediate plate slide block, described intermediate plate slide block is fixedly connected with intermediate plate, described intermediate plate slide block can slide in the T-shaped chute of described clamping cylinder Connection Block, described four tongs contiguous blocks are separately fixed on described four slide blocks, described four slide blocks can slide respectively on described four guide rails, and described four guide rails are by four track base (11-1, 11-2, 11-3, 11-4) be fixed on rotation platform (3) above, described four manipulator lift cylinder (11-11, 12-11, 13-11, 14-11) be arranged on described rotation platform (3) above, the piston rod (11-12 of four manipulator lift cylinders, 12-12, 13-12, 14-12) stretch respectively at the jacking hole of described handgrip contiguous block (11-13, 12-13, 12-13, 12-13), in the time that piston rod stretches out and retract, can realize the rise and fall of manipulator, described gear drive comprises a gear ring (7) and a driving gear (8), described gear ring (7) is fixedly connected with described rotation platform (3), described driving gear (8) is arranged on the motor shaft of described motor (4), gear ring (7) is meshed with driving gear (8), described motor (4) drives described driving gear (8) to rotate and then drives described gear ring (7) to rotate and then drive described rotation platform (3) rotation, between described chassis (1) and described rotation platform (3), bearing (2) is housed, described electric keeping away turned round device and comprised collector ring (9), tracheae swivel joint (10), ring connecting rod (6) in collector ring, ring locking plate (5) in collector ring, the outer shroud of described collector ring (9) is arranged on described rotation platform (3), described tracheae swivel joint (10) one end is arranged on the interior ring of described collector ring (9), in described collector ring, the interior ring of ring connecting rod (6) one end and described collector ring (9) is connected, in described collector ring, in the other end of ring connecting rod (6) and described collector ring, ring locking plate (5) is connected, and in described collector ring, ring locking plate (5) is connected with described chassis (1).