CN203679916U - Automatic feeding and discharging mechanical arm device - Google Patents
Automatic feeding and discharging mechanical arm device Download PDFInfo
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- CN203679916U CN203679916U CN201420067789.8U CN201420067789U CN203679916U CN 203679916 U CN203679916 U CN 203679916U CN 201420067789 U CN201420067789 U CN 201420067789U CN 203679916 U CN203679916 U CN 203679916U
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Abstract
The utility model discloses an automatic feeding and discharging mechanical arm device which comprises a PLC control system, a cross beam, a first transverse sliding rail and a second transverse sliding rail. A first transmission mechanism and a second transmission mechanism are arranged at the two ends of the cross beam respectively, the first transmission mechanism is placed above the second transmission mechanism, and the first transverse sliding rail and the second transverse sliding rail are arranged between the first transmission mechanism and the second transmission mechanism. The first transmission mechanism is connected with a first transverse sliding mechanism, the second transmission mechanism is connected with a second transverse sliding mechanism, and the first transverse sliding mechanism and the second transverse sliding mechanism are arranged in a left-right symmetry mode by using the cross beam as the center. The automatic feeding and discharging mechanical arm device can achieve double-faced processing of workpieces and have the advantages of being high in degree of automation, high in efficiency, low in cost, convenient to process and the like.
Description
Technical field
The utility model relates to manipulator, specifically refers to a kind of automatic loading and unloading manipulator device.
Background technology
Manipulator is a kind of automation equipment with crawl and travelling workpiece function using in automated production process, and it is a kind of new device growing up in mechanization, automated production process.Along with the needs in market and scientific and technological development, manipulator is applied to mechanical automation industry more and more, at present, in wrist-watch industry, the processing of the five metals such as watchcase and watchband series products, the Surface Machining of watchcase is mainly by artificial loading, connects material, moves material and feeding, but its manually material loading, connect material, move material and feeding production efficiency is low, labour intensity is large, quality cannot guarantee, and easily there is the accidents such as industrial injury, be especially not suitable for producing in enormous quantities.In addition, human resources consumption is also very large, and this not only wastes time and energy, and has also extended process time, has increased processing cost.
Utility model content
The purpose of this utility model is to provide a kind of automation, efficiency is high, quality good and cost is low automatic loading and unloading manipulator device.
To achieve these goals, the utility model is designed a kind of automatic loading and unloading manipulator device, comprise PLC control system, crossbeam, the first transmission mechanism, the second transmission mechanism, the first transverse sliding mechanism, the second transverse sliding mechanism, the first horizontal slide rail and the second horizontal slide rail, the two ends of described crossbeam are respectively equipped with the first transmission mechanism and the second transmission mechanism, the first transmission mechanism is positioned at the top of the second transmission mechanism, the first horizontal slide rail and the second horizontal slide rail are located between the first transmission mechanism and the second transmission mechanism, the first described transmission mechanism is connected with the first transverse sliding mechanism, and drive the first transverse sliding mechanism to move left and right along the first horizontal slide rail and the second horizontal slide rail, the second described transmission mechanism is connected with the second transverse sliding mechanism, and drive the second transverse sliding mechanism to move left and right along the first horizontal slide rail and the second horizontal slide rail, described the first transverse sliding mechanism and the second transverse sliding mechanism are symmetrical set centered by crossbeam.
The first described transverse sliding mechanism comprises that the first transverse slider, the second transverse slider, the first longitudinal sliding motion mechanism and first wave pneumatic mechanism, the first described transverse slider and the second transverse slider match with the first horizontal slide rail and the second horizontal slide rail respectively, and be fixedly connected with the first longitudinal sliding motion mechanism, the below, outer end of the first described longitudinal sliding motion mechanism is provided with first and waves pneumatic mechanism, and first waves pneumatic mechanism is driven and moved forward and backward by the first longitudinal sliding motion mechanism; The second described transverse sliding mechanism comprises that the 3rd transverse slider, the 4th transverse slider, the second longitudinal sliding motion mechanism and second wave pneumatic mechanism, the 3rd described transverse slider and the 4th transverse slider match with the first horizontal slide rail and the second horizontal slide rail respectively, and be fixedly connected with the second longitudinal sliding motion mechanism, the below, outer end of the second described longitudinal sliding motion mechanism is provided with second and waves pneumatic mechanism, and second waves pneumatic mechanism is driven and moved forward and backward by the second longitudinal sliding motion mechanism.
The first described transmission mechanism comprises the first servomotor, the first servomotor fixed mount, the first belt, the first belt driving wheel and the first belt tensioning mechanism, the second described transmission mechanism comprises the second servomotor, the second servomotor fixed mount, the second belt, the second belt driving wheel and the second belt tensioning mechanism, the first described servomotor fixed mount comprises top board and right plate, described right plate is fixed on the left end of crossbeam, right plate is provided with the rectangular opening that supplies the first belt and the second belt to pass through, described top board is provided with the first servomotor, top board below is provided with the first belt driving wheel and the second belt tensioning mechanism by the first driven by servomotor, the second described belt tensioning mechanism is fixed on right plate, the first described belt is driven along the first belt driving wheel and the first belt tensioning mechanism left and right transmission by the first servomotor, the second described servomotor fixed mount comprises base plate and left plate, described left plate is fixed on the right-hand member of crossbeam, left plate is provided with the rectangular opening that supplies the first belt and the second belt to pass through, described base plate is provided with the second servomotor, the second servomotor is located at base plate below, base plate top is provided with the second belt driving wheel and the first belt tensioning mechanism by the second driven by servomotor, the first described belt tensioning mechanism is fixed on left plate, the second described belt is driven along the second belt driving wheel and the second belt tensioning mechanism left and right transmission by the second servomotor.
The first described longitudinal sliding motion mechanism comprises the first slide, the first longitudinal slide rail and the first cylinder, the first described slide below is provided with the first cylinder and two first longitudinal slide rails that are parallel to each other, first longitudinal slide rail and first waves pneumatic mechanism and is connected, and first waves pneumatic mechanism is driven and moved forward and backward along first longitudinal slide rail by the first cylinder; Described first waves pneumatic mechanism comprises that first waves cylinder holder, the first three-jaw cylinder holder, the second three-jaw cylinder, the first three-jaw cylinder and first and wave cylinder, described first waves cylinder holder is connected with the first cylinder, drive and move forward and backward along first longitudinal slide rail by the first cylinder, first waves cylinder holder is provided with first and waves cylinder, first waves cylinder below is provided with the first three-jaw cylinder holder, and the first three-jaw cylinder holder waves cylinder driven rotary by first.
The second described longitudinal sliding motion mechanism comprises the second slide, the second longitudinal slide rail and the second cylinder, the second described slide below is provided with the second cylinder and two second longitudinal slide rails that are parallel to each other, second longitudinal slide rail and second waves pneumatic mechanism and is connected, and second waves pneumatic mechanism is driven and moved forward and backward along second longitudinal slide rail by the second cylinder; Described second waves pneumatic mechanism comprises that second waves cylinder holder, second and wave cylinder, the 3rd three-jaw cylinder, the 4th three-jaw cylinder and the 3rd three-jaw cylinder holder, described second waves cylinder holder is connected with the second cylinder, drive and move forward and backward along second longitudinal slide rail by the second cylinder, second waves cylinder holder is provided with second and waves cylinder, second waves cylinder below is provided with the 3rd three-jaw cylinder holder, and the 3rd three-jaw cylinder holder waves cylinder driven rotary by second.
The first described three-jaw cylinder holder and the 3rd three-jaw cylinder holder are square shape, in two adjacent side of the first three-jaw cylinder holder, be respectively equipped with the second three-jaw cylinder and the first three-jaw cylinder, in two adjacent side of the 3rd three-jaw cylinder holder, be respectively equipped with the 3rd three-jaw cylinder and the 4th three-jaw cylinder.
The first described slide comprises the first slide base plate and the first slide riser, the trailing flank of the first described slide riser is fixed on the first belt that is positioned at the first servomotor fixed mount one side, the first slide riser trailing flank is provided with the first transverse slider, the first slide base plate is provided with the second transverse slider, and the first slide is driven and moved left and right along the first horizontal slide rail and the second horizontal slide rail by the first belt.
The second described slide comprises the second slide base plate and the second slide riser, the trailing flank of the second described slide riser is fixed on the second belt that is positioned at the second servomotor fixed mount one side, the second slide riser trailing flank is provided with the 3rd transverse slider, the second slide base plate is provided with the 4th transverse slider, and the second slide is driven and moved left and right along the first horizontal slide rail and the second horizontal slide rail by the second belt.
The first described belt tensioning mechanism comprises the first tension pulley and for regulating the first handwheel of the first belt tension, and the second described belt tensioning mechanism comprises the second tension pulley and for regulating the second handwheel of the second belt tension.
Described the first servomotor, the second three-jaw cylinder, the first three-jaw cylinder, first waves cylinder, the first cylinder, the 3rd three-jaw cylinder, the 4th three-jaw cylinder, second and waves cylinder, the second cylinder and the second servomotor and be all connected with PLC control system.
The beneficial effect of the utility model automatic loading and unloading manipulator device: adopt the conceptual design that is symmetrical set transmission mechanism, transverse sliding mechanism, longitudinal sliding motion mechanism and wabbler mechanism centered by crossbeam, by transmission, horizontal sliding, the straight skidding of the transmission mechanism, transverse sliding mechanism, longitudinal sliding motion mechanism and the wabbler mechanism that are symmetrical set, Pneumatic rocking rotation, realize from both sides while material loading, the left and right overall process moving part that moves material and blanking, has advantages of that automaticity is high, efficiency is high, quality is good and cost is low.
accompanying drawing explanation:
Fig. 1 is the structural representation of the utility model automatic loading and unloading manipulator device.
The specific embodiment
For the ease of those skilled in the art's understanding, below in conjunction with specific embodiment and accompanying drawing, structural principle of the present utility model is described in further detail.
As shown in Figure 1, a kind of automatic loading and unloading manipulator device, comprise PLC control system, crossbeam 1, the first transmission mechanism, the second transmission mechanism, the first transverse sliding mechanism, the second transverse sliding mechanism, the first horizontal slide rail 3 and the second horizontal slide rail 22, the two ends of described crossbeam 1 are respectively equipped with the first transmission mechanism and the second transmission mechanism, the first transmission mechanism is positioned at the top of the second transmission mechanism, the first horizontal slide rail 3 and the second horizontal slide rail 22 are located between the first transmission mechanism and the second transmission mechanism, the first described transmission mechanism is connected with the first transverse sliding mechanism, and drive the first transverse sliding mechanism to move left and right along the first horizontal slide rail 3 and the second horizontal slide rail 22, the second described transmission mechanism is connected with the second transverse sliding mechanism, and drive the second transverse sliding mechanism to move left and right along the first horizontal slide rail 3 and the second horizontal slide rail 22, described the first transverse sliding mechanism and the second transverse sliding mechanism are symmetrical set centered by crossbeam 1.
As shown in Figure 1, the first described transverse sliding mechanism comprises that the first transverse slider 4, the second transverse slider 20, the first longitudinal sliding motion mechanism and first wave pneumatic mechanism, the first described transverse slider 4 and the second transverse slider 20 match with the first horizontal slide rail 3 and the second horizontal slide rail 22 respectively, and be fixedly connected with the first longitudinal sliding motion mechanism, the below, outer end of the first described longitudinal sliding motion mechanism is provided with first and waves pneumatic mechanism, and first waves pneumatic mechanism is driven and moved forward and backward by the first longitudinal sliding motion mechanism; The second described transverse sliding mechanism comprises that the 3rd transverse slider 39, the 4th transverse slider 32, the second longitudinal sliding motion mechanism and second wave pneumatic mechanism, the 3rd described transverse slider 39 and the 4th transverse slider 32 match with the first horizontal slide rail 3 and the second horizontal slide rail 22 respectively, and be fixedly connected with the second longitudinal sliding motion mechanism, the below, outer end of the second described longitudinal sliding motion mechanism is provided with second and waves pneumatic mechanism, and second waves pneumatic mechanism is driven and moved forward and backward by the second longitudinal sliding motion mechanism.
As shown in Figure 1, the first described transmission mechanism comprises the first servomotor 5, the first servomotor fixed mount, the first belt 2, the first belt driving wheel 7 and the first belt tensioning mechanism 37, the second described transmission mechanism comprises the second servomotor 33, the second servomotor fixed mount, the second belt 21, the second belt driving wheel 34 and the second belt tensioning mechanism 9, the first described servomotor fixed mount comprises top board 6 and right plate 10, described right plate 10 is fixed on the left end of crossbeam 1, right plate 10 is provided with the rectangular opening that supplies the first belt 2 and the second belt 21 to pass through, described top board 6 is provided with the first servomotor 5, top board 6 belows are provided with the first belt driving wheel 7 and the second belt tensioning mechanism 9 that are driven by the first servomotor 5, the second described belt tensioning mechanism 9 is fixed on right plate 10, the first described belt 2 is driven along the first belt driving wheel 7 and the first belt tensioning mechanism 37 left and right transmissions by the first servomotor 5, the second described servomotor fixed mount comprises base plate 35 and left plate 38, described left plate 38 is fixed on the right-hand member of crossbeam 1, left plate 38 is provided with the rectangular opening that supplies the first belt 2 and the second belt 21 to pass through, described base plate 35 is provided with the second servomotor 33, the second servomotor 33 is located at base plate 35 belows, base plate 35 tops are provided with the second belt driving wheel 34 and the first belt tensioning mechanism 37 that are driven by the second servomotor 33, the first described belt tensioning mechanism 37 is fixed on left plate 38, the second described belt 21 is driven along the second belt driving wheel 34 and the second belt tensioning mechanism 9 left and right transmissions by the second servomotor 33.
As shown in Figure 1, the first described longitudinal sliding motion mechanism comprises the first slide, the first longitudinal slide rail 11 and the first cylinder 17, the first described slide below is provided with the first cylinder 17 and two first longitudinal slide rails 11 that are parallel to each other, first longitudinal slide rail 11 and first waves pneumatic mechanism and is connected, and first waves pneumatic mechanism is driven along first longitudinal slide rail 11 and moved forward and backward by the first cylinder 17; Described first waves pneumatic mechanism comprises that first waves cylinder holder 12, the first three-jaw cylinder holder 13, the second three-jaw cylinder 14, the first three-jaw cylinder 15 and first and wave cylinder 16, described first waves cylinder holder 12 is connected with the first cylinder 17, drive along first longitudinal slide rail 11 and move forward and backward by the first cylinder 17, first waves cylinder holder 12 is provided with first and waves cylinder 16, first waves cylinder 16 belows is provided with the first three-jaw cylinder holder 13, the first three-jaw cylinder holders 13 and waves cylinder 16 driven rotary by first.
As shown in Figure 1, the second described longitudinal sliding motion mechanism comprises the second slide, the second longitudinal slide rail 25 and the second cylinder 31, the second described slide below is provided with the second cylinder 31 and two second longitudinal slide rails 25 that are parallel to each other, second longitudinal slide rail 25 and second waves pneumatic mechanism and is connected, and second waves pneumatic mechanism is driven and moved forward and backward along second longitudinal slide rail 25 by the second cylinder; Described second waves pneumatic mechanism comprises that second waves cylinder holder 26, second and wave cylinder 30, the 3rd three-jaw cylinder 27, the 4th three-jaw cylinder 29 and the 3rd three-jaw cylinder holder 28, described second waves cylinder holder 26 is connected with the second cylinder 31, drive along second longitudinal slide rail 25 and move forward and backward by the second cylinder 31, second waves cylinder holder 26 is provided with second and waves cylinder 30, second waves cylinder 30 belows is provided with the 3rd three-jaw cylinder holder 28, the three three-jaw cylinder holders 28 and waves cylinder 30 driven rotary by second.
As shown in Figure 1, described the first three-jaw cylinder holder 13 and the 3rd three-jaw cylinder holder 28 are square shape, in two adjacent side of the first described three-jaw cylinder holder 13, be respectively equipped with the second three-jaw cylinder 14 and the first three-jaw cylinder 15, in two adjacent side of the 3rd described three-jaw cylinder holder 28, be respectively equipped with the 3rd three-jaw cylinder 27 and the 4th three-jaw cylinder 29.
As shown in Figure 1, the first described slide comprises the first slide base plate 18 and the first slide riser 19, the trailing flank of the first described slide riser 19 is fixed on the first belt 2 that is positioned at the first servomotor fixed mount one side, the first slide riser 19 trailing flanks are provided with the first transverse slider 4, the first slide base plate 18 is provided with the second transverse slider 20, the first slides and is driven along the first horizontal slide rail 3 and the second horizontal slide rail 22 and moved left and right by the first belt 2.
As shown in Figure 1, the second described slide comprises the second slide base plate 24 and the second slide riser 23, the trailing flank of the second described slide riser 23 is fixed on the second belt 21 that is positioned at the second servomotor fixed mount one side, the second slide riser 23 trailing flanks are provided with the 3rd transverse slider 39, the second slide base plate 24 is provided with the 4th transverse slider 32, the second slides and is driven along the first horizontal slide rail 3 and the second horizontal slide rail 22 and moved left and right by the second belt 21.
As shown in Figure 1, the first described belt tensioning mechanism 37 comprises the first tension pulley and for regulating the first handwheel 36 of the first belt 2 degrees of tightness, and the second described belt tensioning mechanism 9 comprises the second tension pulley and for regulating the second handwheel 8 of the second belt 21 degrees of tightness.
As shown in Figure 1, described the first servomotor 5, the second three-jaw cylinder 14, the first three-jaw cylinder 15, first wave cylinder 16, the first cylinder 17, the 3rd three-jaw cylinder 27, the 4th three-jaw cylinder 29, second waves cylinder 30, the second cylinder 31 and the second servomotor 33 and is all connected with PLC control system.
To sum up state the course of work of the utility model automatic loading and unloading manipulator device:
One, 1 feeding process
1, first by PLC control system control the first driven by servomotor, drive the first transverse sliding mechanism to move left and right to the linear position at workpiece place by the first transmission mechanism, then the first cylinder retraction drives the first three-jaw cylinder to workpiece contacting points position, the first three-jaw cylinder is opened holding workpiece, is then stretched out and is driven the first three-jaw cylinder to be back to initial point by the first cylinder;
2, starting first waves rotational cylinder the second three-jaw cylinder is rotated to the position of workpiece in straight line, then the first cylinder retraction drives the second three-jaw cylinder to workpiece contacting points position, the second three-jaw cylinder is opened holding workpiece, and then the first cylinder stretches out and drives the second three-jaw cylinder to be back to initial point;
3, by the first driven by servomotor, drive the first transverse sliding mechanism to move left and right to Working position A place, workpiece place by the first transmission mechanism, then workpiece is delivered on the clamping device of process equipment by first cylinder control the second three-jaw cylinder, the second three-jaw cylinder unclamps workpiece, clamping device holding workpiece, then the first cylinder is controlled the second three-jaw cylinder again and is back to initial point, then drives the first transverse sliding mechanism to be back to the position of starting point O by the first transmission mechanism.
Two, 1,2 move material process
1, after A place workpiece machines, by the first transmission mechanism drive the first transverse sliding mechanism to the position of A in straight line, drive the second three-jaw cylinder to get back to the clip position of process equipment by the first cylinder retraction, the second three-jaw cylinder is opened holding workpiece, clamping device unclamps workpiece, and the first cylinder stretches out and drives the second three-jaw cylinder to be again back to initial point;
2, first to wave cylinder pneumatic, by the first three-jaw cylinder rotation to the position of A in straight line, the first cylinder retraction drives the clamping device position of the first three-jaw cylinder to process equipment, the first three-jaw cylinder unclamps workpiece, clamping device holding workpiece, then the first cylinder stretches out and drives the first three-jaw cylinder to be again back to initial point;
3,, by the first driven by servomotor, drive the first transverse sliding mechanism to move left and right to moving material level by the first transmission mechanism and put B place.
Three, 2 feeding process
1, by PLC control system control the second driven by servomotor, drive the second transverse sliding mechanism to move left and right to moving material level by the second transmission mechanism and put B place, now, the second three-jaw cylinder and the 3rd three-jaw cylinder are in mated condition, the second three-jaw cylinder unclamps the workpiece after the processing of A place, the 3rd three-jaw cylinder is opened simultaneously and is carried out holding workpiece, then by the first driven by servomotor, drive the first transverse sliding mechanism to be back to O point by the first transmission mechanism, simultaneously, by the second driven by servomotor, drive the second transverse sliding mechanism to move left and right the clamping position C place to process equipment 2 by the second transmission mechanism,
2, start second and wave cylinder Pneumatic rotary, use the 3rd three-jaw cylinder and process equipment 2 positions of clamping position C in straight line, the second cylinder retraction drives the 3rd three-jaw cylinder to clamping position C place, the 3rd three-jaw cylinder unclamps workpiece, process equipment 2 holding workpieces, the second cylinder stretches out and drives the 3rd three-jaw cylinder to be back to initial point;
2, by the second driven by servomotor, drive the second transverse sliding mechanism to be back to starting point I by the second transmission mechanism, in moving process, start second and wave cylinder rotation, make the 3rd three-jaw cylinder become an angle of 90 degrees state with former orientation.
Four, the blanking action after machining
1, after clamping position C place workpiece machines, by the second driven by servomotor, drive the second transverse sliding mechanism to move to and process equipment 2 positions of clamping position C in straight line by the second transmission mechanism, now the second cylinder retraction, drive the 4th three-jaw cylinder to process equipment 2 clamping position C places, the 4th three-jaw cylinder is opened and is carried out holding workpiece, and process equipment 2 unclamps workpiece, and the second cylinder stretches out the 4th three-jaw cylinder band is back to initial point;
2, by the second driven by servomotor, drive the second transverse sliding mechanism to move left and right to D place, blowing position by the second transmission mechanism, the second cylinder retraction drives the 4th three-jaw cylinder to tapping point, and the 4th three-jaw cylinder unclamps workpiece, and the second cylinder stretches out the 4th three-jaw cylinder band is back to initial point;
3,, by the second driven by servomotor, drive the second transverse sliding mechanism to move left and right to starting point I place by the second transmission mechanism.
As above, unit one completes after the processing of two sides, and the first transmission mechanism and second that is positioned at both sides passes mechanism and drives the first transverse sliding mechanism and the second transverse sliding mechanism to move simultaneously simultaneously, repeats length and states step and process, until complete the processing of all workpiece.
The above, be only preferred embodiment of the present invention, not the present invention done to any pro forma restriction; The those of ordinary skill of all industry all can be implemented the present invention with the above shown in by specification accompanying drawing swimmingly; But all those skilled in the art are not departing within the scope of technical solution of the present invention, can utilize disclosed above technology contents and a little change, the modification of making and the equivalent variations developing, be equivalent embodiment of the present invention; Meanwhile, the change of any equivalent variations that all foundations essence technology of the present invention is done above embodiment, modification and differentiation etc., within all still belonging to the protection domain of technical scheme of the present invention.
Claims (10)
1. an automatic loading and unloading manipulator device, comprise PLC control system, it is characterized in that: also comprise crossbeam (1), the first transmission mechanism, the second transmission mechanism, the first transverse sliding mechanism, the second transverse sliding mechanism, the first horizontal slide rail (3) and the second horizontal slide rail (22), the two ends of described crossbeam (1) are respectively equipped with the first transmission mechanism and the second transmission mechanism, the first transmission mechanism is positioned at the top of the second transmission mechanism, the first horizontal slide rail (3) and the second horizontal slide rail (22) are located between the first transmission mechanism and the second transmission mechanism, the first described transmission mechanism is connected with the first transverse sliding mechanism, and drive the first transverse sliding mechanism to move left and right along the first horizontal slide rail (3) and the second horizontal slide rail (22), the second described transmission mechanism is connected with the second transverse sliding mechanism, and drive the second transverse sliding mechanism to move left and right along the first horizontal slide rail (3) and the second horizontal slide rail (22), the first described transverse sliding mechanism and the second transverse sliding mechanism are symmetrical set centered by crossbeam (1).
2. automatic loading and unloading manipulator device according to claim 1, it is characterized in that: the first described transverse sliding mechanism comprises the first transverse slider (4), the second transverse slider (20), pneumatic mechanism waves in the first longitudinal sliding motion mechanism and first, described the first transverse slider (4) and the second transverse slider (20) match with the first horizontal slide rail (3) and the second horizontal slide rail (22) respectively, and be fixedly connected with the first longitudinal sliding motion mechanism, the below, outer end of the first described longitudinal sliding motion mechanism is provided with first and waves pneumatic mechanism, first waves pneumatic mechanism is driven and is moved forward and backward by the first longitudinal sliding motion mechanism,
The second described transverse sliding mechanism comprises that the 3rd transverse slider (39), the 4th transverse slider (32), the second longitudinal sliding motion mechanism and second wave pneumatic mechanism, the 3rd described transverse slider (39) and the 4th transverse slider (32) match with the first horizontal slide rail (3) and the second horizontal slide rail (22) respectively, and be fixedly connected with the second longitudinal sliding motion mechanism, the below, outer end of the second described longitudinal sliding motion mechanism is provided with second and waves pneumatic mechanism, and second waves pneumatic mechanism is driven and moved forward and backward by the second longitudinal sliding motion mechanism.
3. automatic loading and unloading manipulator device according to claim 2, it is characterized in that: the first described transmission mechanism comprises the first servomotor (5), the first servomotor fixed mount, the first belt (2), the first belt driving wheel (7) and the first belt tensioning mechanism (37), the second described transmission mechanism comprises the second servomotor (33), the second servomotor fixed mount, the second belt (21), the second belt driving wheel (34) and the second belt tensioning mechanism (9), the first described servomotor fixed mount comprises top board (6) and right plate (10), described right plate (10) is fixed on the left end of crossbeam (1), right plate (10) is provided with the rectangular opening that supplies the first belt (2) and the second belt (21) to pass through, described top board (6) is provided with the first servomotor (5), top board (6) below is provided with the first belt driving wheel (7) and the second belt tensioning mechanism (9) that are driven by the first servomotor (5), described the second belt tensioning mechanism (9) is fixed on right plate (10), described the first belt (2) is driven along the first belt driving wheel (7) and the first belt tensioning mechanism (37) left and right transmission by the first servomotor (5), the second described servomotor fixed mount comprises base plate (35) and left plate (38), described left plate (38) is fixed on the right-hand member of crossbeam (1), left plate (38) is provided with the rectangular opening that supplies the first belt (2) and the second belt (21) to pass through, described base plate (35) is provided with the second servomotor (33), the second servomotor (33) is located at base plate (35) below, base plate (35) top is provided with the second belt driving wheel (34) and the first belt tensioning mechanism (37) that are driven by the second servomotor (33), described the first belt tensioning mechanism (37) is fixed on left plate (38), described the second belt (21) is driven along the second belt driving wheel (34) and the second belt tensioning mechanism (9) left and right transmission by the second servomotor (33).
4. automatic loading and unloading manipulator device according to claim 3, it is characterized in that: the first described longitudinal sliding motion mechanism comprises the first slide, first longitudinal slide rail (11) and the first cylinder (17), the first described slide below is provided with the first cylinder (17) and two first longitudinal slide rails (11) that are parallel to each other, first longitudinal slide rail (11) and first waves pneumatic mechanism and is connected, and first waves pneumatic mechanism is driven and moved forward and backward along first longitudinal slide rail (11) by the first cylinder (17);
Described first waves pneumatic mechanism comprises that first waves cylinder holder (12), the first three-jaw cylinder holder (13), the second three-jaw cylinder (14), the first three-jaw cylinder (15) and first waves cylinder (16), described first waves cylinder holder (12) is connected with the first cylinder (17), drive and move forward and backward along first longitudinal slide rail (11) by the first cylinder (17), first waves cylinder holder (12) is provided with first and waves cylinder (16), first waves cylinder (16) below is provided with the first three-jaw cylinder holder (13), the first three-jaw cylinder holder (13) waves cylinder (16) driven rotary by first.
5. automatic loading and unloading manipulator device according to claim 4, it is characterized in that: the second described longitudinal sliding motion mechanism comprises the second slide, second longitudinal slide rail (25) and the second cylinder (31), the second described slide below is provided with the second cylinder (31) and two second longitudinal slide rails (25) that are parallel to each other, second longitudinal slide rail (25) and second waves pneumatic mechanism and is connected, and second waves pneumatic mechanism is driven and moved forward and backward along second longitudinal slide rail (25) by the second cylinder;
Described second waves pneumatic mechanism comprises that second waves cylinder holder (26), second waves cylinder (30), the 3rd three-jaw cylinder (27), the 4th three-jaw cylinder (29) and the 3rd three-jaw cylinder holder (28), described second waves cylinder holder (26) is connected with the second cylinder (31), drive and move forward and backward along second longitudinal slide rail (25) by the second cylinder (31), second waves cylinder holder (26) is provided with second and waves cylinder (30), second waves cylinder (30) below is provided with the 3rd three-jaw cylinder holder (28), the 3rd three-jaw cylinder holder (28) waves cylinder (30) driven rotary by second.
6. according to the automatic loading and unloading manipulator device described in claim 4 or 5, it is characterized in that: described the first three-jaw cylinder holder (13) and the 3rd three-jaw cylinder holder (28) are square shape, in two adjacent side of the first described three-jaw cylinder holder (13), be respectively equipped with the second three-jaw cylinder (14) and the first three-jaw cylinder (15), in two adjacent side of the 3rd described three-jaw cylinder holder (28), be respectively equipped with the 3rd three-jaw cylinder (27) and the 4th three-jaw cylinder (29).
7. automatic loading and unloading manipulator device according to claim 4, it is characterized in that: the first described slide comprises the first slide base plate (18) and the first slide riser (19), the trailing flank of the first described slide riser (19) is fixed on the first belt (2) that is positioned at the first servomotor fixed mount one side, the first slide riser (19) trailing flank is provided with the first transverse slider (4), the first slide base plate (18) is provided with the second transverse slider (20), the first slide is driven and is moved left and right along the first horizontal slide rail (3) and the second horizontal slide rail (22) by the first belt (2).
8. automatic loading and unloading manipulator device according to claim 5, it is characterized in that: the second described slide comprises the second slide base plate (24) and the second slide riser (23), the trailing flank of the second described slide riser (23) is fixed on the second belt (21) that is positioned at the second servomotor fixed mount one side, the second slide riser (23) trailing flank is provided with the 3rd transverse slider (39), the second slide base plate (24) is provided with the 4th transverse slider (32), the second slide is driven and is moved left and right along the first horizontal slide rail (3) and the second horizontal slide rail (22) by the second belt (21).
9. according to the automatic loading and unloading manipulator device described in claim 7 or 8, it is characterized in that: described the first belt tensioning mechanism (37) comprises the first tension pulley and for regulating first handwheel (36) of the first belt (2) degree of tightness, described the second belt tensioning mechanism (9) comprises the second tension pulley and for regulating second handwheel (8) of the second belt (21) degree of tightness.
10. automatic loading and unloading manipulator device according to claim 9, is characterized in that: described the first servomotor (5), the second three-jaw cylinder (14), the first three-jaw cylinder (15), first waves cylinder (16), the first cylinder (17), the 3rd three-jaw cylinder (27), the 4th three-jaw cylinder (29), second and wave cylinder (30), the second cylinder (31) and the second servomotor (33) and be all connected with PLC control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420067789.8U CN203679916U (en) | 2014-02-17 | 2014-02-17 | Automatic feeding and discharging mechanical arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420067789.8U CN203679916U (en) | 2014-02-17 | 2014-02-17 | Automatic feeding and discharging mechanical arm device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104741630A (en) * | 2015-04-20 | 2015-07-01 | 满城县永红铸造机械有限公司 | Automatic loading and unloading device for lathe |
| CN105458846A (en) * | 2014-08-11 | 2016-04-06 | 宜昌迪森智能科技有限公司 | Intelligent grinding machine |
| CN105773278A (en) * | 2016-04-22 | 2016-07-20 | 黄斌 | Moving lifting type clamping device with multiple degrees of freedom |
| CN106586543A (en) * | 2016-12-31 | 2017-04-26 | 汕头市新青罐机有限公司 | Intelligent mechanical arm carrying device |
| CN108746468A (en) * | 2018-05-30 | 2018-11-06 | 李勤华 | A kind of loud speaker T iron cold-heading feeding device modified form material retractable device |
| CN115138908A (en) * | 2022-07-21 | 2022-10-04 | 山东源顺智能科技有限公司 | Processing mechanism and processing method of water separator |
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2014
- 2014-02-17 CN CN201420067789.8U patent/CN203679916U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105458846A (en) * | 2014-08-11 | 2016-04-06 | 宜昌迪森智能科技有限公司 | Intelligent grinding machine |
| CN105458846B (en) * | 2014-08-11 | 2019-09-27 | 宜昌迪森智能科技有限公司 | Intelligent grinding machine |
| CN104741630A (en) * | 2015-04-20 | 2015-07-01 | 满城县永红铸造机械有限公司 | Automatic loading and unloading device for lathe |
| CN105773278A (en) * | 2016-04-22 | 2016-07-20 | 黄斌 | Moving lifting type clamping device with multiple degrees of freedom |
| CN107363614A (en) * | 2016-04-22 | 2017-11-21 | 李志强 | A kind of multiple degrees of freedom movable up-down clamping device |
| CN106586543A (en) * | 2016-12-31 | 2017-04-26 | 汕头市新青罐机有限公司 | Intelligent mechanical arm carrying device |
| CN108746468A (en) * | 2018-05-30 | 2018-11-06 | 李勤华 | A kind of loud speaker T iron cold-heading feeding device modified form material retractable device |
| CN115138908A (en) * | 2022-07-21 | 2022-10-04 | 山东源顺智能科技有限公司 | Processing mechanism and processing method of water separator |
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