CN204123188U - A kind of loading and unloading manipulator device - Google Patents
A kind of loading and unloading manipulator device Download PDFInfo
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- CN204123188U CN204123188U CN201420374977.5U CN201420374977U CN204123188U CN 204123188 U CN204123188 U CN 204123188U CN 201420374977 U CN201420374977 U CN 201420374977U CN 204123188 U CN204123188 U CN 204123188U
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- unloading manipulator
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- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 239000000463 materials Substances 0.000 claims description 24
- 238000000034 methods Methods 0.000 claims description 6
- 210000001847 Jaw Anatomy 0.000 claims 2
- 210000003746 Feathers Anatomy 0.000 claims 1
- 240000006028 Sambucus nigra Species 0.000 claims 1
- 230000000875 corresponding Effects 0.000 claims 1
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- 230000001808 coupling Effects 0.000 abstract description 5
- 238000010168 coupling process Methods 0.000 abstract description 5
- 238000005859 coupling reactions Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 241000013987 Colletes Species 0.000 description 2
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- 238000005516 engineering processes Methods 0.000 description 2
- 239000000203 mixtures Substances 0.000 description 2
- 238000003672 processing method Methods 0.000 description 1
Abstract
A kind of loading and unloading manipulator device, comprise frame, frame is provided with gantry base, the motor be fixed in gantry base leads to yielding coupling with mobile adjusting screw and connects, form the first transmission mechanism, described frame is also provided with the first guideway be parallel to each other for a pair, described guideway connects with Mobile base, described Mobile base is provided with stiff end grasping mechanism, mobile terminal grasping mechanism, described Mobile base is also provided with the second guideway be parallel to each other for a pair, described Mobile base is also provided with the second transmission mechanism for realizing the motion of mobile grasping mechanism, this support is also provided with and drives stiff end grasping mechanism simultaneously, the 3rd transmission mechanism that mobile terminal grasping mechanism rotates, described grasping mechanism is provided with fixture, described fixture is by pneumatic, hydraulic pressure, Electronic control realizes clamping.Can adapt to different-diameter, length specification automatic loading and unloading manipulator device, movement response is fast, and production efficiency is high.
Description
Technical field
The present invention relates to a kind of for loading and unloading manipulator device between " belt conveyor DTII type carrying roller " process equipment, different-diameter, length specification materials in the tube, axle material automatic loading/unloading can be realized.
Background technology
For the mechanical handing of material circulation between existing " belt conveyor DTII type carrying roller " process equipment, its mechanical device many employings framework robot manipulator structure, by adopting vertical lifting mechanism, horizontal mobile mechanism, flat tight Mechanism Combination form completes material handling between process equipment, its shortcoming is: sequence of movement is cumbersome, expend logistics time long,, there is larger potential safety hazard in high-altitude material handling.
Summary of the invention technical problem to be solved by this invention is: can adapt to different-diameter, length specification materials in the tube, axle material automatic loading/unloading, security is good, the robot device that movement response is fast.
For solving the problem, the technology that the present invention adopts is: a kind of loading and unloading manipulator device, comprise frame, frame is provided with gantry base, the motor be fixed in gantry base leads to yielding coupling with support adjusting screw and connects, form the first transmission mechanism, described frame is also provided with the first guideway be parallel to each other for a pair, described guideway connects with Mobile base, described Mobile base is provided with stiff end grasping mechanism, mobile terminal grasping mechanism, described Mobile base is also provided with the second guideway be parallel to each other for a pair, described Mobile base is also provided with the second transmission mechanism for realizing the motion of mobile grasping mechanism, this support is also provided with and drives stiff end grasping mechanism simultaneously, the 3rd transmission mechanism that mobile terminal grasping mechanism rotates, described grasping mechanism is provided with fixture, described fixture is by pneumatic, hydraulic pressure, Electronic control realizes clamping.During work, Mobile base is adjusted to assigned address by the first transmission mechanism, mobile terminal grasping mechanism on Mobile base and stiff end grasping mechanism are adjusted to desired location by the 3rd transmission mechanism, the motor started on the second transmission mechanism drives grasping mechanism to rotate through the Chain conveyer of sprocket wheel, chain composition, stop the rotation when arriving designated bit places, fixture on grasping mechanism by pneumatic, hydraulic pressure, Electronic control realize by materials in the tube or axle feed collet tight, when arriving feeding position, fixture unclamps, and grasping mechanism is homing under the rotary actuation of motor again.Only need to change mobile grip block when changing at materials in the tube, axle material diameter, fixed clamp block, or fixture is arranged to " <, > " form, to adapt to the different materials in the tube of diameter or axle material.
This robot device adopts automatic operation mode, and can set journey by control system, realize the complete automatic operation of whole process, the present invention is mainly for the production of belt conveyor DTII type Idler processing method equipment and handling equipment thereof.
accompanying drawing explanation
Fig. 1: a kind of loading and unloading manipulator device schematic perspective view;
Fig. 2: a kind of loading and unloading manipulator device front view;
Fig. 3: a kind of loading and unloading manipulator device left view;
Fig. 4: a kind of loading and unloading manipulator device top view.
In figure: 1, frame, 2, Mobile base, 3, stiff end grasping mechanism, 4, mobile terminal grasping mechanism, 5, first transmission mechanism, 6, second transmission mechanism, 7, 3rd transmission mechanism, 8, gantry base, 9, motor cabinet one, 10, motor one, 11, yielding coupling one, 12, leading screw one, 13, motor two, 14, motor cabinet two, 15, sprocket wheel one, 16, chain, 17, sprocket wheel two, 18, motor three, 19, motor cabinet three, 20, yielding coupling two, 21, bearing block, 22, stiff end grasping mechanism, 23, power transmission shaft, 24, mobile terminal grasping mechanism,
25, clamping cylinder, 26, mobile grip block, 27, fixed clamp block, 28, mobile terminal grasping mechanism connection seat, 29, guide rail slide block two, 30, feed screw nut, 31, guide rail two, 32, leading screw two, 33, support base gusset piece, 34, guide rail slide block one, 35, guide rail one, 36, leading screw one.
detailed description of the invention
Below by being described in further detail a kind of single arm type loading and unloading manipulator of the present invention device by reference to the accompanying drawings.
As shown in Figure 1, a kind of loading and unloading manipulator device, comprise frame 1, Mobile base 2, stiff end grasping mechanism 3, mobile terminal grasping mechanism 4, first transmission mechanism 5, second transmission mechanism 6 and the 3rd transmission mechanism 7, described frame is provided with motor cabinet 1, motor cabinet 1 is connected with gantry base 8, gantry base 8 is connected with leading screw seat 35, the motor 1 that leading screw is fixed on motor cabinet 1 is connected by yielding coupling 1 with leading screw 1, described Mobile base 2 is provided with stiff end grasping mechanism 22, mobile terminal grasping mechanism 24, described Mobile base 2 is also provided with the motor cabinet 2 14 of fixed electrical machinery 2 13 and the motor cabinet 3 19 of fixed electrical machinery 3 18, described motor 2 13 output shaft is fixed with sprocket wheel 1, sprocket wheel 1 engages with chain 16, chain 16 simultaneously with sprocket wheel 2 17 engage, sprocket wheel 2 17 is fixed on leading screw 2 32, turn-screw 2 32 connects in screw thread pair with the feed screw nut 30 on mobile terminal grasping mechanism connection seat 28, mobile terminal grasping mechanism connection seat 28 connects with guide rail slide block 2 29, guide rail slide block 2 29 and guide rail 2 31 are slidably connected, described Mobile base 2 and support base gusset piece 33 tight joint, support base gusset piece 33 connects with guide rail slide block 1, guide rail slide block 1 and guide rail 1 be slidably connected into, its middle sprocket 1, chain 16, the chain and sprocket driving device that sprocket wheel 2 17 forms also can use other transmission devices to replace, all belong to protection scope of the present invention.
Operation principle of the present invention is: when producing " belt conveyor DTII type carrying roller " process equipment and needing to perform loading and unloading action, motor 3 18 on support 3 19 drives power transmission shaft 23 to drive stiff end grasping mechanism 22, mobile terminal grasping mechanism 24 rotates, stop the rotation when arriving designated bit places, because grasping mechanism is provided with fixture, fixture is by pneumatic, hydraulic pressure, Electronic control realize by materials in the tube or axle feed collet tight, motor 3 19 drives power transmission shaft 23 to drive stiff end grasping mechanism 22, mobile terminal grasping mechanism 24 rotates backward, when arriving feeding position, fixture unclamps, grasping mechanism is homing under the rotary actuation of motor again.Need to carry on the materials in the tube of different length or axle material, be fixed on the support base gusset piece 33 that leading screw 1 that the motor cabinet 1 in frame 1 connects promotes to be fixed on Mobile base 2 to slide on guide rail 1, bearing is adjusted to assigned address, motor 2 13 drive sprocket 1 rotates, sprocket wheel 1, the Chain conveyer that chain 16 and sprocket wheel 2 17 form drives leading screw 2 32 to rotate, leading screw 2 32 promotes the materials in the tube that the feed screw nut 30 that is connected on mobile terminal grasping mechanism connection seat 28 and mobile terminal grasping mechanism 24 slide to adapt to capture different length on guide rail 2 31, axle material.Only need to change mobile grip block 26, fixed clamp block 27 when changing at materials in the tube, axle material diameter, or fixture is arranged to " <, > " form, to adapt to the different materials in the tube of diameter or axle material.
The invention has the beneficial effects as follows: different-diameter, length specification automatic loading and unloading manipulator device can be adapted to, it keeps firm by the clamping of clamping pipe fitting, automatic capturing workpiece, automatic turning, workpiece is delivered to assigned address, movement response is fast, shorten the workpiece material logistics time and, avoid potential safety hazard.
The above embodiments property shown illustrates principle and effect thereof of the invention, and the embodiment that part is used, but not for limiting the present invention.
Claims (8)
1. a loading and unloading manipulator device, it is characterized in that: realize mobile, upset and pinching action, comprise frame, described frame is also provided with the first guideway be parallel to each other for a pair, described guideway connects with Mobile base, described Mobile base is provided with stiff end grasping mechanism, mobile terminal grasping mechanism, described Mobile base is also provided with the second guideway be parallel to each other for a pair, described Mobile base is also provided with the second lead screw transmission mechanism for realizing the motion of mobile grasping mechanism, support is also provided with and drives stiff end grasping mechanism simultaneously, the 3rd transmission mechanism that mobile terminal grasping mechanism rotates, described grasping mechanism is provided with fixture.
2. a kind of loading and unloading manipulator device according to claim 1, is characterized in that: described fixture realizes clamping by pneumatic, hydraulic pressure, Electronic control.
3. a kind of loading and unloading manipulator device according to claim 1 or 2, is characterized in that: described fixture comprises mobile grip block, fixed clamp block, and clamping jaw is the circular arc corresponding with workpiece,
4. a kind of loading and unloading manipulator device according to claim 3, is characterized in that: the clamping jaw on described holder block is replaced and is arranged to " <, > " form, to adapt to the different materials in the tube of diameter or axle material.
5. a kind of loading and unloading manipulator device according to claim 1, it is characterized in that: described Mobile base is arranged mobile terminal grasping mechanism connection seat, described mobile terminal grasping mechanism is connected on the grasping mechanism connection seat of mobile terminal, and described mobile terminal grasping mechanism connection seat connects with guide rail slide block.
6. a kind of loading and unloading manipulator device according to claim 1, it is characterized in that: described second lead screw transmission mechanism is provided with a motor, motor is arranged on the motor cabinet on support, described second lead screw transmission mechanism is also provided with chain-drive mechanism, or synchronous belt drive mechanism, or gear drive, or Worm and worm-wheel gearing.
7. a kind of loading and unloading manipulator device according to claim 1, it is characterized in that: described mobile terminal grasping mechanism and power transmission shaft, in being slidably connected, described power transmission shaft are provided with feather key, described mobile terminal grasping mechanism is provided with guide key groove.
8. a kind of loading and unloading manipulator device according to claim 1, is characterized in that: described robot device adopts man-machine interface operator scheme, can pass through control system setting program, realize whole process action and automatically complete.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420374977.5U CN204123188U (en) | 2014-07-09 | 2014-07-09 | A kind of loading and unloading manipulator device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420374977.5U CN204123188U (en) | 2014-07-09 | 2014-07-09 | A kind of loading and unloading manipulator device |
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| Publication Number | Publication Date |
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| CN204123188U true CN204123188U (en) | 2015-01-28 |
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| CN201420374977.5U Active CN204123188U (en) | 2014-07-09 | 2014-07-09 | A kind of loading and unloading manipulator device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104852252A (en) * | 2015-05-21 | 2015-08-19 | 苏州沃尔非自动化设备有限公司 | Automatic junctor capable of connection and replacement |
| CN106475840A (en) * | 2016-11-17 | 2017-03-08 | 广州鑫南数控科技有限公司 | A kind of four axle robot of upside-down mounting and product processing method |
| CN106696473A (en) * | 2015-07-22 | 2017-05-24 | 深圳市艾雷激光科技有限公司 | Automatic sorting type laser marking machine |
| CN107639305A (en) * | 2017-09-26 | 2018-01-30 | 太仓贝斯特机械设备有限公司 | A kind of peeling machine auxiliary charging device |
-
2014
- 2014-07-09 CN CN201420374977.5U patent/CN204123188U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104852252A (en) * | 2015-05-21 | 2015-08-19 | 苏州沃尔非自动化设备有限公司 | Automatic junctor capable of connection and replacement |
| CN106696473A (en) * | 2015-07-22 | 2017-05-24 | 深圳市艾雷激光科技有限公司 | Automatic sorting type laser marking machine |
| CN106696473B (en) * | 2015-07-22 | 2019-04-09 | 深圳市艾雷激光科技有限公司 | A kind of automatic sorting formula laser marking machine |
| CN106475840A (en) * | 2016-11-17 | 2017-03-08 | 广州鑫南数控科技有限公司 | A kind of four axle robot of upside-down mounting and product processing method |
| CN107639305A (en) * | 2017-09-26 | 2018-01-30 | 太仓贝斯特机械设备有限公司 | A kind of peeling machine auxiliary charging device |
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| CP01 | Change in the name or title of a patent holder |
Address after: 518000, Guangdong Province, Longgang District, Henggang Shenzhen Street Ping Road No. 138, 101 Patentee after: Shenzhen City Tuo Tuo electromechanical Limited by Share Ltd Address before: 518000, Guangdong Province, Longgang District, Henggang Shenzhen Street Ping Road No. 138, 101 Patentee before: Shenzhen CEMCN Ltd. |
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| C56 | Change in the name or address of the patentee |
Owner name: SHENZHEN CEMCN CO., LTD. Free format text: FORMER NAME: SHENZHEN CEMCN LTD. |
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| CP02 | Change in the address of a patent holder |
Address after: 518000 Guangdong province Shenzhen City Pingshan Kengzi streets rongshou Ludongdeta high-tech factory 1 building two layer Patentee after: Shenzhen City Tuo Tuo electromechanical Limited by Share Ltd Address before: 518000, Guangdong Province, Longgang District, Henggang Shenzhen Street Ping Road No. 138, 101 Patentee before: Shenzhen City Tuo Tuo electromechanical Limited by Share Ltd |
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| C56 | Change in the name or address of the patentee |