CN204124819U - A kind of for cooker processing pick and place material mechanical arm - Google Patents

A kind of for cooker processing pick and place material mechanical arm Download PDF

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Publication number
CN204124819U
CN204124819U CN201420577334.0U CN201420577334U CN204124819U CN 204124819 U CN204124819 U CN 204124819U CN 201420577334 U CN201420577334 U CN 201420577334U CN 204124819 U CN204124819 U CN 204124819U
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castellated shaft
bearing
synchronous belt
belt drive
mechanical arm
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CN201420577334.0U
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陈合林
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Zhejiang Aishida Electric Co Ltd
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Zhejiang Aishida Electric Co Ltd
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Abstract

The utility model discloses a kind of for cooker processing pick and place material mechanical arm.Existing traditional line fitness machine mechanical arm, during its material loading, path of motion is straight line, and needs compression and decompression two mechanical arms to carry out compression and decompression work respectively, and there is cost high, efficiency is low, takes up room large, the problems such as underaction.The utility model comprises material grabbing mechanism, rotating mechanism and lifting mechanism, it is characterized in that, described material grabbing mechanism comprises two and is mutually the crawl arm of 90 degree, fixing rotating disk and castellated shaft, and fixing rotating disk is fixed on the upper end of castellated shaft; The inner of crawl arm is connected on the upper surface of fixing rotating disk, and outer end connects a sucker.The utility model realizes compression and decompression two actions by once moving simultaneously, improve efficiency, in turn save space and cost, and its installation is very convenient, can be equipped with miscellaneous equipment flexibly and carry out operation of feeding and discharging.

Description

A kind of for cooker processing pick and place material mechanical arm
Technical field
The utility model relates to mechanical arm field, specifically a kind of for cooker processing pick and place material mechanical arm.
Background technology
Artificial loading is taked in current processing cooker blank edge and bottom, then carry out machine tooling, the artificial blanking of the complete rear employing of machine tooling, needs workman's material loading repeatedly, feeding, labor strength is large, and efficiency is low and lathe that is operation High Rotation Speed easily safety misadventure occurs.
Existing traditional line fitness machine mechanical arm, during its material loading, path of motion is straight line, and needs compression and decompression two mechanical arms to carry out compression and decompression work respectively, and there is cost high, efficiency is low, takes up room large, the problems such as underaction.
Utility model content
Technical problem to be solved in the utility model is the defect overcoming the existence of above-mentioned prior art, there is provided a kind of and pick and place material mechanical arm for 90 degree in cooker processing, it can carry out compression and decompression work by the crawl arm that two are in 90 degree simultaneously, with conserve space, reduce costs, increase work efficiency.
For this reason, the technical solution adopted in the utility model is as follows: a kind of for cooker processing pick and place material mechanical arm, comprise material grabbing mechanism, rotating mechanism and lifting mechanism, it is characterized in that,
Described material grabbing mechanism comprises two and is mutually the crawl arm of 90 degree, fixing rotating disk and castellated shaft, and fixing rotating disk is fixed on the upper end of castellated shaft; The inner of crawl arm is connected on the upper surface of fixing rotating disk, and outer end connects a sucker;
Described rotating mechanism comprises the first motor, the first synchronous belt drive mechanism and is arranged on splined nut on castellated shaft, first motor drives the first synchronous belt drive mechanism transmission, first synchronous belt drive mechanism rotates for driving splined nut, thus drives castellated shaft to rotate;
Described lifting mechanism comprises permanent seat, vertically be located at the screw mandrel on permanent seat, second motor and the second synchronous belt drive mechanism, screw mandrel connects a nut, the both sides of screw mandrel are respectively provided with one and are arranged on slide rail on permanent seat, two slide rails are provided with one can do dipping and heaving slide unit along slide rail, the bottom surface of slide unit is fixedly connected with nut, a bearing seat surface of this slide unit is equipped with, this bearing seat is built with a bearing, the bottom of castellated shaft is fixedly connected with bearing inner ring, the second described motor is for driving the second synchronous belt drive mechanism transmission, second synchronous belt drive mechanism rotates for driving screw mandrel, nut and slide unit is made to realize oscilaltion, thus drive castellated shaft and crawl arm oscilaltion.
First synchronous belt drive mechanism, the second synchronous belt drive mechanism are formed by Timing Belt, driving wheel and flower wheel.
Load directly over position and machining position when two crawl arms lay respectively at, now, machining position carries out work pieces process, and load position and carry out workpiece grabbing, two crawl arms utilize lifting mechanism to be elevated; After the work pieces process of machining position is good, the utility model realizes two crawl arms by the first motor of rotating mechanism and rotates 90 degree simultaneously, the workpiece being originally positioned at loading position so just can be made to forward machining position to process, originally the workpiece being positioned at machining position forwards unloading position to and unloads, and two crawl arms still utilize lifting mechanism to be elevated.
As improving further and supplementing technique scheme, the utility model takes following technical measures:
Described castellated shaft runs through an adapter plate laterally placed, this adapter plate has a mounting hole, the castellated shaft bearing that one is fixedly connected with adapter plate is had in described mounting hole, described castellated shaft bearing is built with upper and lower two spline bearing be enclosed within castellated shaft, wherein upper spline outside race lower end leans against on the step in castellated shaft bearing, the nested described splined nut seat of inner ring of upper spline bearing; This splined nut seat upper flanges leans against upper spline bearing inner ring upper surface, and lower end is stuck in lower spline bearing inner ring lower surface by jump ring, to prevent the upper and lower play of splined nut seat, but does not limit the rotation of splined nut seat; Described splined nut is nested to be fixed on splined nut seat, and splined nut is nested in splined nut and can freely slides up and down, and drives splined nut seat to make it rotate by the first synchronous belt drive mechanism, thus drives splined nut to rotate.
During the utility model application, adapter plate is fixed in the main body of lathe.Adapter plate fixedly mounts permanent seat, the first motor and castellated shaft bearing, the inner ring of spline bearing, splined nut and splined nut seat are all rotatable but cannot oscilaltion, only have castellated shaft, slide unit, crawl arm and fixing rotating disk can oscilaltion.
The top of described splined nut is provided with a circular sensing chip with holes, and the surface of castellated shaft bearing is provided with multiple inductor mounting blocks in circumference distribution, and the local edge of circular sensing chip is placed in the inductor induction breach of inductor mounting blocks.Utilize the initial point that the inductor in circular sensing chip and inductor mounting blocks rotates to find S. A..
The first described motor is fixedly connected with on a mounting board, and the first synchronous belt drive mechanism is positioned at the below of adapter plate, drives splined nut seat to rotate by the first synchronous belt drive mechanism, thus drives splined nut to rotate.
Described permanent seat is fixedly connected with on a mounting board, the second described motor is fixedly connected on permanent seat, second synchronous belt drive mechanism is positioned at the below of screw mandrel, screw mandrel is driven to rotate by the second synchronous belt drive mechanism, thus the upper and lower lifting of nut on drive screw mandrel, and then drive slide unit, castellated shaft, crawl arm and fixing rotating disk oscilaltion.
The both sides of described slide unit bottom surface, respectively by two slide blocks and slide rail sliding block joint, utilize slide block moving up and down on slide rail to realize the lifting of slide unit and castellated shaft.
The sidewall of described crawl arm the inner is coupling by the position block that pin and fixing rotating disk are formed, and crawl arm upwards can be rotated, cause damage when avoiding heave amplitude excessive to crawl arm.Because the bottom surface of crawl arm the inner is fixed, the upper surface of rotating disk stops, cannot rotate.
Be provided with spring between the bottom surface of described crawl arm the inner and the surface of fixing rotating disk, spring, for cushioning the upwards velocity of rotation of crawl arm, prevents crawl arm from the damage (crawl arm under normal condition is in horizontal positioned) caused when offseting occurring.
The beneficial effect that the utility model has is as follows: realize compression and decompression two actions by once moving simultaneously, improve efficiency, in turn save space and cost compared with traditional line fitness machine mechanical arm, and its installation is very convenient, miscellaneous equipment can be equipped with flexibly and carries out operation of feeding and discharging; Spring causes damage to crawl arm when heave amplitude can be avoided excessive, and the position that crawl arm is arranged on rotating disk can adjust, and uses flexibly; Lifting mechanism makes sucker material grasping high flexible adjustable, is suitable for the product capturing various differing heights; Rotating mechanism can in 0-360 degree any flexible rotating, alerting ability is strong.
Accompanying drawing explanation
Fig. 1 is STRUCTURE DECOMPOSITION figure of the present utility model.
Fig. 2-3 is structural representation of the present utility model.
Fig. 4 is that the A-A of Fig. 3 is to cutaway view.
Schematic diagram (in figure, A-loads position, B-machining position, and C-unloads position) when Fig. 5 is the utility model use.
Shown in figure: 1-material grabbing mechanism, 2-rotating mechanism, 3-lifting mechanism, 4-sucker, 5-bearing seat, 6-bearing, 7-adapter plate, 8-mounting hole, the circular sensing chip of 9-, 10-inductor mounting blocks, 11-crawl arm, 12-fixes rotating disk, 13-castellated shaft, 14-sucker, 15-castellated shaft bearing, 16-spline bearing, 17-pin, 18-position block, 19-spring, 21-first motor, 22-first synchronous belt drive mechanism, 23-splined nut, 24-splined nut seat, 31-permanent seat, 32-screw mandrel, 33-second motor, 34-second synchronous belt drive mechanism, 35-nut, 36-slide rail, 37-jump ring.
Detailed description of the invention
Below in conjunction with specification drawings and specific embodiments, the utility model is described in further detail.
As shown in the figure for cooker processing pick and place material mechanical arm, it is made up of material grabbing mechanism 1, rotating mechanism 2 and lifting mechanism 3 three part.
Described material grabbing mechanism 1 is mutually the crawl arm 11 of 90 degree, fixing rotating disk 12 and castellated shaft 13 by two and forms, and fixing rotating disk 12 is fixed on the upper end of castellated shaft 13; The sidewall of crawl arm 11 the inner is coupling by the position block 18 that pin 17 and fixing rotating disk are formed, outer end connecting sucker 14.Spring 19 is provided with between the bottom surface of crawl arm the inner and the surface of fixing rotating disk.
Described rotating mechanism 2 is made up of the first motor 21, first synchronous belt drive mechanism 22, splined nut seat 24 and the splined nut 23 be arranged on castellated shaft, first motor 21 is fixedly connected on the adapter plate 7 of laterally placement, and the first synchronous belt drive mechanism 22 is positioned at the below of adapter plate 7.Castellated shaft 13 runs through adapter plate 7, this adapter plate 7 has mounting hole 8, the castellated shaft bearing 15 be fixedly connected with adapter plate 7 is had in described mounting hole 8, two spline bearing 16 be enclosed within castellated shaft castellated shaft bearing 15 are equipped with, wherein upper spline outside race lower end leans against on the step in castellated shaft bearing 15, the nested described splined nut seat 24 of inner ring of upper spline bearing.This splined nut seat upper flanges leans against upper spline bearing inner ring upper surface, and lower end is stuck in lower spline bearing inner ring lower surface by jump ring 37.Described splined nut 23 is nested to be fixed on splined nut seat 24, and splined nut is nested in splined nut and can freely slides up and down, and drives splined nut seat to make it rotate by the first synchronous belt drive mechanism.
The top of described splined nut 23 is provided with a circular sensing chip 9 with holes, and the surface of castellated shaft bearing 24 is provided with multiple inductor mounting blocks 10 in circumference distribution, and the local edge of circular sensing chip 9 is placed in the inductor induction breach of inductor mounting blocks.
Described lifting mechanism 3 is located at screw mandrel 32, second motor 33 on permanent seat and the second synchronous belt drive mechanism 34 forms by permanent seat 31, vertically, coupling nut 35 on screw mandrel 32, the both sides of screw mandrel 32 are respectively provided with one and are arranged on slide rail 36 on permanent seat, two slide rails are provided with the slide unit 4 doing dipping and heaving along slide rail, the bottom surface of slide unit 4 is fixedly connected with nut 35, bearing seat 5 surface of this slide unit 4 is equipped with, this bearing seat 5 is built with bearing 6, and the bottom of castellated shaft 13 is fixedly connected with bearing 6 inner ring.Permanent seat 31 is fixedly connected on adapter plate 7, and the second described motor 33 is fixedly connected on permanent seat 31, and the second synchronous belt drive mechanism 34 is positioned at the below of screw mandrel 32.The second described motor 33 is for driving the second synchronous belt drive mechanism 34 transmission, and the second synchronous belt drive mechanism 34 rotates for driving screw mandrel 32, makes nut 35 and slide unit 4 realize oscilaltion, thus drives castellated shaft 13 and crawl arm 11 oscilaltion.
Method of work of the present utility model is as follows: the second motor of lifting mechanism is rotated by toothed belt transmission, screw mandrel and slide rail transmission makes slide unit action, thus drives castellated shaft, crawl arm and fixing rotating disk oscilaltion.First motor of rotating mechanism drives castellated shaft to carry out spinning movement by toothed belt transmission.When loading position A has workpiece to wait for, when machining position B work pieces process is complete, lifting mechanism drives crawl arm to decline, the posterior sucker crawl arm that puts in place hold workpiece to be processed simultaneously another crawl arm hold the workpiece processed, and then by lifting mechanism drive crawl arm rise, by rotating mechanism 90-degree rotation after putting in place, the rear lifting mechanism that puts in place drive crawl arm decline put in place posterior sucker decontrol workpiece, and then rise, complete a loading and unloading job.
Below be only described with regard to the utility model preferred embodiment, but can not be interpreted as it is limitations on claims.The utility model is not only confined to above embodiment, and its concrete structure allows to change.All various changes done in the protection domain of the utility model independent claims are all in protection domain of the present utility model.

Claims (8)

1. that processes for cooker picks and places a material mechanical arm, comprises material grabbing mechanism (1), rotating mechanism (2) and lifting mechanism (3), it is characterized in that,
Described material grabbing mechanism (1) comprises two and is mutually the crawl arm (11) of 90 degree, fixing rotating disk (12) and castellated shaft (13), and fixing rotating disk (12) is fixed on the upper end of castellated shaft (13); The inner of crawl arm (11) is connected on the upper surface of fixing rotating disk (12), and outer end connects a sucker (14);
Described rotating mechanism (2) comprises the first motor (21), the first synchronous belt drive mechanism (22) and is arranged on splined nut (23) on castellated shaft, first motor (21) drives the first synchronous belt drive mechanism (22) transmission, first synchronous belt drive mechanism (22) rotates for driving splined nut (23), thus drives castellated shaft (13) to rotate;
Described lifting mechanism (3) comprises permanent seat (31), vertically be located at the screw mandrel (32) on permanent seat, second motor (33) and the second synchronous belt drive mechanism (34), upper connection one nut (35) of screw mandrel (32), the both sides of screw mandrel (32) are respectively provided with one and are arranged on slide rail (36) on permanent seat, two slide rails are provided with one can do dipping and heaving slide unit (4) along slide rail, the bottom surface of slide unit (4) is fixedly connected with nut (35), a bearing seat (5) surface of this slide unit (4) is equipped with, this bearing seat (5) is built with a bearing (6), the bottom of castellated shaft (13) is fixedly connected with bearing (6) inner ring, described the second motor (33) is for driving the second synchronous belt drive mechanism (34) transmission, second synchronous belt drive mechanism (34) rotates for driving screw mandrel (32), nut (35) and slide unit (4) is made to realize oscilaltion, thus drive castellated shaft (13) and crawl arm (11) oscilaltion.
2. according to claim 1 for cooker processing pick and place material mechanical arm, it is characterized in that, described castellated shaft (13) runs through an adapter plate (7) laterally placed, this adapter plate (7) has a mounting hole (8), a castellated shaft bearing (15) be fixedly connected with adapter plate (7) is had in described mounting hole (8), described castellated shaft bearing (15) is enclosed within the spline bearing (16) on castellated shaft built with upper and lower two, wherein upper spline outside race lower end leans against on the step in castellated shaft bearing (15), the nested described splined nut seat (24) of inner ring of upper spline bearing, this splined nut seat upper flanges leans against upper spline bearing inner ring upper surface, and lower end is stuck in lower spline bearing inner ring lower surface by jump ring (37), described splined nut (23) is nested to be fixed on splined nut seat (24), and drives splined nut seat to make it rotate by the first synchronous belt drive mechanism.
3. according to claim 2 for cooker processing pick and place material mechanical arm, it is characterized in that, the top of described splined nut (23) is provided with a circular sensing chip (9) with holes, the surface of castellated shaft bearing (24) is provided with multiple inductor mounting blocks (10) in circumference distribution, and the local edge of circular sensing chip (9) is placed in the inductor induction breach of inductor mounting blocks.
4. according to claim 1,2 or 3 for cooker processing pick and place material mechanical arm, it is characterized in that, described the first motor (21) is fixedly connected on adapter plate (7), and the first synchronous belt drive mechanism (22) is positioned at the below of adapter plate (7).
5. according to claim 1,2 or 3 for cooker processing pick and place material mechanical arm, it is characterized in that, described permanent seat (31) is fixedly connected on adapter plate (7), described the second motor (33) is fixedly connected on permanent seat (31), and the second synchronous belt drive mechanism (34) is positioned at the below of screw mandrel (32).
6. according to claim 1,2 or 3, pick and place material mechanical arm for cooker processing, it is characterized in that, the both sides of described slide unit (4) bottom surface are respectively by two slide blocks (41) and slide rail (36) sliding block joint.
7. according to claim 1,2 or 3 for cooker processing pick and place material mechanical arm, it is characterized in that, the sidewall of described crawl arm (11) the inner is coupling by the position block (18) that pin (17) and fixing rotating disk are formed.
8. according to claim 1,2 or 3 for cooker processing pick and place material mechanical arm, it is characterized in that, between the bottom surface of described crawl arm the inner and the surface of fixing rotating disk, be provided with spring (19).
CN201420577334.0U 2014-10-08 2014-10-08 A kind of for cooker processing pick and place material mechanical arm Active CN204124819U (en)

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Application Number Priority Date Filing Date Title
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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105347032A (en) * 2015-12-16 2016-02-24 广西北流市智宇陶瓷自动化设备有限公司 Automatic switching device for stations
CN106044192A (en) * 2016-06-30 2016-10-26 苏州博众精工科技有限公司 Lifting rotary feeding mechanism
CN106141608A (en) * 2016-06-30 2016-11-23 苏州博众精工科技有限公司 A kind of rotation carrying mechanism
CN107538463A (en) * 2017-10-11 2018-01-05 深圳市普渡科技有限公司 A kind of robot that can independently pass in and out elevator
CN108689103A (en) * 2018-05-17 2018-10-23 佛山海格利德机器人智能设备有限公司 A kind of automated transport system applied to cooker intelligence manufacture
CN109013220A (en) * 2018-08-13 2018-12-18 常州瑞择微电子科技有限公司 Rotation expansion chuck for semiconductor mask plate gluing
CN109048189A (en) * 2018-09-21 2018-12-21 安徽江淮汽车集团股份有限公司 A kind of welding sheet metal component piece uploading device
CN109748103A (en) * 2019-03-18 2019-05-14 李传聪 A kind of sheet feeding device
CN110181265A (en) * 2019-03-15 2019-08-30 丽水欧意阀门有限公司 A kind of preparation facilities of ball valve body and valve deck
CN111217138A (en) * 2020-02-20 2020-06-02 浙江捷创智能技术有限公司 Cross feeding device and feeding method

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105347032A (en) * 2015-12-16 2016-02-24 广西北流市智宇陶瓷自动化设备有限公司 Automatic switching device for stations
CN106044192A (en) * 2016-06-30 2016-10-26 苏州博众精工科技有限公司 Lifting rotary feeding mechanism
CN106141608A (en) * 2016-06-30 2016-11-23 苏州博众精工科技有限公司 A kind of rotation carrying mechanism
CN107538463A (en) * 2017-10-11 2018-01-05 深圳市普渡科技有限公司 A kind of robot that can independently pass in and out elevator
CN108689103A (en) * 2018-05-17 2018-10-23 佛山海格利德机器人智能设备有限公司 A kind of automated transport system applied to cooker intelligence manufacture
CN109013220A (en) * 2018-08-13 2018-12-18 常州瑞择微电子科技有限公司 Rotation expansion chuck for semiconductor mask plate gluing
CN109048189A (en) * 2018-09-21 2018-12-21 安徽江淮汽车集团股份有限公司 A kind of welding sheet metal component piece uploading device
CN109048189B (en) * 2018-09-21 2019-10-25 安徽江淮汽车集团股份有限公司 A kind of welding sheet metal component piece uploading device
CN110181265A (en) * 2019-03-15 2019-08-30 丽水欧意阀门有限公司 A kind of preparation facilities of ball valve body and valve deck
CN110181265B (en) * 2019-03-15 2020-07-14 丽水欧意阀门有限公司 Ball valve body and valve cover manufacturing device
CN109748103A (en) * 2019-03-18 2019-05-14 李传聪 A kind of sheet feeding device
CN111217138A (en) * 2020-02-20 2020-06-02 浙江捷创智能技术有限公司 Cross feeding device and feeding method

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