CN204736215U - Automatic stirring machinery hand - Google Patents
Automatic stirring machinery hand Download PDFInfo
- Publication number
- CN204736215U CN204736215U CN201520277317.XU CN201520277317U CN204736215U CN 204736215 U CN204736215 U CN 204736215U CN 201520277317 U CN201520277317 U CN 201520277317U CN 204736215 U CN204736215 U CN 204736215U
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- arm
- take out
- out device
- belt
- motor
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Abstract
The utility model is suitable for a materials handling, positioning device technical field provide an automatic stirring machinery hand, stand, arm, extracting device is included and the arm can be driven at vertical plane internal rotation arm tilting mechanism. The arm is installed on the stand, and extracting device installs on the arm. The arm includes dislocation mechanism, goes up arm and lower arm. Dislocation mechanism including can be just, reverse rotation's arm flexible motor, belt pulley and driving belt. Upper and lower arm respectively with driving belt on two the motion opposite direction position fixed connection, all install extracting device on the upper and lower arm, go up or still install the promotion parts on the arm down, install extracting device on the promotion parts, act as, when down the arm moves position relative each other, promote parts and can drive the extracting device reciprocating motion on it, pass on the material on the extracting device of under to arm. The utility model discloses an automatic stirring machinery need not artifical stirring, has saved the cost of labor, has improved production efficiency.
Description
Technical field
The utility model belongs to materials handling, positioning equipment technical field, particularly relates to a kind of stirring manipulator automatically.
Background technology
Manipulator is the equipment realizing materials handling, location in automation equipment, can replace and manually on each station, carry out the work such as material handling, location, loading and unloading.As shown in Figure 1, be existing a kind of manipulator, comprise column 1, arm 2 and take out device 4 (such as sucker).Arm 2 is arranged on column 1, and column 1 can rotate, thus drives arm 2 can rotate in horizontal plane centered by column 1.Arm 2 can slide along column 1 in the vertical direction, and meanwhile, arm 2 can drive take out device 4 to rotate in vertical plane, thus the material on take out device 4 can be made to tilt a certain angle.
But existing manipulator only has one group of take out device 4, if removed in material process, need to overturn material, so manipulator upset after, take out device 4 under, product is upper, and product cannot be put on next station by take out device 4; So, need first with one group of manipulator, product to be overturn, then the product after upset is placed on intermediate station and deposits, again captured by next group manipulator and be put into next station.Visible, be carried to next station again after being overturn by the material of a upper station, need two groups of manipulators, equipment cost is high, and due to intermediate demand unloading, consumes the regular hour, is unfavorable for the raising of production efficiency.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of stirring manipulator automatically, intermediate station is needed to assist stirring when being intended to the carrying solving manipulator of the prior art upset material, need two manipulators to coordinate the upset carrying work that just can complete material between 2 simultaneously, cause the problem that automated production upgrading input cost is high and production efficiency is low.
The utility model is achieved in that a kind of stirring manipulator automatically, and comprise column, arm and take out device, described arm is arranged on described column, and described take out device is arranged on described arm; Described automatic stirring manipulator also comprises the arm switching mechanism that described arm can be driven to rotate in perpendicular, described arm comprises dislocation mechanism, last arm and lower arms, described dislocation mechanism comprises can the arm telescope motor of forward and reverse rotation, belt pulley and driving belt, and the position that described upper and lower arm is contrary with the direction of motion of two on described driving belt is respectively fixedly connected with; Described upper and lower arm is all provided with described take out device, also push mechanism is installed on described or in lower arms, described push mechanism is provided with described take out device; When upper and lower arm operation is to position respect to one another, described push mechanism can drive the take out device on it to move back and forth, and is transferred on the take out device of lower arms by material.
Further, described upper and lower arm is fixedly connected with respectively by the position that a connection piece is contrary with the direction of motion of two on described driving belt.
Further, described dislocation mechanism also comprises upper rail and lower guideway, and the holding of described upper and lower arm difference is on described upper and lower guide rail.
Further, described push mechanism is cylinder, and the piston rod of described cylinder is fixedly connected with the take out device of described last arm.
Further, described arm switching mechanism comprises arm upset motor, driving wheel, driven pulley and Timing Belt, described driving wheel and described arm overturn motor coaxle and connect, and described Timing Belt is wound on described driving wheel and driven pulley, and described driven pulley is fixedly connected with described arm.
Further, described automatic stirring manipulator also comprises arms swing mechanism, and described arms swing mechanism comprises arms swing motor and reductor, and described arms swing motor is connected with described speed reducer drive, and described reductor coaxially connects with described column.
Further, described automatic stirring manipulator also comprises arm lifting mechanism, described arm lifting mechanism comprises lift motor, belt drive component, screw mandrel and slide block, described lift motor drives described screw mandrel to rotate by described belt drive component, described screw mandrel is threaded with described slide block, and described slide block is fixedly connected with described arm.
Further, described arm lifting mechanism also comprises the axis of guide, and the described axis of guide and described screw mandrel be arranged in parallel, and through described slide block.
Further, described automatic stirring manipulator also comprises take out device rotating mechanism, described take out device rotating mechanism comprises rotation motor, belt, the first belt pulley and the second belt pulley, described first belt pulley and described rotation motor are in transmission connection, described second belt pulley and described take out device are in transmission connection, and described belt is wound on first, second described belt pulley.
The utility model compared with prior art, beneficial effect is: after the take out device feeding of the utility model last arm, by dislocation, mechanism runs to the position relative with lower arms, then push mechanism can by material transfer on lower arms take out device, material can overturn by arm switching mechanism, after upset, lower arms take out device by the materials handling on it to target location.Automatic stirring machinery of the present utility model is without the need to artificial stirring, and also assist stirring without the need to intermediate station, can complete the upset carrying work of material between 2 only by a manipulator, escapable cost, enhances productivity.
Accompanying drawing explanation
Fig. 1 is the perspective view of a kind of manipulator of the prior art.
Fig. 2 is the perspective view of a kind of automatic stirring manipulator that the utility model embodiment provides.
Fig. 3 is the perspective view of the arm in Fig. 2.
Fig. 4 is the perspective view of the automatic stirring robot section part in Fig. 2.
Fig. 5 is the arm telescope motor work in the automatic stirring manipulator in Fig. 2, and upper arm stretches out, perspective view when underarm is retracted.
Perspective view when Fig. 6 is the upper arm take out device feeding in the automatic stirring manipulator in Fig. 2.
Fig. 7 is upper arm take out device in the automatic stirring manipulator in Fig. 2 perspective view when material being sent to underarm take out device.
Fig. 8 is that arm is turned over the perspective view after turnback by the arm upset motor in the automatic stirring manipulator in Fig. 7.
Fig. 9 is the arm telescope motor work in the automatic stirring manipulator in Fig. 8, and underarm stretches out, perspective view when upper arm is retracted.
Detailed description of the invention
In order to make technical problem to be solved in the utility model, technical scheme and beneficial effect clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
As shown in Figure 2, be a preferred embodiment of the present utility model, a kind of stirring manipulator automatically, comprises column 1, arm 2, arm switching mechanism 3 and take out device 4.Arm 2 is arranged on column 1, and take out device 4 is arranged on arm 2, and arm switching mechanism 3 can drive arm 2 to rotate in perpendicular.Please together see Fig. 3, Fig. 4, arm 2 comprises dislocation mechanism 21, last arm 22 and lower arms 23.Upper and lower arm 22,23 is all provided with take out device 4.Last arm 22 or lower arms 23 are also provided with push mechanism 221, and in the present embodiment, push mechanism 221 is cylinder, and the piston rod of cylinder is fixedly connected with the take out device 4 of last arm 22, and push mechanism 221 is installed on last arm 22.Push mechanism 221 can drive the take out device 4 of last arm 22 to pump, and the material 100 (as shown in Figure 6) on last arm 22 take out device 4 is transferred on the take out device 4 of lower arms 23.Above-mentioned dislocation mechanism 21 comprises can the arm telescope motor 211 of forward and reverse rotation, belt pulley 212 and driving belt 213.The position that upper and lower arm 22,23 is contrary with the direction of motion of two on driving belt 213 is respectively fixedly connected with by a connection piece 214.Dislocation mechanism 21 also comprises upper rail 215 and lower guideway 216, and the holding of upper and lower arm 22,23 difference is on upper and lower guide rail 215,216.In the present embodiment, upper and lower guide rail 215, about 216 is oppositely arranged, and upper and lower arm 22,23 can move back and forth along upper and lower guide rail 215,216 respectively.In actual applications, dislocation mechanism 21 is not limited to above-mentioned embodiment, and such as, the structure that can also be swung by Electric Machine Control last arm 22 is realized.
After take out device 4 feeding of the last arm 22 of the present embodiment, by dislocation, mechanism 21 runs to the position relative with lower arms 23, then material 100 can be transferred on lower arms 23 take out device 4 by push mechanism 221, material 100 can overturn by arm switching mechanism 3, after upset, the material 100 on it is carried to target location by lower arms 23 take out device 4.Automatic stirring machinery of the present utility model, without the need to artificial stirring, saves cost of labor, improves production efficiency.
Arm switching mechanism 3 comprises arm upset motor 31, driving wheel 32, driven pulley 33 and Timing Belt 34.Driving wheel 32 and arm overturn motor 31 and coaxially connect, and Timing Belt 34 is wound on driving wheel 32 and driven pulley 33, and driven pulley 33 is fixedly connected with arm 2.Start arm upset motor 31, driving wheel 32 rotates, and drives Timing Belt 34 and driven pulley 33 to rotate, thus with the fixing upper and lower arm 22,23 of driven pulley 33 also together with rotate, control arm upset motor 31 and revolve turnback, upper and lower arm 22,23 can be controlled and turn over turnback.
Above-mentioned automatic stirring manipulator also comprises arms swing mechanism 5, arm lifting mechanism 6 and take out device rotating mechanism 7 (as shown in Figure 8).
Arms swing mechanism 5 comprises arms swing motor 51 and reductor (not shown), and arms swing motor 51 is connected with speed reducer drive, and reductor coaxially connects with column 1.The angle rotated by controlling arms swing motor 51 can control the angle that arm 2 swings in horizontal plane.
Arm lifting mechanism 6 comprises lift motor 61, belt drive component 62, screw mandrel 63, slide block 64 and the axis of guide 65.Lift motor 61 drives screw mandrel 63 to rotate by belt drive component 62, and screw mandrel 63 is threaded with slide block 64, and slide block 64 is fixedly connected with arm 2.The axis of guide 65 and screw mandrel 63 be arranged in parallel, and through slide block 64.After starting lift motor 61, under the drive of belt drive component 62, screw mandrel 63 rotates, thus band movable slider 64 moves along the axis of guide 65.By arm lifting mechanism 6, the height of arm 2 can be controlled, thus height adjustment can be carried out to material 100.
Take out device rotating mechanism 7 comprises rotation motor 71, belt 72, first belt pulley (not shown) and the second belt pulley (not shown).First belt pulley and rotation motor 71 are in transmission connection, and the second belt pulley and lower arms 23 take out device 4 are in transmission connection, and belt 72 is wound on the first belt pulley and the second belt pulley.By take out device rotating mechanism 7, lower arms 23 take out device 4 can be made to swing in horizontal plane, thus the adjustment of angle can be carried out material 100.
Refer to Fig. 5 to Fig. 9, the method that material removed by the automatic stirring manipulator of application the present embodiment is as follows:
A, startup arm telescope motor 211, make it rotate forward, belt pulley 212 pulls driving belt 213 to rotate, and driving belt 213 drives last arm 22 to be elongated to feeding position (as shown in Figure 5), and arm telescope motor 211 quits work; The take out device 4 of last arm 22 carries out feeding work (as shown in Figure 6); In the present embodiment, the take out device 4 of upper and lower arm 22,23 is sucker, and material 100 is sheet stock;
After B, last arm 22 take out device 4 feeding, start arm telescope motor 211, make it reverse, last arm 22 is retracted, lower arms 23 is extended, when the take out device 4 on last arm 22 moves to the position relative with the take out device 4 in lower arms 23 (as shown in Figure 7), arm telescope motor 211 quits work again.After take out device 4 on it is released by push mechanism 221, the material 100 on last arm 22 take out device 4 is made to be transferred on the take out device 4 of lower arms 23;
C, startup arm switching mechanism 3, make last arm 22, lower arms 23 and material 100 together overturn (as shown in Figure 8);
D, again startup arm telescope motor 211, lower arms 23 is extended, last arm 22 is retracted (as shown in Figure 9), instantly when arm 23 is elongated to the target location of blowing, arm telescope motor 211 stops just working, lower arms 23 take out device 4 unwound material, namely completes location and the carrying work of material 100.
The automatic stirring manipulator of the present embodiment not only can automatically complete stirring work, and can carry out the quantitative adjustment of three dimensions all directions to material 100, material 100 can be carried to target location exactly, fully automatically.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (9)
1. an automatic stirring manipulator, comprises column, arm and take out device, and described arm is arranged on described column, and described take out device is arranged on described arm; It is characterized in that, described automatic stirring manipulator also comprises the arm switching mechanism that described arm can be driven to rotate in perpendicular, described arm comprises dislocation mechanism, last arm and lower arms, described dislocation mechanism comprises can the arm telescope motor of forward and reverse rotation, belt pulley and driving belt, and the position that described upper and lower arm is contrary with the direction of motion of two on described driving belt is respectively fixedly connected with; Described upper and lower arm is all provided with described take out device, also push mechanism is installed on described or in lower arms, described push mechanism is provided with described take out device; When upper and lower arm operation is to position respect to one another, described push mechanism can drive the take out device on it to move back and forth, and is transferred on the take out device of lower arms by material.
2. stirring manipulator automatically as claimed in claim 1, it is characterized in that, described upper and lower arm is fixedly connected with respectively by the position that a connection piece is contrary with the direction of motion of two on described driving belt.
3. stirring manipulator automatically as claimed in claim 1, it is characterized in that, described dislocation mechanism also comprises upper rail and lower guideway, and the holding of described upper and lower arm difference is on described upper and lower guide rail.
4. stirring manipulator automatically as claimed in claim 1, it is characterized in that, described push mechanism is cylinder, and the piston rod of described cylinder is fixedly connected with the take out device of described last arm.
5. stirring manipulator automatically as claimed in claim 1, it is characterized in that, described arm switching mechanism comprises arm upset motor, driving wheel, driven pulley and Timing Belt, described driving wheel and described arm overturn motor coaxle and connect, described Timing Belt is wound on described driving wheel and driven pulley, and described driven pulley is fixedly connected with described arm.
6. stirring manipulator automatically as claimed in claim 1, it is characterized in that, described automatic stirring manipulator also comprises arms swing mechanism, described arms swing mechanism comprises arms swing motor and reductor, described arms swing motor is connected with described speed reducer drive, and described reductor coaxially connects with described column.
7. stirring manipulator automatically as claimed in claim 1, it is characterized in that, described automatic stirring manipulator also comprises arm lifting mechanism, described arm lifting mechanism comprises lift motor, belt drive component, screw mandrel and slide block, described lift motor drives described screw mandrel to rotate by described belt drive component, described screw mandrel is threaded with described slide block, and described slide block is fixedly connected with described arm.
8. stirring manipulator automatically as claimed in claim 7, it is characterized in that, described arm lifting mechanism also comprises the axis of guide, and the described axis of guide and described screw mandrel be arranged in parallel, and through described slide block.
9. stirring manipulator automatically as claimed in claim 1, it is characterized in that, described automatic stirring manipulator also comprises take out device rotating mechanism, described take out device rotating mechanism comprises rotation motor, belt, the first belt pulley and the second belt pulley, described first belt pulley and described rotation motor are in transmission connection, described second belt pulley and described take out device are in transmission connection, and described belt is wound on first, second described belt pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520277317.XU CN204736215U (en) | 2015-04-30 | 2015-04-30 | Automatic stirring machinery hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520277317.XU CN204736215U (en) | 2015-04-30 | 2015-04-30 | Automatic stirring machinery hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204736215U true CN204736215U (en) | 2015-11-04 |
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ID=54417971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520277317.XU Withdrawn - After Issue CN204736215U (en) | 2015-04-30 | 2015-04-30 | Automatic stirring machinery hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204736215U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858853A (en) * | 2015-04-30 | 2015-08-26 | 广州惠伟智能科技有限公司 | Automatic material reversing mechanical hand and material carrying method of same |
| CN105382831A (en) * | 2015-11-25 | 2016-03-09 | 东莞市合辉精密机械设备有限公司 | High-efficiency dual-arm robot |
| CN107792659A (en) * | 2017-11-24 | 2018-03-13 | 四川大学 | A kind of novel automatic conveying arrangement |
| CN109605341A (en) * | 2018-11-28 | 2019-04-12 | 广东科捷龙机器人有限公司 | Manipulator applied to paper matrix automation processing |
| CN110788880A (en) * | 2019-12-13 | 2020-02-14 | 苏州荣威工贸有限公司 | Automatic robot that overturns of two tongs |
-
2015
- 2015-04-30 CN CN201520277317.XU patent/CN204736215U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858853A (en) * | 2015-04-30 | 2015-08-26 | 广州惠伟智能科技有限公司 | Automatic material reversing mechanical hand and material carrying method of same |
| CN105382831A (en) * | 2015-11-25 | 2016-03-09 | 东莞市合辉精密机械设备有限公司 | High-efficiency dual-arm robot |
| CN107792659A (en) * | 2017-11-24 | 2018-03-13 | 四川大学 | A kind of novel automatic conveying arrangement |
| CN109605341A (en) * | 2018-11-28 | 2019-04-12 | 广东科捷龙机器人有限公司 | Manipulator applied to paper matrix automation processing |
| CN110788880A (en) * | 2019-12-13 | 2020-02-14 | 苏州荣威工贸有限公司 | Automatic robot that overturns of two tongs |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151104 Effective date of abandoning: 20160928 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |