CN205165631U - Snatch manipulator - Google Patents
Snatch manipulator Download PDFInfo
- Publication number
- CN205165631U CN205165631U CN201520855840.6U CN201520855840U CN205165631U CN 205165631 U CN205165631 U CN 205165631U CN 201520855840 U CN201520855840 U CN 201520855840U CN 205165631 U CN205165631 U CN 205165631U
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- China
- Prior art keywords
- arm
- catching robot
- arranges
- workpiece
- transverse
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- Expired - Fee Related
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Abstract
The utility model discloses a snatch manipulator has the main arm, back termination in the connecting rod of main arm, the front end of main arm sets up the xarm of arranging around two, the tip of xarm do not sets up the adjustment arm, set up the vacuum slot that is used for snatching the work piece on the adjustment arm. The utility model discloses simple structure, can be high -efficient convenient snatch the operation to the work piece.
Description
Technical field
The utility model relates to a kind of catching robot.
Background technology
Logical pressure workpiece (key base-board for plate, for plate) need to stamp out required perforate by stamping machine on raw material plate, stamping machine is arrangement in " one " font, the perforate that every platform stamping machine punching press of punching press unit is corresponding, need in whole process to carry out Automatic Conveying to workpiece, find no relevant technical scheme in prior art and can complete above-mentioned functions.
For the problems referred to above, inventor has devised a set of logical pressure automatic mechanical hand production line (separate case application), in this production line, a kind of catching robot need be designed, to complete the crawl to workpiece.
Utility model content
The purpose of this utility model is exactly to solve the problem, and provides a kind of catching robot that can capture workpiece.
To achieve these goals, the utility model adopts following technical scheme: a kind of catching robot, there is principal arm, connecting rod is terminated at after described principal arm, the front end of described principal arm arranges the transverse arm arranged before and after two, the end of described transverse arm arranges adjustment arm respectively, described adjustment arm is arranged the vacuum slot being used for grabbing workpiece.
Preferably: described principal arm is arranged from front to back some row's principal arm fixing holes, transverse arm arranges some transverse arm fixing holes along its length direction, transverse arm is connected with principal arm fixing hole fitted bolt by corresponding transverse arm fixing hole with principal arm.
Preferably: described adjustment arm is arranged along its length some adjustment arm fixing holes, described adjustment arm is connected with transverse arm fixing hole fitted bolt by corresponding adjustment arm fixing hole with transverse arm.
Compared with prior art, the utility model has following beneficial effect: the utility model structure is simple, efficiently can carry out crawl operation to workpiece easily.
Accompanying drawing explanation
Fig. 1 is logical pressure automatic mechanical hand production line top view in embodiment, and this figure is workpiece transfer state, and in figure, the right side of top structure is connected to the left side of rectangular structure, to form complete production line.
Fig. 2 is logical pressure automatic mechanical hand production line front view in embodiment, and this figure is workpiece transfer state, and in figure, the right side of top structure is connected to the left side of rectangular structure, to form complete production line.
Fig. 3 is horizontal drives structure front view in embodiment.
Fig. 4 is horizontal drives structure top view in embodiment.
Fig. 5 is zigzag tread patterns structural front view in embodiment.
Fig. 6 is embodiment middle pulley left view.
Fig. 7 is middle intermediate station top view in embodiment.
Fig. 8 is middle intermediate station front view in embodiment, eliminates part-structure in figure.
Fig. 9 is locating dowel front view in embodiment.
Figure 10 locates column base top view in embodiment.
Figure 11 is catching robot front view in embodiment.
Figure 12 is catching robot top view in embodiment.
Figure 13 is the connecting rod partial enlarged drawing at first, second stamping machine place be positioned in embodiment on the left of production line, eliminates part-structure in figure.
Detailed description of the invention
The technological means realized to make the utility model, creation characteristic, reaching object and effect is easy to understand, below in conjunction with concrete diagram, setting forth the utility model further.
Embodiment one: see Figure 11 and Figure 12, catching robot 4 has principal arm 41, connecting rod 1 is terminated at after described principal arm 41, the front end of described principal arm 41 arranges the transverse arm 42 arranged before and after two, the end of described transverse arm 42 arranges adjustment arm 43 respectively, described adjustment arm 43 is arranged the vacuum slot 44 being used for grabbing workpiece.
Described principal arm 41 is arranged from front to back some row's principal arm fixing hole 41a, transverse arm 42 arranges some transverse arm fixing hole 42a along its length direction, transverse arm 42 is connected with principal arm fixing hole 41a fitted bolt by corresponding transverse arm fixing hole 42a with principal arm 41.
Described adjustment arm 43 is arranged along its length some adjustment arm fixing hole 43a, described adjustment arm 43 is connected with transverse arm fixing hole 42a fitted bolt by corresponding adjustment arm fixing hole 43a with transverse arm 42.
Embodiment two: have employed catching robot in this embodiment, see Fig. 1 to Figure 12, logical pressure automatic mechanical hand production line is made up of connecting rod 1, zigzag tread patterns structure 2, horizontal drives structure 3, middle intermediate station 5 and catching robot more than 4 part.
Connecting rod 1 is transversely arranged, and is positioned at the rear of the diel of stamping machine M.Connecting rod 1 can not affect stamping machine press work.
The side of each stamping machine M arranges a zigzag tread patterns structure, described zigzag tread patterns structure has column 21, longitudinal sliding block 22, two pulley 23 and promotes cylinder 24, described column 21 is arranged on stamping machine M base, described longitudinal sliding block 22 is arranged on column 21 and also can slides up and down, described two pulleys 23 are arranged on longitudinal sliding block 22, and described two pulleys about 23 are arranged, and be held on connecting rod 1, described promotion cylinder 24 is vertically arranged, its cylinder body is connected with stamping machine M base, and piston rod end is connected with longitudinal sliding block 22.Described promotion cylinder 24 is cylinder.
Zigzag tread patterns structure function drives connecting rod knee-action, and when after the action of promotion cylinder, longitudinal sliding block moves up or down along column, and two pulleys clamping connecting rod drive connecting rod upwards or action downwards thereupon.Object coordinates the catching robot hereafter addressed to capture and place work piece.
Horizontal drives structure 3 is arranged in the right side of described connecting rod 1, described horizontal drives structure 3 has frame 31, two guide rails 32, transverse slider 33, screw mandrel 34 and servo motor 35, described two guide rails 32 are arranged in frame 31 and two guide rails about 32 are arranged, described frame 31 is positioned between two guide rails 32 and arranges screw mandrel 34 rotationally, described transverse slider 33 is arranged on screw mandrel 34 and the upper and lower side of described transverse slider 33 connects with corresponding guide rail 32 respectively, described servo motor 35 is arranged on the right side of frame 31, and its output shaft is connected with screw mandrel 34, the right-hand member of described connecting rod 1 is connected with transverse slider 33, and the right-hand member of connecting rod 1 can slide up and down on transverse slider 33.
After servo motor action, drive screw mandrel to rotate, along with servo motor main story or reversion, transverse slider or move right, drives connecting rod or move right left left thereupon.Object coordinates the catching robot hereafter addressed to complete crawl and place work piece.
Intermediate station 5 in the middle of arranging one between two adjacent stamping machine M, described middle intermediate station 5 has base plate 51, described base plate 51 is arranged on stamping machine M base, the left side of described base plate 51 upper surface arranges be used on the left of positioning workpieces first, second, 3rd and the 4th locating dowel 52a, 52b, 52c, 52d, the be used on the right side of positioning workpieces the 5th is arranged on the right side of described base plate 51, 6th, 7th and the 8th locating dowel 53a, 53b, 53c, 53d, each locating dowel coordinates to position workpiece, each locating dowel is arranged on corresponding location column base 54, on described base plate 51 and the workpiece placement area formed between locating dowel arranges retainer bar 55.
Whole workpiece is a plate body be square, and the effect of middle intermediate station is transfer workpiece, and when workpiece is positioned over middle intermediate station, each locating dowel coordinates, and by Workpiece fixing on middle intermediate station, workpiece can not arbitrarily movement, facilitates catching robot grabbing workpiece.
The right side of each stamping machine M and the right side of each middle intermediate station 5 all arrange a catching robot 4, described catching robot 4 has principal arm 41, connecting rod 1 is terminated at after described principal arm 41, the front end of described principal arm 41 arranges the transverse arm 42 arranged before and after two, the end of described transverse arm 42 arranges adjustment arm 43 respectively, described adjustment arm 43 is arranged the vacuum slot 44 being used for grabbing workpiece.
When needs grabbing workpiece, vacuum slot work, adsorbs the surface of workpiece, and workpiece can be picked up by catching robot, and when needs place work piece, vacuum slot does not work, and workpiece comes off naturally.
Described pulley 23 is made up of elastomeric material, and its wheel rim place arranges the cannelure 23a for being in clamping connection bar 1.Pulley better can clamp connecting rod.
Described principal arm 41 is arranged from front to back some row's principal arm fixing hole 41a, transverse arm 42 arranges some transverse arm fixing hole 42a along its length direction, transverse arm 42 is connected with principal arm fixing hole 41a fitted bolt by corresponding transverse arm fixing hole 42a with principal arm 41.
Described adjustment arm 43 is arranged along its length some adjustment arm fixing hole 43a, described adjustment arm 43 is connected with transverse arm fixing hole 42a fitted bolt by corresponding adjustment arm fixing hole 43a with transverse arm 42.
Locating dowel has columnar body 5a, and the bottom of described columnar body 5a arranges to fix uses stud 5b, and the top of described columnar body 5a arranges up-small and down-big termination 5c.Termination is bullet-shaped.
Described location column base 54 has main part 54a, and described main part 54a arranges groove 54b.Groove is convenient to fitted bolt stationary positioned column base.
Front side and the rear side of described frame 31 arrange the baffle plate be made up of transparent material respectively.Baffle plate plays the effect of protection, simultaneously the convenient work observing whole device.
By from left to right, stamping machine is the first to the eight stamping machine, and middle intermediate station is followed successively by the first to the seven middle intermediate station, and catching robot is the first to the ten five catching robot.Evener and feeding flat machine are set on the left of punching press unit, material strip is successively by after evener and the flat machine of feeding, enter punching press unit meta in a stamping machine (the first stamping machine) of the leftmost side, successively by the first to the eight stamping machine punching press, punching hole needed for formation (this part can with reference to prior art).In whole punching course, the original state of catching robot is, first, 3rd, 5th, 7th, 9th, 11, 13, 15 catching robot lays respectively at first, second, 3rd, 4th, 5th, 6th, 7th, on the right side of 8th stamping machine, second, 4th, 6th, 8th, tenth, 12, 14 catching robot lays respectively at first, second, 3rd, 4th, 5th, 6th, on the right side of 7th middle intermediate station, therefore in punching course, connecting rod and catching robot do not hinder stamping machine work, stamping machine punching press completes, carry out workpiece transfer operation, process is as follows: horizontal drives structure drives connecting rod to be moved to the left, zigzag tread patterns structure drives connecting rod to move down, then the first catching robot captures the workpiece be positioned in the first stamping machine diel (bed die), second catching robot captures the workpiece be positioned on the first middle intermediate station, the like, complete workpiece grabbing, then zigzag tread patterns structure drives connecting rod to move up (reset), horizontal drives structure drives connecting rod to move right, first catching robot is positioned at above the first middle intermediate station, second catching robot is positioned at the second stamping machine diel (bed die) top, the like, in this process, zigzag tread patterns structure drives connecting rod to move down and puts in place, each catching robot completes workpiece and places, whole process just completes the transfer of workpiece, then zigzag tread patterns structure resets (upwards driving connecting rod to reset), then horizontal drives structure drives connecting rod to be moved to the left, catching robot is made to be in initial position, each stamping machine can carry out punching press, after punching press completes, repeat above-mentioned workpiece transfer process, and so forth, namely workpiece Automatic Conveying is achieved, whole process automaticity is high.
The foregoing is only preferred embodiment of the present utility model, protection domain of the present utility model is not limited in above-mentioned embodiment, and every technical scheme belonging to the utility model principle all belongs to protection domain of the present utility model.For a person skilled in the art, the some improvement carried out under the prerequisite not departing from principle of the present utility model, these improvement also should be considered as protection domain of the present utility model.
Claims (3)
1. catching robot, it is characterized in that, described catching robot (4) has principal arm (41), connecting rod (1) is terminated at after described principal arm (41), the front end of described principal arm (41) arranges the transverse arm (42) arranged before and after two, the end of described transverse arm (42) arranges adjustment arm (43) respectively, and described adjustment arm (43) is upper arranges the vacuum slot (44) being used for grabbing workpiece.
2. catching robot according to claim 1, it is characterized in that: described principal arm (41) is arranged from front to back some row's principal arm fixing holes (41a), transverse arm (42) arranges some transverse arm fixing holes (42a) along its length direction, and transverse arm (42) is connected with principal arm fixing hole (41a) fitted bolt by corresponding transverse arm fixing hole (42a) with principal arm (41).
3. catching robot according to claim 1, it is characterized in that: described adjustment arm (43) arranges some adjustment arm fixing holes (43a) along its length, described adjustment arm (43) is connected with transverse arm fixing hole (42a) fitted bolt by corresponding adjustment arm fixing hole (43a) with transverse arm (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520855840.6U CN205165631U (en) | 2015-10-29 | 2015-10-29 | Snatch manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520855840.6U CN205165631U (en) | 2015-10-29 | 2015-10-29 | Snatch manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205165631U true CN205165631U (en) | 2016-04-20 |
Family
ID=55729668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520855840.6U Expired - Fee Related CN205165631U (en) | 2015-10-29 | 2015-10-29 | Snatch manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205165631U (en) |
-
2015
- 2015-10-29 CN CN201520855840.6U patent/CN205165631U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160420 Termination date: 20171029 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |