CN205634146U - Sponge qu liao manipulator - Google Patents
Sponge qu liao manipulator Download PDFInfo
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- CN205634146U CN205634146U CN201620340543.2U CN201620340543U CN205634146U CN 205634146 U CN205634146 U CN 205634146U CN 201620340543 U CN201620340543 U CN 201620340543U CN 205634146 U CN205634146 U CN 205634146U
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- 239000000463 material Substances 0.000 claims abstract description 22
- 230000003028 elevating effect Effects 0.000 claims 5
- 230000001105 regulatory effect Effects 0.000 claims 1
- 238000007599 discharging Methods 0.000 abstract description 23
- 229910000831 Steel Inorganic materials 0.000 abstract description 17
- 239000010959 steel Substances 0.000 abstract description 17
- 229920000742 Cotton Polymers 0.000 abstract description 11
- 230000032258 transport Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003031 feeding effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
一种海绵取料机械手,包括升降机构、取料放料机构、升降驱动机构,其中所述升降驱动机构与升降机构驱动连接,所述取料放料机构固定设置在升降机构的底端;其中所述取料放料机构包括从上往下顺序设置的安装板、取料板、脱料板,所述安装板固定设置在升降机构的底端,所述取料板设有取料钢针,所述取料钢针均匀设置在取料板底侧,所述脱料板设有脱料驱动机构,所述脱料驱动机构设置在安装板表面并与脱料板连接,脱料板表面设有与取料钢针对应的穿过孔。本实用新型实现对海绵、珍珠棉片材的自动取料和放料,准确地输送到设定位置,代替人手工工作,有效提高工作效率,降低劳动成本。
A sponge retrieving manipulator, comprising a lifting mechanism, a material retrieving and discharging mechanism, and a lifting driving mechanism, wherein the lifting driving mechanism is driven and connected with the lifting mechanism, and the retrieving and discharging mechanism is fixedly arranged at the bottom of the lifting mechanism; wherein The feeding and discharging mechanism includes a mounting plate, a feeding plate, and a stripping plate arranged sequentially from top to bottom, the mounting plate is fixedly arranged at the bottom of the lifting mechanism, and the feeding plate is provided with a steel needle , the material-removing steel needle is evenly arranged on the bottom side of the material-removing plate, and the material-removing plate is provided with a material-removing drive mechanism, and the material-removing drive mechanism is arranged on the surface of the mounting plate and connected with the material-removing plate, and the surface of the material-removing plate is There are through holes corresponding to the reclaiming steel pins. The utility model realizes automatic feeding and discharging of sponge and pearl cotton sheets, and accurately transports them to the set position, replaces manual work, effectively improves work efficiency, and reduces labor costs.
Description
技术领域 technical field
本实用新型涉及机械手领域,尤指一种用于海绵、珍珠棉片材取料的海绵取料机械手。 The utility model relates to the field of manipulators, in particular to a manipulator for taking materials from sponges and pearl cotton sheets.
背景技术 Background technique
目前,在海绵、珍珠棉片材深加工过程中,大部份都是采用人手工作业,通过人力手工取起海绵、珍珠棉片材,效率低、成本高。所有有部份厂家研制出采用传统真空吸盘来取起海绵、珍珠棉片材的机械手,但吸取效果不佳,容易脱落,不稳定,从而降低加工效率。 At present, in the deep processing of sponges and pearl cotton sheets, most of them are manually operated, and the sponges and pearl cotton sheets are picked up by hand, which has low efficiency and high cost. Some manufacturers have developed manipulators that use traditional vacuum suction cups to pick up sponges and pearl cotton sheets, but the suction effect is not good, it is easy to fall off, and it is unstable, thereby reducing processing efficiency.
实用新型内容 Utility model content
为解决上述问题,本实用新型提供一种可以实现对海绵、珍珠棉片材自动取料和放料,准确地输送到设定位置,代替人手工工作,提高工作效率,降低成本的海绵、珍珠棉片材取料机械手。 In order to solve the above problems, the utility model provides a sponge and pearl cotton sheet material that can automatically take and discharge the sponge and pearl cotton sheets, accurately transport them to the set position, replace manual work, improve work efficiency, and reduce costs. Cotton sheet reclaiming manipulator.
为实现上述目的,本实用新型采用的技术方案是:一种海绵取料机械手,包括升降机构、取料放料机构、升降驱动机构,其中所述升降驱动机构与升降机构驱动连接,所述取料放料机构固定设置在升降机构的底端;其中所述取料放料机构包括从上往下顺序设置的安装板、取料板、脱料板,所述安装板固定设置在升降机构的底端,所述取料板设有取料钢针,所述钢针长度调节机构设置在安装板表面并与取料板连接;所述脱料板设有脱料驱动机构,所述脱料驱动机构设置在安装板表面并与脱料板连接,脱料板表面设有与取料钢针对应的穿过孔。 In order to achieve the above purpose, the technical solution adopted by the utility model is: a sponge retrieving manipulator, including a lifting mechanism, a material retrieving and discharging mechanism, and a lifting drive mechanism, wherein the lifting drive mechanism is connected to the lifting mechanism, and the lifting mechanism is connected to the lifting mechanism. The feeding and discharging mechanism is fixedly arranged at the bottom of the lifting mechanism; wherein the feeding and discharging mechanism includes a mounting plate, a feeding plate, and a stripping plate arranged sequentially from top to bottom, and the mounting plate is fixed on the bottom of the lifting mechanism. At the bottom end, the take-off plate is provided with a take-off steel needle, and the steel needle length adjustment mechanism is arranged on the surface of the installation plate and connected with the take-off plate; the stripper plate is provided with a stripping driving mechanism, and the stripping The driving mechanism is arranged on the surface of the mounting plate and is connected with the stripping plate, and the surface of the stripping plate is provided with through holes corresponding to the steel pick-up pins.
本实用新型的有益效果在于:本实用新型通过设置升降机构、取料放料机构、升降驱动机构,其中取料放料机构固定在升降机构底端,升降机构通过升降驱动机构的驱动实现上下运动,从而带动取料放料机构上下升降,通过取料放料机构实现自动取料,有效代替现有人手手工取料的工作,有效提高了工作效率,减少劳动力,降低劳动成本;此外取料放料机构通过设置取料板,在取料板下端设置取料钢针,通过取料钢针插入海绵中实现自动取料,取料效果好,不易脱落,解决了传统真空吸盘无法吸取海绵、珍珠棉这种透气片材问题,通过在取料板下端设置脱料板,且在脱料板表面设置穿过孔,供取料钢针穿过,并在安装板上设置脱料驱动机构,在脱料驱动机构驱动下,使取料钢针隐藏,实现自动脱料。 The beneficial effects of the utility model are: the utility model is provided with a lifting mechanism, a feeding and discharging mechanism, and a lifting driving mechanism, wherein the feeding and discharging mechanism is fixed at the bottom of the lifting mechanism, and the lifting mechanism is driven by the lifting driving mechanism to realize up and down movement , so as to drive the retrieving and discharging mechanism up and down, realize automatic retrieving through the retrieving and discharging mechanism, effectively replace the existing work of manual retrieving, effectively improve work efficiency, reduce labor force, and reduce labor costs; The material mechanism is equipped with a material picking plate, and a material picking needle is set at the lower end of the material picking plate, and the material is automatically picked up by inserting the material picking needle into the sponge. The material picking effect is good and it is not easy to fall off. For the problem of breathable sheet material such as cotton, by setting a stripping plate at the lower end of the stripping plate, and setting a through hole on the surface of the stripping plate for the steel needle to pass through, and setting a stripping drive mechanism on the mounting plate, the Driven by the stripping drive mechanism, the reclaiming steel needle is hidden to realize automatic stripping.
附图说明 Description of drawings
图1 是本实用新型的结构示意图; Fig. 1 is a structural representation of the utility model;
图2 是图1中A处的放大图。 Fig. 2 is an enlarged view of A in Fig. 1 .
附图标号说明:11-固定板;111-滑轨;12-驱动臂;13-滑动板;131-丝杆螺母;14-驱动丝杆;21-安装板;22-取料板;221-取料钢针;222-调节电机;223-电机座;224-调节螺杆;225-链轮螺母;226-调节链;23-脱料板;231-脱料驱动机构;232-穿过孔;31-伺服电机;32-同步带。 Description of reference numerals: 11-fixed plate; 111-sliding rail; 12-driving arm; 13-sliding plate; 131-screw nut; 14-driving screw; 21-installation plate; 22-feeding plate; 221- 222-regulating motor; 223-motor seat; 224-adjusting screw; 225-sprocket nut; 226-adjusting chain; 23-stripping plate; 231-stripping drive mechanism; 31-servo motor; 32-synchronous belt.
具体实施方式 detailed description
请参阅图1-2所示,本实用新型关于一种海绵取料机械手,包括升降机构、取料放料机构、升降驱动机构,其中所述升降驱动机构与升降机构驱动连接,所述取料放料机构固定设置在升降机构的底端;其中所述取料放料机构包括从上往下顺序设置的安装板21、取料板22、脱料板23,所述安装板21固定设置在升降机构的底端,所述取料板22设有取料钢针221,所述取料钢针221均匀设置在取料板22底侧,所述脱料板23设有脱料驱动机构231,所述脱料驱动机构231设置在安装板21表面并与脱料板23连接,脱料板23表面设有与取料钢针221对应的穿过孔232。 Please refer to Figure 1-2, the utility model relates to a sponge retrieving manipulator, including a lifting mechanism, a material retrieving and discharging mechanism, and a lifting drive mechanism, wherein the lifting drive mechanism is connected to the lifting mechanism, and the retrieving mechanism The discharging mechanism is fixedly arranged at the bottom end of the lifting mechanism; wherein the feeding and discharging mechanism includes a mounting plate 21, a feeding plate 22, and a stripping plate 23 arranged sequentially from top to bottom, and the mounting plate 21 is fixedly arranged on The bottom end of the lifting mechanism, the material taking plate 22 is provided with a material taking needle 221, and the material taking needle 221 is evenly arranged on the bottom side of the material taking plate 22, and the material stripping plate 23 is provided with a material stripping drive mechanism 231 , the stripping drive mechanism 231 is arranged on the surface of the mounting plate 21 and connected with the stripping plate 23 , and the surface of the stripping plate 23 is provided with a through hole 232 corresponding to the steel needle 221 for taking material.
相较于现有的技术,本实用新型通过设置升降机构、取料放料机构、升降驱动机构,其中取料放料机构固定在升降机构底端,升降机构通过升降驱动机构的驱动实现上下运动,从而带动取料放料机构上下升降,通过取料放料机构实现自动取料,有效代替现有人手手工取料的工作,有效提高了工作效率,减少劳动力,降低劳动成本;此外取料放料机构通过设置取料板22,在取料板22下端设置取料钢针221,通过取料钢针221插入海绵中实现自动取料,取料效果好,不易脱落,解决了传统真空吸盘无法吸取海绵、珍珠棉这种透气片材问题,通过在取料板22下端设置脱料板23,且在脱料板23表面设置穿过孔232,供取料钢针221穿过,并在安装板21上设置脱料驱动机构231,在脱料驱动机构231驱动下,使取料钢针221隐藏,实现自动脱料。 Compared with the existing technology, the utility model is provided with a lifting mechanism, a feeding and discharging mechanism, and a lifting driving mechanism, wherein the feeding and discharging mechanism is fixed at the bottom of the lifting mechanism, and the lifting mechanism is driven by the lifting driving mechanism to realize the up and down movement , so as to drive the retrieving and discharging mechanism up and down, realize automatic retrieving through the retrieving and discharging mechanism, effectively replace the existing work of manual retrieving, effectively improve work efficiency, reduce labor force, and reduce labor costs; The feeding mechanism is provided with a feeding plate 22, and a feeding steel needle 221 is set at the lower end of the feeding board 22. The feeding needle 221 is inserted into the sponge to realize automatic feeding. The feeding effect is good and it is not easy to fall off. To absorb the problem of breathable sheets such as sponges and pearl cotton, a stripping plate 23 is provided at the lower end of the stripping plate 22, and a through hole 232 is provided on the surface of the stripping plate 23 for the stripping steel needle 221 to pass through. A stripping driving mechanism 231 is arranged on the plate 21, and under the driving of the stripping driving mechanism 231, the taking-up steel needle 221 is hidden to realize automatic stripping.
本实施例中,还包括钢针长度调节机构,所述钢针长度调节机构包括调节电机222、电机座223、调节螺杆224、链轮螺母225、调节链226,所述链轮螺母225套接在调节螺杆224表面,所述调节螺杆224的一端分别设置在安装板21的四个角端,调节螺杆224另一端与取料板22固定连接,所述调节链226环形套接在链轮螺母225上,所述调节电机222通过电机座223固定设置在安装板21上,并与调节链226驱动连接。 In this embodiment, a steel needle length adjustment mechanism is also included, and the steel needle length adjustment mechanism includes an adjustment motor 222, a motor base 223, an adjustment screw 224, a sprocket nut 225, and an adjustment chain 226, and the sprocket nut 225 is socketed On the surface of the adjusting screw 224, one end of the adjusting screw 224 is respectively arranged on the four corners of the mounting plate 21, and the other end of the adjusting screw 224 is fixedly connected with the take-up plate 22, and the adjusting chain 226 is annularly sleeved on the sprocket nut 225 , the adjusting motor 222 is fixedly arranged on the mounting plate 21 through the motor base 223 , and is drivingly connected with the adjusting chain 226 .
采用上述方案,通过调节电机222的正反转,调节电机222驱动调节链226在往正向或反向移动,由于调节链226套接在各链轮螺母225上,即实现同时带动四个链轮螺母225转动,通过链轮螺母225转动带动调节螺杆224上下升降,由于调节螺杆224的一端与取料板22连接,即通过调节螺杆224带动取料板22上下升降,从而根据海绵、珍珠棉片材的厚度大小调节设置在取料板22下端的取料钢针221的长度。 Using the above scheme, by adjusting the positive and negative rotation of the motor 222, the motor 222 drives the adjustment chain 226 to move in the forward or reverse direction. Since the adjustment chain 226 is sleeved on each sprocket nut 225, it can drive four chains at the same time. The wheel nut 225 rotates, and the rotation of the sprocket nut 225 drives the adjustment screw 224 to move up and down. Since one end of the adjustment screw 224 is connected with the take-up plate 22, the adjustment screw 224 drives the take-off plate 22 to move up and down, thereby according to the sponge, pearl cotton The thickness of the sheet is adjusted by the length of the steel needle 221 arranged at the lower end of the board 22 .
本实施例中,所述升降机构包括固定板11、驱动臂12、滑动板13、驱动丝杆14,所述固定板11设于安装板21的一侧,固定板11表面设置有与滑动板13对应的滑轨111,所述滑动板13套接在滑轨111上,所述驱动臂12的一端与滑动板13固定连接,驱动臂12的另一端固定设置在安装板21上,所述驱动丝杆14的一端固定在固定板11的下端,驱动丝杆14的另一端与升降驱动机构连接,所述滑动板13内固定设有丝杆螺母131,所述滑动板13通过丝杆螺母131套接在驱动丝杆14上。 In this embodiment, the lifting mechanism includes a fixed plate 11, a drive arm 12, a sliding plate 13, and a driving screw 14. The fixed plate 11 is arranged on one side of the mounting plate 21, and the surface of the fixed plate 11 is provided with a 13 corresponds to the slide rail 111, the slide plate 13 is sleeved on the slide rail 111, one end of the drive arm 12 is fixedly connected to the slide plate 13, and the other end of the drive arm 12 is fixedly arranged on the mounting plate 21, the One end of the driving screw 14 is fixed on the lower end of the fixed plate 11, and the other end of the driving screw 14 is connected with the lifting drive mechanism. The sliding plate 13 is fixed with a screw nut 131, and the sliding plate 13 passes through the screw nut. 131 is sleeved on the driving screw 14.
采用上述方案,通过升降驱动机构的驱动带动驱动丝杆14旋转,滑动板13通过丝杆螺母131的作用,实现在驱动丝杆14上下移动,且套接在固定板11上的滑轨111上,实现平稳移动,由于驱动臂12的一端设置在固定板11上,另一端固定设置在滑动板13上,通过滑动板13带动实现上下移动,从而带动取料放料机构的上下移动,实现自动取料。 Using the above scheme, the drive screw 14 is driven to rotate by the drive of the lifting drive mechanism, and the sliding plate 13 moves up and down on the drive screw 14 through the action of the screw nut 131 , and is sleeved on the slide rail 111 on the fixed plate 11 , to realize smooth movement, because one end of the drive arm 12 is set on the fixed plate 11, and the other end is fixedly set on the sliding plate 13, the sliding plate 13 is driven to move up and down, thereby driving the feeding and discharging mechanism to move up and down, realizing automatic Reclaimer.
本实施例中,所述升降驱动机构包括伺服电机31,所述伺服电机31设置在固定板11的上端,所述伺服电机11的输出轴通过同步带32与驱动丝杆14连接。 In this embodiment, the lifting drive mechanism includes a servo motor 31 , the servo motor 31 is arranged on the upper end of the fixed plate 11 , and the output shaft of the servo motor 11 is connected to the driving screw 14 through a timing belt 32 .
采用上述方案,通过设置伺服电机31驱动升降,可实现准确地将海绵输送到设定位置。 By adopting the above scheme, by setting the servo motor 31 to drive the lifting, the sponge can be accurately transported to the set position.
本实用新型的工作原理如下: The working principle of the utility model is as follows:
一、伺服电机31转动,伺服电机31的输出轴通过同步带32带同驱动丝杆14转动; One, the servo motor 31 rotates, and the output shaft of the servo motor 31 rotates with the driving screw 14 through the synchronous belt 32;
二、驱动丝杆14转动,通过丝杆螺母131带动滑板块13向下移动,从而带动驱动臂12、取料放料机构向下移动; 2. Drive the screw mandrel 14 to rotate, and drive the slide plate 13 to move downward through the screw nut 131, thereby driving the driving arm 12 and the feeding and discharging mechanism to move downward;
三、取料放料机构通过取料板22上的取料钢针221插接在海绵上实现取料; 3. The retrieving and discharging mechanism realizes retrieving by inserting the retrieving steel needle 221 on the retrieving plate 22 on the sponge;
四、伺服电机31反向转动,带动取料放料机构上升至放料位置,随后停止转动; 4. The servo motor 31 rotates in the opposite direction, driving the feeding and discharging mechanism to rise to the discharging position, and then stops rotating;
五、脱料驱动机构231将脱料板23往下推,使海绵块脱离取料钢针221,实现脱料,本实施例中,脱料驱动机构231为气缸。 5. The stripping driving mechanism 231 pushes the stripping plate 23 downwards, so that the sponge block is separated from the taking-up steel needle 221 to realize stripping. In this embodiment, the stripping driving mechanism 231 is an air cylinder.
以上实施方式仅仅是对本实用新型的优选实施方式进行描述,并非对本实用新型的范围进行限定,在不脱离本实用新型设计精神的前提下,本领域普通工程技术人员对本实用新型的技术方案作出的各种变形和改进,均应落入本实用新型的权利要求书确定的保护范围内。 The above embodiment is only a description of the preferred implementation of the utility model, and is not intended to limit the scope of the utility model. On the premise of not departing from the design spirit of the utility model, ordinary engineers and technicians in the field made the technical solution of the utility model Various modifications and improvements should fall within the protection scope determined by the claims of the present utility model.
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Cited By (3)
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CN109484849A (en) * | 2018-12-12 | 2019-03-19 | 陈秀莲 | A kind of contact pin extraction mechanism |
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2016
- 2016-04-20 CN CN201620340543.2U patent/CN205634146U/en not_active Expired - Fee Related
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CN106946033A (en) * | 2017-04-18 | 2017-07-14 | 福恩达机器人(昆山)有限公司 | A kind of aculeus type automatic material taking mechanism |
CN106946033B (en) * | 2017-04-18 | 2022-12-13 | 福恩达机器人(昆山)有限公司 | A needle punching automatic feeding mechanism |
CN109484849A (en) * | 2018-12-12 | 2019-03-19 | 陈秀莲 | A kind of contact pin extraction mechanism |
CN110253667A (en) * | 2019-07-25 | 2019-09-20 | 安吉八塔机器人有限公司 | One kind being used for air exhauster upper continuous device automatically |
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